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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 *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 *a code=0BA3 owner=0005 element=0868 universal=3FFF unitName="second" type=07 size=0002 fl=05 *a code=0BA4 owner=00C3 element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA5 owner=00C4 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA6 owner=005E element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA7 owner=005E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA8 owner=0057 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BA9 owner=0055 element=0791 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0BAA owner=0055 element=0794 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=0BAB owner=0054 element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAC owner=0054 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAD owner=0098 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAE owner=009B element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0BAF owner=009E element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 A0;A-gAr>Av?Ai?Aݖ<*AYD:?2Aս:ABAYD:?JAսRA٘i)I9k@YG J<JJJJE&K Y[~?yQA*E77DS9IB)BιE[[e!>[[~?[3[[[[BZYY i) ;IiI?< wq?))wq?wq?A*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035253.863165 s, next control iter: 1743035254.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035254.263165 s.dI~,ؐ&AAL@A1v?@AJ\~? A A6>%"AAךqNA"AZAbAjArAzAAA-@A1b=tA+Nl@AYٻAAo>A?A#g?AP<*AW>:?2AAս:AUBAW>:?JAAսRAUYsz'>x>y6ٻٓH`?@׿sP?ࣰ?& ?/+{ ?)sz'> I٘i)I9Nl@YG Jϕ<Jr(<JJJE&Kt> YU[~?y[=RA>-E77{7٭S9)B[[6>[[~?[[[[[BZYY i) ';Ii{7?o; v?)))yv?v?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035254.283165 s, next control iter: 1743035254.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 87532, header.stamp.nsec: 020 temperature: 13.5679922* salinity: 33.3753362, density: 1025.0000002* values[0]: 0.5744772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035254.683165 s.ljI~,鹫&AJ"J*J2J:JBJnJvJA(\@AXQu@A d\~? AAc%"AA=qNA"AZAbAjArAzAAAҡJ!.@AR;tA(l@AdgLArA>A@˼?A8?AǤ<*A?8:?2Aս:AťBA?8:?JAսRAť٘i)I9l@YG JӔ<JJJJE&K Y[~?yRA0E{7j7oS9)BѹE[[-fL>[[~?[E[[[[BZYY i) m elevatorAngleAction: 0.075140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743035255.103290F (some fields omitted in printout)AQ@AkF@A.}\~? AA%"AAqqNA"AZAbAjArAzAAAT>.@A!:tABGm@A C@AkA$3>Aޜ?A9?Aƒ<*AJ:?2AWԽ:ABAJ:?JAWԽRA٘i)I9Gm@YiG J<JJJJE&K Y[~?yRA2Eŧ7b7S9EB)ۯBӹE[[- b>[[~?[[[[[BZYY i) Az?A w?A@<*AD:?2AԽ:A)BAD:?JAԽRA)٘i)I9m@YG Ja<JJJJE&K Y[~?y}PSA5E{7j7S9)ׯBֹE[[w>[[~?[ު[[[[BZYY i) )P; ?))??ܻ*Y!YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035255.543165 s, next control iter: 1743035255.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8754, header.stamp.nsec: 00 temperature: 13.567608* salinity: 33.375362, density: 1025.000000* values[0]: 0.575150F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035255.943165 s.Yd~I~,F]&AAq= #@Aj@A\~? AAQ%"AA63rNA"AZAbAjArAzAAAa/@A2/^7tA8n@A};A.AA>A`5U?AH?A<*A>:?2A­ս:ABA>:?JA­սRA٘i)I98n@YG J[<JJJJE&K Y)\~?y3SA8E87/S9DB)үBٹE[[>[, \~?[ܪ[[[[BZYY i) 9&AJ"J*J2J:JR?BJR?nJz5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075140< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743035256.363280F (some fields omitted in printout)AY@ATL@A\~? A!A%"AAXrNA"AZAbAjArAzAAA:f>0@A6tAn@A?V=<AA>A-?A 7?A|<*A8:?2AS0ֽ:A&BA8:?JAS0ֽRA&YJ>.|>y<=<ٓH)D?ݿ` ?Q??`?`?)J> I٘i)I9n@YDG J<JJJJE&Ku> Y+-\~?y TA|>:EZ7SI7ĿS9)ίB[[3>["\~?[=ڪ[[[[BZYY i) {HeA; z?)) |z?z?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035256.383165 s, next control iter: 1743035256.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8755&, header.stamp.nsec: 0&0 temperature: 13.567264&* salinity: 33.375378&, density: 1025.000000&* values[0]: 0.575801&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035256.783165 s.ZI~,2&AA(\@A"mO@A*\~? AYAL%"AA}rNA"AZAbAjArAzAAA@\:0@AvaR4tA%o@AcK<A!菽AJ-?A?A?A<*AM2:?2Akֽ:AfBAM2:?JAkֽRAf٘i)I9%o@YG J<JJJJE&K Y-F\~?yiTA=E)77ZS9CB)ʯBܹE[[>[<\~?[ת[[[[BZYY i) Wcrq; *?)) *?*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035256.803165 s, next control iter: 1743035257.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035257.203165 s.I~,.M&AJ"J*J2J:JBJnJvJAQ@AdC@Ax\~? AiAc%"AArNA"AZAbAjArAzAAA;fTh0@A%٫ڇ2tAo@A ;ASA1?Ap?A|?Ayȕ<*AA:?2Aս:AhRBAA:?JAսRAhRI٘i)I9o@YG J<B=JJJJE&K Y2_\~?yܪTA@E77{7S9=B)B߹E[[c>[V\~?[#ժ[[[[BZYY iG@=) ZOgM; v?))v?v?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035257.223165 s, next control iter: 1743035257.603184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743035257.623165 s.YI~,eg&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035257.623272F (some fields omitted in printout)AG@A@A]~? ARA%"AArNA"AZAbAjArAzAAA H+1@A]A0tA !p@A"AA ?A)?A@e?A6<*A;:?2Ac ս:A BA;:?JAc սRA ٘i)I9!p@Y&G J<C=JJJJE&K Y4x\~?yت(UABES9[p\~?[MҪ[[[[BZYY i) /vJ-; K=?))K=?K=?J*Y#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035257.663165 s, next control iter: 1743035258.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8756 , header.stamp.nsec: 0 0 temperature: 13.566948 * salinity: 33.375408 , density: 1025.000000 * values[0]: 0.576455 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035258.043165 s.I~,Â&AJ"J*J2J:JBJnJvJA= ף0@AǞ=#@A|(]~? AA%"AArNA"AZAbAjArAzAAA|d1@A.tAp@A+AݖAe$?A@x?A>?A<*A2:?2A,ս:ACBA2:?JA,սRAC٘i)I9p@YwG J<JJJJE&K Y5\~?yԪUAEEb77S9;B)BE[[3>[c\~?[EϪ[[[[BZYY i) M; :?)):?:?m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035258.063165 s, next control iter: 1743035258.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035258.463165 s.XI~,&AAfffff@A[Y@A-@]~? AA=%"AA,sNA"AZAbAjArAzAAA/lP1@A!,tA/q@A@ TAAL?A E?A`|?A椥<*A(:?2Aս:A.BA(:?JAսRA.YL>G?yTٓH@S?ұE?`T? 4+?O?)L> I٘i)I9/q@YG Jc<JdJJJE&Ku> YĨ\~?yϪUA?HE7777S99B)BE[[+>[\~?[̪[[[[BZYY i) N[: x̖?))x̖?x̖?y#= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035258.503165 s, next control iter: 1743035258.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8757, header.stamp.nsec: 00 temperature: 13.566567* salinity: 33.375401, density: 1025.000000* values[0]: 0.577164F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035258.883165 s.yI~,8&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249077> elevatorAngleAction: 0.084107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035258.883314F (some fields omitted in printout)A(@Ah@AW]~? A.AL%"AA3sNA"AZAbAjArAzAAA0u1@A63t*tAq@AcARA?A?AL?A<*A:?2A> ֽ:AcBA:?JA> ֽRAc٘i)I9q@Y G J<JJJJE&K YQ\~?y˪UVAJE7ES98B)BE[[:>[\~?[Ȫ[[[[BZYY i) '[Y\~?['Ū[[[[BZYY i) ?A<*A:?2Aս:AOLBA:?JAսRAOL٘i)I9r@YG J<JJJJžE&K Ym\~?yP#WAPE77{7oS9)B[[>[\~?[b[[[[BZYY i) ?9?))>9?>9?,*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035259.763165 s, next control iter: 1743035260.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035260.143165 s.S/·I~,) &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035260.143294F (some fields omitted in printout)A ףp=@Aje0@A]~? AA[%"AAsNA"AZAbAjArAzAAA6P0Rn2@A` u#tAbhs@AR<A찥A}*?Aa?A/|?A<*A:?2AJKֽ:Am#BA:?JAJKֽRAm#٘i)I9hs@Y%G J[<JJJJŞE&K Y]~?yvWARES96B)BE[[)>[]~?[k[[[[BZYY i) ɨj/?yݨ%<ٓHU?@JE`_ .? >?@9?ꡄ?`?)T> I٘i)I9s@YG J<J1JJJǞE&K\v> Y]~?y䶪WAj/?UE777S95B)BE[[?[!]~?[R[[[[BZYY i)  &AA\@A@A6]~? A]ثA%"AAsNA"AZAbAjArAzAAAK3@AW \tA0t@AeX;AAM4?A?A?ARP<*A:?2A-ֽ:A_BA:?JA-ֽRA_٘i)I9t@YG J(<JJJJʞE&K Y2]~?ySmXAXEb7b7/S94B)BE[[%f?[9]~?[[[[[BZYY i) Zw elevatorAngleAction: 0.084107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035261.403294F (some fields omitted in printout)AQ@A.py@A]~? AӫAO%"AAtNA"AZAbAjArAzAAA 6,3@AI)tAd>u@AƮA}#AS9?AW?A?Ab<*A:?2A.ս:AABA:?JA.սRAA٘i)I9>u@YCG Jz<JJJJ͞E&K YH]~?y«XA[E7{7S91B)BE[[= ?[Q]~?[[[[[BZYY i) ;?AM]?A?A<*A:?2AIս:ABA:?JAIսRA٘i)I9u@YG J<B=JJJJОE&K Y_^]~?y0OYA]E)7ŧ7ZS90B)BE[[?[i]~?[ҫ[[[[BZYY i) $nT4@AX0tA̘v@AB:A4AC?AC?An?A <*Ao:?2Auս:A1BAo:?JAuսRA1٘i)I9v@YG J<C=JJJJҞE&K Y7t]~?yYA`E7777S9/B)zBE[[?[ց]~?[[[[[BZYY i) { elevatorAngleAction: 0.084107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743035262.663333F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8761, header.stamp.nsec: 00 temperature: 13.564960* salinity: 33.375469, density: 1025.000000* values[0]: 0.580371F (some fields omitted in printout)A@AZr@A^~? A ƫA[%"AA*dtNA"AZAbAjArAzAAADXP4@ASpn+tAIw@AYA-A@I?A K?A@3?A<*A9?2Ax>ֽ:AeBA9?JAx>ֽRAeY6@?XI?y:ٓH K?y%?@?- Y%]~?ye8ZAXI?cEj7j7S9)uB[[i?[,]~?[ꡪ[[[[BZYY i) UBZYY i¸>) g@A\^~? A趫A%"AAtNA"AZAbAjArAzAAA ! 5@AǪl tAjky@AH<ARAJY?AW?A`m?A<*A`9?2A׽:AbBA`9?JA׽RAb𼙘٘i)I9ky@YG J<<C=JJJJݞE&K  T9Y]~? T9y[AkE77{7ET9*B)^BE[[.?[]~?[[[[[ZZZZBZYY i) Ͱ Y]~?yzg\Ac?pE77pT9)PB[[:?[ ^~?[[[[[ZZZZBZYY i) wAȼAtm?A?Az?Al<*A,:?2Aֽ:A:BA,:?JAֽRA:٘i)I9x|@YG J<B=JJJJE&K YJ ^~?yl ]AuE7T9$B)ABE[[;tF?[4^~?[~y[[[[ZZZZBZYY i) &AA@AC@A!^~? A[Az%"AAuNA"AZAbAjArAzAAA P6@A+a+sA}@AX <A<Ah}?A?A?A;*Av9?2Axֽ:Aψ<BAv9?JAxֽRAψJJJE&K;w> Yt@^~?yW]Aw}?}Eŧ7b7[T9)6B[[`X?[q^~?[e[[[[ZZZZBZYY i3s) &5G Y^~?y2\ANj?Eb77F+T9)6B[[{v?[^~?[@[[[[BZYY is6m) ;ImmH?iGuK K?))K?K?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035268.983165 s, next control iter: 1743035269.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035269.383165 s.UI~,/X&AA(@Au!@A@>_~? A-iA]%"AAdvNA"AZAbAjArAzAAAf7@A?~|sA\|@AW *Ap=Az?Ay?A4]?A *A9?2A ׽:A y=BA9?JA ׽RA y=٘i)I9\|@YG J{JJJJE&K Y^~?y*N\AE77j7.T9B)5BE[[|?[^~?[39[[[[BZYY i) ;I_H?iHa# A?))A?A?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035269.403165 s, next control iter: 1743035269.783179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8768&, header.stamp.nsec: 0&0 temperature: 13.563081&* salinity: 33.375553&, density: 1025.000000&* values[0]: 0.583956&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035269.803165 s.xA\I~,gs&AJ"J*J2J:JBJnJvJA @A/M @AL_~? AybA%"AA2vNA"AZAbAjArAzAAA7@A{ %esA{@AHA=A?A@?A͠?A埼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@YLG J.JJJJE&K Y^~?y"[AEb77p2T9)9B[[f?[ ^~?[K1[[[[BZYY i) 9;IQH?i{( =?))=?=?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035269.823165 s, next control iter: 1743035270.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035270.223165 s.gcI~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035270.223287F (some fields omitted in printout)AzG @A9: @AZ_~? A[ATc%"AAwHvNA"AZAbAjArAzAAAzr 8@AᲙV?sAaR{@A[\;A"/=A?Ay?AQ?AO*A9?2Alֽ:A5=BA9?JAlֽRA5=٘i)I9R{@YG J1JJJJE&K Y^~?y![AE776T9B) Y^~?y! ZAΘ?E770=T9B)BBE[[U?[z_~?[[[[[BZYY i)  ;I$%H?iɍ|5 @?))@?@?x٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035271.103165 s, next control iter: 1743035271.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035271.483165 s.t_wI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035271.483313F (some fields omitted in printout)J"J*J2J:JBJnJvJA\ @AӽN @Ak_~? AFA%"AAvNA"AZAbAjArAzAAA0{Aa8@A}sA~y@A;A=Ab]?A.?A͜?A羶*Am9?2Aֽ:A'?=BAm9?JAֽRA'?=٘i)I9~y@YG JJJJJ E&K Yk^~?y_ZAEb7b7@T9B)FBE[[?[d*_~?[[[[[[BZYY i) +:IsH?i: A?))A?A?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035271.523165 s, next control iter: 1743035271.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8770, header.stamp.nsec: 00 temperature: 13.563440* salinity: 33.375557, density: 1025.000000* values[0]: 0.582756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035271.903165 s.}I~,&AAQ!@A0du!@A_~? A?A%"AAvNA"AZAbAjArAzAAA+荪8@Aۙ#sAx@AA I=A?A@?A`P?A3*A9?2Aq׽:A=BA9?JAq׽RA=٘i)I9x@Y~G J˳JJJJE&K Y^~?yYAE{7{7[DT9)KB[[Ð?[7_~?[[[[[BZYY i) x9IiH?i;? G?))G?G?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035271.923165 s, next control iter: 1743035272.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035272.323165 s.vI~,%&AJ"J*J2J:J?BJ?nJV5vJAGzT!@AGpG!@Aw_~? Ar8A%"AAêvNA"AZAbAjArAzAAAjI8@AAfsAVx@A3A=A滠?A?Ax?AH*A9?2AC׽:AZW=BA9?JAC׽RAZW=٘i)I9Vx@Y%G JtJJJJE&K Y4^~?yYAE77GT9)OB[[)ܓ?[fD_~?[ [[[[BZYY i) ʾI G?ihA S?))S?S?yWΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035272.343165 s, next control iter: 1743035272.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8771*, header.stamp.nsec: 0*0 temperature: 13.563688** salinity: 33.375561*, density: 1025.000000** values[0]: 0.582077*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035272.743165 s.WI~,/&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035272.743338F (some fields omitted in printout)Aףp=!@A?T1}!@Aƥ_~? A*1Ag%"AAKvNA"AZAbAjArAzAAA* 8@A$%LsA w@A\HA0=AY?A ?A`D?AsQ*Af9?2A6׽:A<BAf9?JA6׽RA<I٘i)I9w@YG JJJJJE&K Y^~?ye"YAE77KT9 B)E[[?[nP_~?[V[[[[BZYY i) )źIG?ifBC b?))b?b?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035272.783165 s, next control iter: 1743035273.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035273.163165 s.}}I~,qJ&AJ"J*J2J:J?BJ?nJ*5vJA!@A,-#!@A_~? A)A2+%"AAvNA"AZAbAjArAzAAA͖Thf9@AmϒϳsAAw@AAw=A?A ?Aw?A*A9?2Aֽ:A<BA9?JAֽRA YE^~?yXAإ?E{777OT9)SB[[?[[_~?[}[[[[BZYY i) IG?i@H f?))f?f?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035273.183165 s, next control iter: 1743035273.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035273.583165 s.昸I~,Se&AA)\!@A pA!@A_~? Af"AR%"AA.vNA"AZAbAjArAzAAA9fɼ09@AHsAv@A-:A.=Ao?AG7?A ?A;*A9?2A[ֽ:A<BA9?JA[ֽRA<٘i)I9v@Y*G JKJJJJE&K Y_~?yr٩_XAE77RT9B)XB[[4*?[if_~?[[[[[BZYY i) 1]IG?ioZM p?))p?p?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035273.603165 s, next control iter: 1743035273.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8772, header.stamp.nsec: 00 temperature: 13.563877* salinity: 33.375553, density: 1025.000000* values[0]: 0.581455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035274.003165 s.y I~,P4&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067077< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035274.003294F (some fields omitted in printout)J"J*J2J:JBJnJvJAR+"@A y"@A_~? AAL%"AAvNA"AZAbAjArAzAAA!3N9@AwsA1v@A-x<A=A?AV?A?A7]*A9?2Aֽ:A8B=BA9?JAֽRA8B=٘i)I91v@YG JۡJJJJE&K Y _~?yЩWAE777FVT9)\B[[H?[jp_~?[p۩[[[[BZYY i) "1IG?iѢhP @@))@@@@'ªYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035274.023165 s, next control iter: 1743035274.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035274.423165 s.uI~,&AA{Ga"@AQ6JJJ&E&KYx> Y_~?yXVA?Ej7j7aT9)dB[[C?[*_~?[[[[[BZYY i) rI{G?i. W @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035275.283165 s, next control iter: 1743035275.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 87742, header.stamp.nsec: 020 temperature: 13.5642662* salinity: 33.3755912, density: 1025.0000002* values[0]: 0.5802812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035275.683165 s.lI~,|&AJ"J*J2J:J?BJ?nJ5vJA(\#@AR"@AQ_~? AkA%"AAu"wNA"AZAbAjArAzAAAB9@AW]sA22t@AAS=A?A@-n?A -y?AJ*A9?2A?׽:A<BA9?JA?׽RA<٘i)I92t@YG JJJJJ(E&K Y#_~?yVAE{7dT9B)eBE[[ɬ?[O_~?[W[[[[BZYY i) TbIWiG?iuiZ d@))d@d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035275.683165 s, next control iter: 1743035276.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743035276.103165 s.I~,&AAQ8#@Ao~D+#@A_~? AA4%"AA.wNA"AZAbAjArAzAAAw%9@A*Y^sAɿs@AKAJ=AX4?A]?A?AN*A9?2AJ׽:AQ<BA9?JAJ׽RAQ<٘i)I9s@YZG J:JJJJ+E&K Y(_~?y*VAE7{71hT9)iB[[?[_~?[㬩[[[[BZYY i) ?IVG?i&Z\  @)) @ @个YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035276.123165 s, next control iter: 1743035276.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035276.523165 s.ǸI~J,(|!&A"J*J2J:J{?BJ{?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035276.523307F (some fields omitted in printout)AHzn#@A/R( a#@A_~? AA%"AA8wNA"AZAbAjArAzAAAc{RO9@AуsAnPs@Aȋ%AL=A>ʺ?A F?AF?A?*A9?2A׽:Aed<BA9?JA׽RAed<٘i)I9Ps@YG JB=JJJJ.E&K Yq-_~?yPUAE{7j7kT9)lB[[o?[i_~?[_[[[[BZYY i) O#IDDG?i\ V} @))V} @V} @yOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035276.543165 s, next control iter: 1743035276.923188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8775, header.stamp.nsec: 00 temperature: 13.564473* salinity: 33.375580, density: 1025.000000* values[0]: 0.579750F (some fields omitted in printout)q-_~?)P rAdjusting time to match Gazebo time: 1743035276.943165 s.ZdθI~,J]<&AAq= ף#@A̖#@A_~? AAEe%"AABwNA"AZAbAjArAzAAA-:9@A҉sAwr@AA=ADT?A??A@?AMO*A9?2Aֽ:AJ=BA9?JAֽRAJ=٘i)I9r@YG J}C=JJJJ0E&K YP2_~?ytUAEb7b7\oT9B)nBE[[6?[W_~?[љ[[[[BZYY i) )3I1G?i1\  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035276.963165 s, next control iter: 1743035277.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035277.363165 s.ոI~,p>W&AJ"J*J2J:JZ?BJZ?nJ5vJA#@A0#@A`~? A'ݪA%"AALwNA"AZAbAjArAzAAAf,t%':@A/sA#jr@A;A&=A.ۿ?A ?A?AO*Az9?2Aֽ݇:ArT=BAz9?JAֽ݇RArT=Yݣ??yb=+f;ٓH YT4_~?yڋUA?E7777rT9B)pBE[[KZ?[_~?[>[[[[BZYY i) nBIG?ib_ 6 @))6 @6 @SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035277.383165 s, next control iter: 1743035277.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8776&, header.stamp.nsec: 0&0 temperature: 13.564627&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.579246&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035277.783165 s.X۸I~,r&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035277.783303F (some fields omitted in printout)A(\$@AP$@A`~? A=ժAʘ%"AATwNA"AZAbAjArAzAAA>:@A/sAq@A3F<A==Ai?A@.?A ?AT*A9?2Ahֽ:A =BA9?JAhֽRA =٘i)I9q@Y?G JJJJJ6E&K YY6_~?yTAÞEvT9)tB[[?[_~?[[[[[BZYY i) QI G?il&a  @)) @ @ ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035277.803165 s, next control iter: 1743035278.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035278.203165 s.I~,&AJ"J*J2J:JBJnJvJAQE$@Aej8$@A `~? ALͪA3&"AA>\wNA"AZAbAjArAzAAAo-%:@AsJV{sAyqq@AE]9<AX=A'?AN?A!?A*A^9?2Aֽ:A =BA^9?JAֽRA =٘i)I9qq@YG J^JJJJ8E&K Y]8_~?yIzYTAƞE{7{7zT9)xB[[?[_~?[|[[[[BZYY i) smaIF?i >b @))@@ȪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035278.223165 s, next control iter: 1743035278.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035278.623165 s.XI~,a&AAGz$@A[z4m$@A `~? ATŪA&"AA$cwNA"AZAbAjArAzAAAČX2:@AhIyvsAp@Ag;AM~=A?A@3ϼ?A4?ASi*AN9?2AEֽ:Ab =BAN9?JAEֽRAb =٘i)I9p@YG JϘJJJJ;E&K Ya:_~?yqSAȞE777}T9)|B[[z?[_~?[Fs[[[[BZYY i) pIF?i[ b =@))=@=@?̪YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035278.643165 s, next control iter: 1743035279.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8777 , header.stamp.nsec: 0 0 temperature: 13.564832 * salinity: 33.375584 , density: 1025.000000 * values[0]: 0.578693 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035279.043165 s.I~,&AJ"J*J2J:J%?BJ%?nJW5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078421< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743035279.043325F (some fields omitted in printout)A= ף$@A$@A`~? AUAj&"AA>iwNA"AZAbAjArAzAAAE/ ) >:@AqsAop@AAb=ALd?A@?A:F?A 1*A9?2A[׽:A~ =BA9?JA[׽RA~ =٘i)I9op@YVG JǙJJJJ>E&K Yf<_~?yhSA˞E7FT9B)~BE[[/?[_~?[i[[[[BZYY i) <'I+F?i"` @))@@ϪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035279.063165 s, next control iter: 1743035279.443183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035279.463165 s.VI~,&AAffff$@Am]$@A`~? AQA&"AAnwNA"AZAbAjArAzAAAUqG:@AGup/lsAo@A17Aə=A?AH$?AU?AS*A9?2AD׽:A0f =BA9?JAD׽RA0f =Y;??y/Ǚ=7ٓH |ߟ#? `X?F4 憿`g?);? I٘i)I9o@YG JB=J|<JJJ@E&KVx> Y;_~?y_5SA?ΞEŧ77܄T9)B[[?[_~?[_[[[[BZYY i) I#F?iwb WY@))WY@WY@yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035279.483165 s, next control iter: 1743035279.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8778, header.stamp.nsec: 00 temperature: 13.565063* salinity: 33.375587, density: 1025.000000* values[0]: 0.578096F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035279.883165 s.yI~,/&AJ"J*J2J:JBJnJvJA(%@A0.%@A`~? AHAȣ&"AAswNA"AZAbAjArAzAAA[TO:@AÙgsAho@A_DAk=A?AyR?Aa?A *A9?2A-׽:A =BA9?JA-׽RA =٘i)I9ho@YG JHC=JJJJCE&K Y:_~?yWRAўE77j7qT9)B[[=?[_~?[6V[[[[BZYY i) e%@A`~? AA{&"AA{wNA"AZAbAjArAzAAAH8^:@A9D YsAm@A%<A9[=AD?Az?ATv?Aֶ*A`9?2ALֽ:A<=BA`9?JALֽRA<=٘i)I9m@YG JbJJJJKE&K Y8_~?y<QAٞE77{71T9)B[[?[_~?[79[[[[BZYY i) ;ܥI]tF?iK^ @))@@HߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035281.163165 s, next control iter: 1743035281.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035281.563165 s.I~,_ d&AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ@ elevatorAngleAction: -0.087821vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035281.563283F (some fields omitted in printout)A3333%@AD)%@A`~? AA/&"AA }wNA"AZAbAjArAzAAA=:j`:@A0ǰTsAm@AcGL<AIǣ=A?A@o?A[x?AG*Aܳ9?2ANֽ:Ar =BAܳ9?JANֽRAr =Y}??yģ= L<ٓHݮ^??ⰴ?`r?@/?)}? I٘i)I9m@YPG JJ3><JJJNE&K x> Yb4_~?y3*QA?۞EǖT9)B[[?[s_~?[/[[[[BZYY i) DIaF?iv_ 0"@))0"@0"@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035281.583165 s, next control iter: 1743035281.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8780, header.stamp.nsec: 00 temperature: 13.565580* salinity: 33.375587, density: 1025.000000* values[0]: 0.576803F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035281.983165 s.I~,~&AA\(&@A6v&@A,`~? AAض&"AA}wNA"AZAbAjArAzAAA0DI`:@A-OsA΂l@A<A=AЀ?AwzAw?ASǸ*Aխ9?2Avֽ:A&=BAխ9?JAvֽRA&=٘i)I9l@YG JJJJJQE&K Y0_~?yF+PAޞE77\T9B)BE[[@?[B_~?[&[[[[BZYY i) ¬INF?iq%I_  @)) @ @yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035282.003165 s, next control iter: 1743035282.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035282.403165 s.&&I~,͙&AJ"J*J2J:JBJnJvJAQ^&@A5!Q&@A`~? A|AT&"AAA}wNA"AZAbAjArAzAAA]]1_:@A@JsAk@AF@yAܧ=AF3?A A u?Ar*Aͧ9?2A6ֽ:A`=BAͧ9?JA6ֽRA`=٘i)I9k@YG JJJJJSE&K Y,_~?y"NPAET9B)BE[[g?[Q_~?[u[[[[BZYY i) I5 @))> @> @YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035282.423165 s, next control iter: 1743035282.803180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8781, header.stamp.nsec: 00 temperature: 13.565822* salinity: 33.375591, density: 1025.000000* values[0]: 0.576056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035282.823165 s.,I~,2&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035282.823299F (some fields omitted in printout)AGz&@Ah>n&@A`~? AtA&"AA&|wNA"AZAbAjArAzAAA!2~\:@AĒBSEsALk@Ab Ao=A]?A9¢Ao?A/8*A9?2A%׽:A!=BA9?JA%׽RA!=٘i)I9Lk@Y5G JJJJJVE&K Y:)_~?yOAET9)B[[ >?[_~?[[[[[BZYY i) 2}üI)F?iLZ !@))!@!@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035282.843165 s, next control iter: 1743035283.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035283.243165 s.3I~,u&AJ"J*J2J:JBJnJvJAףp=&@A72&@A`~? AlA&"AA;zwNA"AZAbAjArAzAAAc NW:@A?Ίh@sAj@A0aKAH=Aڊ?A:qA`cg?A̧*Av9?2A*׽:A=BAv9?JA*׽RA=٘i)I9j@YG JJJJJYE&K Y%_~?yrOAEŧ77T9)B[[+^?[=_~?[ [[[[BZYY i) ʼIF?iV Y^#@))Y^#@Y^#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035283.263165 s, next control iter: 1743035283.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035283.663165 s.:I~,q&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8782, header.stamp.nsec: 00 temperature: 13.566150* salinity: 33.375595, density: 1025.000000* values[0]: 0.575334F (some fields omitted in printout)A'@AZ&@A `~? AdA,&"AAwwNA"AZAbAjArAzAAABnVaP:@A[h;sA0j@AA 2=A?A`A@\?A5ü*A=9?2A@ֽ:A=BA=9?JA@ֽRA=Y?b?y0=)ٓHͿ V?@ͿѴ? `K҃Q?)? I٘i)I9j@YtG JHB=Jl<JJJ[E&Kx> Y_~?yNA?Eb7T9B)BE[[?[_~?[-[[[[BZYY i) p#ҼIF?i=V $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035283.683165 s, next control iter: 1743035284.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035284.083165 s.EAI~,.S&AJ"J*J2J:JI?BJI?nJp5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035284.083301F (some fields omitted in printout)A)\5'@ADԷ('@An`~? A\A&"AAswNA"AZAbAjArAzAAAS-I:@AM6sAhi@A{AN=A?A ȴAO?A6˼*Ai9?2Aֽ:A=BAi9?JAֽRA=٘i)I9hi@YG JƼC=JJJJ^E&K Ym_~?yNAE77GT9)B[[[?[6_~?[[[[[BZYY i) `ټIE?ijhU w&@))w&@w&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035284.123165 s, next control iter: 1743035284.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035284.503165 s.GI~,P4 &AARk'@ATȕz^'@AN`~? ATAUf &"AAowNA"AZAbAjArAzAAA?:@A :1sAh@A.;AnK=A"?AA@?A^{Լ*A 9?2A6ֽ:AX=BA 9?JA6ֽRAX=٘i)I9h@Y G JϼJJJJaE&K Y_~?yqNAE{7{7ܯT9)B[[Կ?[y_~?[[[[[BZYY i) IE?iR (@))(@(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035284.543165 s, next control iter: 1743035284.903174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8783, header.stamp.nsec: 00 temperature: 13.566448* salinity: 33.375580, density: 1025.000000* values[0]: 0.574546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035284.923165 s.8NI~,;&AJ"J*J2J:JBJnJvJA{G'@A$?'@A`~? ALA &"AAjwNA"AZAbAjArAzAAAO-O4:@A,sAch@A^G<A)=A{?ABA.?A:ڼ*A9?2Aֽ:Ax!=BA9?JAֽRAx!=٘i)I9h@Y5 G J׼JJJJcE&K YY _~?yMAE77rT9B)BE[[ ?[Wp_~?[~[[[[ZZ¸BZYY i¸_=) ԼIE?iN )@)))@)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035284.963165 s, next control iter: 1743035285.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035285.343165 s. elevatorAngleAction: 0.082816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035285.343308F (some fields omitted in printout)Ap= '@AXm'@A `~? ADAU &"AAdwNA"AZAbAjArAzAAAj':@A7''sAJg@Ah3<AY=AXM?A`A@?A?޼*A9?2A <ֽ:A/b!=BA9?JA <ֽRA/b!=٘i)I9Jg@Y G JܼJJJJfE&K Y_~?yT#MAE77T9)ƯB[[?[ff_~?[wۨ[[[[ZZBZYY i) 6ȼIӿE?ifnyI !+@))!+@!+@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035285.383165 s, next control iter: 1743035285.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8784&, header.stamp.nsec: 0&0 temperature: 13.566808** salinity: 33.375595*, density: 1025.000000** values[0]: 0.573675*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035285.763165 s.J "J *J 2J :J ?BJ ?nJ 56[I~vJ,p&AA (@A!'@A`~? A<A9 &"AA^wNA"AZAbAjArAzAAA+L:@A!C #sA}f@A;Ao=A?A@A?A*A9?2A ֽ:APp=BA9?JA ֽRAPp=Y?a?y_o=;ٓHHտ7N?տ@@? &cp?`5?)? I٘i)I9}f@YG G J&B=J:JJJiE&Kw> Y^~?yިLA?EZ7SI7T9)̯B[["?[[_~?[|Ҩ[[[[ZZBZYY i) IE?ihH ,@)),@,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035285.783165 s, next control iter: 1743035286.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035286.183165 s.bI~,V&AA(\B(@A5(@A`~? A4A &"AAVwNA"AZAbAjArAzAAA/2 :@A NsAve@AAӀ=Ab?A`ÿAM?A *A9?2Aֽ:A X<BA9?JAֽRA X<٘i)I9e@Y G JC=JJJJkE&K Y9^~?yը5LAE7772T9)ӯB[[-?[\P_~?[ɨ[[[[ZZBZYY i) ذI]E?i]F 8.@))8.@8.@yU=~תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035286.203165 s, next control iter: 1743035286.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035286.603165 s.94iI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743035286.603285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQx(@A8Gk(@A_~? A-An &"AAZNwNA"AZAbAjArAzAAATP9@A]wفsAd@ACAz{=A^V?AſA|?AK*A*9?2Ayֽ:A^f<BA*9?JAyֽRA^f<٘i)I9d@Y= G JxJJJJnE&K Y^~?ykͨKAE{7T9B)ܯB E[[F?[XD_~?[[[[[ZZBZYY i) 層I E?iɗJB /@))/@/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035286.643165 s, next control iter: 1743035287.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8785 , header.stamp.nsec: 0 0 temperature: 13.387715 * salinity: 33.391647 , density: 1025.000000 * values[0]: 0.691489 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035287.023165 s.ZpI~,|&AAHz(@A,(@A_~? A2%AN &"AAQEwNA"AZAbAjArAzAAAID9@A кsAd@As*PA 8=A?A GǿA?A{м*A9?2A9ֽ:AN9;BA9?JA9ֽRAN9;٘i)I9d@Y G J`JJJJqE&K Y^~?yŨGKAE77]T9)B[[J@[7_~?[1[[[[ZZBZYY i) CI%~E?iٓ?= P1@))P1@P1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035287.063165 s, next control iter: 1743035287.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035287.443165 s.9vI~,F]&AJ"J*J2J:JBJnJvJAq= (@A(@A_~? AhAП &"AA;wNA"AZAbAjArAzAAA#59@A2sAec@AAK<AG?A /ZɿA 1?A*A9?2Aֽ:AߺBA9?JAֽRAߺ٘i)I9ec@Ye G J¼B=JJJJsE&K YW^~?yϼJAE77T9)B[[T7@[x*_~?[[[[[ZZBZYY iZ=) InE?iᎿ6 "2@))"2@"2@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035287.463165 s, next control iter: 1743035287.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8786, header.stamp.nsec: 00 temperature: 13.388066* salinity: 33.391647, density: 1025.000000* values[0]: 0.689861F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035287.863165 s.+}I~,>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743035287.863327F (some fields omitted in printout)A)@Aq )@A_~? AA7&"AA0wNA"AZAbAjArAzAAAT,9@A^? sA=b@Ao:AhB7<AM@A2˿Ap?Aᇉ*Ax9?2Aֽ:A BAx9?JAֽRA Y ?@yRB7<s:ٓHۿ`h`b?@ۿ`i?+膿m_?y?) ? I٘i)I9b@Y G JIC=J8JJJvE&Kx> YX^~?yдJA@Ej7j7T9B)BE[[C@[y_~?[9[[[[ZZBZYY iY=) ˂I_E?i<4 `f4@))`f4@`f4@މYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035287.883165 s, next control iter: 1743035288.263185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035288.283165 s.7RI~,&AJ"J*J2J:JBJnJvJA(\O)@A6 elevatorAngleAction: 0.075307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743035289.123301F (some fields omitted in printout)J"J*J2J:JBJnJvJAG)@A,խ)@A_~? AA&"AA wNA"AZAbAjArAzAAA\[o9@A=N?rAub@A!S;AAq@APпA?Au*A9?2AGֽ:AɼBA9?JAGֽRAɼI٘i)I9b@Y G J)C=JJJJ~E&K YY^~?y՜JA Ej7j7GT9B)BE[[_@[^~?[[[[[BZYY i) >JI84E?i& -9@))-9@-9@y=0*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035289.143165 s, next control iter: 1743035289.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743035289.543165 s.II~,b&AA= ף)@A:̗)@A_~? A/A&"AAvNA"AZAbAjArAzAAABFS9@ACLrAb@A[A2A@A2ѿA`?AUj@;*A9?2AEֽ:ABA9?JAEֽRA뼙٘i)I9b@Y G JYf9JJJJE&K YY^~?y֔JAE{7T9)[[- @[^~?[Ć[[[[BZYY i) 0D6I&E?ix * :@)):@:@o*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743035289.563165 s, next control iter: 1743035289.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8788, header.stamp.nsec: 00 temperature: 13.388431* salinity: 33.391670, density: 1025.000000* values[0]: 0.688263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035289.963165 s.wI~,}&AJ"J*J2J:JBJnJvJAffff&*@A5[*@Aü_~? AA&"AAzvNA"AZAbAjArAzAAAl` '69@A^rA5b@A AYYAv@AҿA?A=;*A9?2Aeֽ:A5BA9?JAeֽRA5Yu?a@yWY>ٓH3f@xpݓ? m?`h鲩 '?@!?)u? I٘i)I95b@Y G J;JJJJE&Kv> Y֋^~?yEJA@E777rT9B)BE[[4l @[^~?[~[[[[BZYY iJf=) %IE?isR  <@))<@<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035289.983165 s, next control iter: 1743035290.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035290.383165 s.إI~,+&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743035290.383278F (some fields omitted in printout)A(\*@AԚO*@A_~? AJA"&"AAZvNA"AZAbAjArAzAAA 9@AVorAtb@A٦PAyAHF@A`ҿAu?A4<*A9?2Aս:A?6 BA9?JAսRA?6 ٘i)I9tb@Y G JN<JJJJE&K YS}^~?yKAE)7ŧ7T9)B[[ @[D^~?[Zw[[[[BZYY i) I E?il< =@))=@=@Ǩ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035290.403165 s, next control iter: 1743035290.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8789", header.stamp.nsec: 0"0 temperature: 13.388430"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.688601"F (some fields omitted in printout).S}^~?). rAdjusting time to match Gazebo time: 1743035290.803165 s.vAI~,wg&AJ"J*J2J:JBJnJvJA*@AX߄*@A˧_~? AAcA&"AAvNA"AZAbAjArAzAAAz.8@A'@rAb@Ap A爽A# @AnӿA!C?An<*A9?2A)ֽ:ASBA9?JA)ֽRAS٘i)I9b@Y G JP<JJJJE&K Yn^~?y#~^KAE{7j7T9 B)BE[[u@[P^~?[o[[[[BZYY i=) caIE?ic "$?@))"$?@"$?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035290.823165 s, next control iter: 1743035291.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035291.223165 s.gI~,H&AAz*@A8+*@A_~? A٩AQ&"AAvNA"AZAbAjArAzAAA<8@A rA7c@A:AאAq @AԿA@8?Ac<*A9?2Aقֽ:ADBA9?JAقֽRAD٘i)I97c@YI G J<JJJJE&K YO`^~?yvKAEb772T9)B[[@[^~?[h[[[[BZYY i) +ID?iX @@))@@@@yȧf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035291.243165 s, next control iter: 1743035291.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035291.643165 s.J "J *J 2J :J `0?wйI~BJ`0?nJ85, *&AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035291.643281F (some fields omitted in printout)A ףp*@AoUf*@A_~? ArҩA]&"AAvNA"AZAbAjArAzAAATRk&8@Aj8rAc@AD;A&AlD @A@տA`?A~<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9c@Y G J<JJJJE&K YQ^~?yoKAEj7j7T9 B)BE[[ w@[^~?[{a[[[[BZYY i) NɻID?iL /B@))/B@/B@yKe=+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035291.663165 s, next control iter: 1743035292.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8790, header.stamp.nsec: 00 temperature: 13.388284* salinity: 33.391697, density: 1025.000000* values[0]: 0.688973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035292.063165 s.I~,V &AA33333+@A&&+@A_~? AP˩A&"AAvNA"AZAbAjArAzAAA";D8@A rAC/d@APG<AٙA @AeֿA@D?Abw<*A.9?2Aֽ:A7 BA.9?JAֽRA7 Y? @y֙G<ٓH d?ה?q&&"6??J?)? I٘i)I9/d@Y G J<JWJJJE&K4x> Y@^~?ygWLA @E77]T9 B)BE[[#@[q^~?[{Z[[[[BZYY i) ~jI}D?iEE tC@))tC@tC@S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035292.083165 s, next control iter: 1743035292.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035292.483165 s.u_ǹI~,&AJ"J*J2J:Jx0?BJx0?nJ 95vJA\h+@A:[+@Ax_~? ABĩAt&"AAƊvNA"AZAbAjArAzAAAۘe8@AqrA$d@A1<AA@AA;׿A`a?A<*A9?2Aֽ:AIT BA9?JAֽRAIT ٘i)I9d@Y2 G J<JJJJE&K Y 0^~?y`LA!E77T9)B[[w@[]^~?[S[[[[BZYY i) ?IMD?iv=> 3E@))3E@3E@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035292.503165 s, next control iter: 1743035292.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8791, header.stamp.nsec: 00 temperature: 13.388140* salinity: 33.391712, density: 1025.000000* values[0]: 0.689775F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035292.903165 s.͹I~,9&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743035292.903298F (some fields omitted in printout)AQ+@A+@Ak_~? AIA&"AAQwvNA"AZAbAjArAzAAAvI>8@A!AMrADe@Ag{;AA(@A ؿA`$?A0 <*A]9?2AOֽ:Aw BA]9?JAOֽRAw ٘i)I9De@Y G J<JJJFJE&K Y)^~?yY&MA$E7)7T9B)BE[[@[jI^~?[M[[[[BZYY i) @)^ID?i23+_ F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035292.923165 s, next control iter: 1743035293.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035293.323165 s.vԹI~,%T&AJ"J*J2J:J0?BJ0?nJI95vJAGz+@Aqn+@Ay]_~? AeA &"AA+cvNA"AZAbAjArAzAAA;8@Afp>rAe@AFAӒAj@AfؿA9?A6C<*A9?2A=ֽ:A BA9?JA=ֽRA ٘i)I9e@Y G JA<JJJJE&K YJ^~?yRMA&E{7j7T9B)BE[[p@[4^~?[F[[[[BZYY i) !ID?i&+ջ 6H@))6H@6H@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035293.343165 s, next control iter: 1743035293.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8792*, header.stamp.nsec: 0*0 temperature: 13.387907** salinity: 33.391712*, density: 1025.000000** values[0]: 0.690742*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035293.743165 s.W۹I~,yo&AAףp= ,@AV 1+@A}O_~? AA &"AAXNvNA"AZAbAjArAzAAA-ֻR7@ArApf@Aev<A$A@AקٿA^?Aa<*A9?2Aֽ:A, BA9?JAֽRA, ٘i)I9pf@Y? G J<JJJJE&K Yi]~?yKMA)Eŧ77T9B)ݯBE[[`@[^~?[F@[[[[BZYY i) ˺I|D?i͈û {iH)){iH:I@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035293.763165 s, next control iter: 1743035294.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035294.163165 s.u}I~,q&AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035294.163292F (some fields omitted in printout)A@,@Aѭ2,@AA_~? AߨA&"AA8vNA"AZAbAjArAzAAAw 7@AvirAg@AB@A>嘽A0@AsڿAb?A2<*A/9?2A<ֽ:ABA/9?JA<ֽRAYl@ @y☽L@ٓH _? e??`6`?)l@ I٘i)I9g@Y G J<J:JJJE&Kw>  U9YR]~? U9y;E[NA @,E{7j7HU9B)گBE[[d@[- ^~?[:[[[[BZYY i) i$ID?iA칻 KF))KFj4K@m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035294.183165 s, next control iter: 1743035294.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035294.583165 s.I~,S&AA)\u,@Ah,@A32_~? A@AO&"AA"vNA"AZAbAjArAzAAA {n7@A'LrAJg@A9Am/A1R@A;=ۿA@L?AԖ<*A9?2A ֽ:A<BA9?JA ֽRA<٘i)I9g@Y G J-<JJJJE&K Y<]~?y>NA.Eb77U9)կB[[1@[=]~?[%4[[[[BZYY i) @9I`D?i˭ mE))mE#L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035294.623165 s, next control iter: 1743035294.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8793, header.stamp.nsec: 00 temperature: 13.387677* salinity: 33.391712, density: 1025.000000* values[0]: 0.691764F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035295.003165 s.z I~,U4&AJ"J*J2J:JBJnJvJAR,@Aڦx,@A"_~? AAё&"AA vNA"AZAbAjArAzAAA<%c7@ACrAQ.h@AT;A2eA@AܿA?Al<*A9?2A:ֽ:A\BA9?JA:ֽRA\٘i)I9.h@YO G Jr<JJJJE&K Y%]~?yB8(OA1E{7j7s U9B)үBE[[U@[]~?[].[[[[BZYY i) {:ID?i;) |C))|C9/N@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035295.023165 s, next control iter: 1743035295.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035295.423165 s.uI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065860< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035295.423300F (some fields omitted in printout)A{G,@AY>,@A+_~? AJAn&"AA\uNA"AZAbAjArAzAAAW37@ApLIrAh@AV-<A͐A@AܿA?A`<*A(9?2A ׽:ALBA(9?JA ׽RAL٘i)I9h@Y G J<B=JJJJE&K Y ]~?y1OA4E77 U9)ίB[[@[v]~?[([[[[BZYY i) . ;ID?iݾ ]tB))]tBXO@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035295.443165 s, next control iter: 1743035295.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8794, header.stamp.nsec: 00 temperature: 13.387495* salinity: 33.391720, density: 1025.000000* values[0]: 0.692780F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035295.843165 s.I~,&AJ"J*J2J:JZ1?BJZ1?nJ95vJAp= -@A<* -@A_~? AA&"AA9uNA"AZAbAjArAzAAAp7@An^IrA`ج?@~5? ] ؋?`u?@~?) @ I٘i)I9i@YBG J{<JEl<JJJE&K!x> Yۈ]~?yo%TPA@9E773U9B)ʯBE[[!@[f]~?["[[[[BZYY iF=) 8.;ID?i4^ [?))[?ZR@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035296.283165 s, next control iter: 1743035296.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8795., header.stamp.nsec: 0.0 temperature: 13.387285.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.693657.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035296.683165 s.l I~,R+&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035296.683283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\-@A?RDu-@A{^~? AAo&"AAuNA"AZAbAjArAzAAAK6@AO}rAZ?j@AEAA:@A@޿A?A<*A9?2Ajֽ:A}BA9?JAjֽRA}٘i)I9?j@YG J|<JJJJE&K Ys]~?yPA))N>gT@ݼ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035296.683165 s, next control iter: 1743035297.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035297.103165 s.I~,F&AAQ-@AE-@A^~? A|A&"AAuNA"AZAbAjArAzAAA]h6@A?ҭrAj@AuA1=A@A`߿A`DP?A<*A9?2AQֽ:A?BA9?JAQֽRA?٘i)I9j@YG J<JJJJE&K Y^]~?yQA>Eb77^U9B)įBE[[4$@[j]~?[1[[[[BZYY i) ;ITD?iMT:$ ;<));<zU@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035297.123165 s, next control iter: 1743035297.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035297.523165 s.I~,{a&AJ"J*J2J:J1?BJ1?nJQ:5vJAHz-@Aρ-@A^^~? AvA~k&"AAuuNA"AZAbAjArAzAAA*{26@Am=º7rA elevatorAngleAction: 0.074842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743035297.943331F (some fields omitted in printout)Aq= #.@A!%.@A<^~? ApA&"AAVZuNA"AZAbAjArAzAAAp5@A ޮrANk@AbDASˆA%@A`A`?A<*AA9?2Aeֽ:AUBAA9?JAeֽRAU٘i)I9k@YvG J<JJJJE&K Yg4]~?yQADEb77"U9B)¯BݹE[[-p'@[9]~?[ [[[[BZYY i) ;I׈D?i\V Ң9))Ң9|X@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035297.983165 s, next control iter: 1743035298.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035298.363165 s.%I~,p>&AJ"J*J2J:JBJnJvJAY.@AA*ŎL.@A^~? A;kAM&"AA>uNA"AZAbAjArAzAAAw5@A|P2-8rA{0l@A咺ApA!@A/A P?A<*AC9?2Aֽ:ABAC9?JAֽRAY @!@yp9ٓHbS? ?`Ќ@*?\R?) @ I٘i)I90l@YG J<Jg;JJJE&K7x> Y}]~?y)RA!@GE777&U9!B)BڹE[[(@[P!]~?[[[[[BZYY i)  elevatorAngleAction: 0.074842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035299.203289F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ.@A<.@As^~? A>`A&&"AAiuNA"AZAbAjArAzAAAtTg"P5@AxrAIm@A;H<AA#@A@݈A5?A<*A'9?2A׽:ABA'9?JA׽RA٘i)I9m@YMG J<JJJJE&K Y\~?yRALE77H-U9$B)BԹE[[޵+@[\~?[[[[[BZYY i) -SAOEj7j70U9)B[[-@[\~?[[[[[BZYY i) oq=: !f2))!f2_@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035300.083165 s, next control iter: 1743035300.443256 s, wait time: 0.380091 s rAdjusting time to match Gazebo time: 1743035300.463165 s.XGI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199282 time: 1743035300.463343F (some fields omitted in printout)Afffff/@AZY/@A7^~? APAZ&"AAtNA"AZAbAjArAzAAA{ʚ4@AhrAVn@AA~ᒽA_'@AJrA`?Aۚ<*A9?2A[ֽ:AU BA9?JA[ֽRAU Y@9'@yQ)ٓH`=߿J?`?@hꤿ X?gw?)@ I٘i)I9n@Y,G J<J3JJJǟE&Kw> Y^\~?ySA'@TE7 8U9(B)B͹E[[J/@[\~?[[[[[BZYY i) :\D: 0))0(a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035300.503165 s, next control iter: 1743035300.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8799, header.stamp.nsec: 00 temperature: 13.386635* salinity: 33.391747, density: 1025.000000* values[0]: 0.696959F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035300.883165 s.yMI~,<8&AJ"J*J2J:JBJnJvJA(/@A /@A1#^~? AKAW&"AAtNA"AZAbAjArAzAAA04_Y\4@A<rA o@AG@AA(@AAE?A'<*A9?2An9ֽ:A BA9?JAn9ֽRA ٘i)I9 o@Y|G Ja<JJJJɟE&K Y\~?yy`TAWEZ7Z7;U9)B[[P1@[[\~?[[[[[BZYY iip=) ~k ; Lj/))Lj/b@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035300.903165 s, next control iter: 1743035301.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035301.303165 s.VTI~,wgS&AA/@A/@AH^~? AFA}&"AA=mtNA"AZAbAjArAzAAA4P04@Ap rA-o@A=AA"*@A`A ?A<*A9?2A Uֽ:A BA9?JA UֽRA ٘i)I9o@YG J~<JJJJ̟E&K Yqx\~?yTAYE773?U9*B)BʹE[[2@[p\~?[[[[[BZYY i) )z$0; s.))s.Bd@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035301.323165 s, next control iter: 1743035301.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8800., header.stamp.nsec: 0.0 temperature: 13.386438.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.697862.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035301.723165 s.[I~,Hn&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035301.723291F (some fields omitted in printout)J"J*J2J:JBJnJvJAz0@Ap`r/@A]~? AIBA x&"AATMtNA"AZAbAjArAzAAA(T3@AW:rAp@AcA|0Aw+@AIKA`z?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9p@Y!G Jk<JJJJϟE&K Y_\~?y%UA\E{7j7BU9,B)BǹE[[t4@[W\~?[[[[[BZYY i)  pX; f,))f,Ope@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035301.743165 s, next control iter: 1743035302.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035302.143165 s.X/bI~,*&AA ףp=0@A0e00@A]~? A=A&"AA,tNA"AZAbAjArAzAAAaOW3@AԷtvvrAp@Arv;A]A,@A@MAc?AҠ<*A<9?2Aֽ:A BA<9?JAֽRA ٘i)I9p@YsG JB<JJJJҟE&K YG\~?yGާUA_E777^FU9-B)BĹE[[Br5@[`=\~?[D[[[[BZYY i) ?@; D+))D+f@yW=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035302.163165 s, next control iter: 1743035302.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035302.563165 s.hI~,g &AJ"J*J2J:JBJnJvJA3333s0@A$)f0@A]~? A]9A3)&"AA! tNA"AZAbAjArAzAAA80Y3@AoȄrA$q@A0<AA&.@AA?Ad<*Ay9?2AN׽:A =BAy9?JAN׽RA =Y- @Q.@y1<ٓH@uڿ??6ȕ}?@g?@?)- @ I٘i)I9$q@YG J<JP/JJJԟE&K.x> Y-\~?yڧUA.@aE77IU9.B)BE[[6@[N#\~?[[[[[BZYY i) @)Gn; [)))[)ZDh@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035302.583165 s, next control iter: 1743035302.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8801, header.stamp.nsec: 00 temperature: 13.386260* salinity: 33.391731, density: 1025.000000* values[0]: 0.698812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035302.983165 s.oI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035302.983296F (some fields omitted in printout)A\0@AӽN0@A]~? A5A}&"AAsNA"AZAbAjArAzAAA4.,3@AͰ/rAq@A 0F<A0Au/@A 7A9J?A읣<*A9?2A{ ׽:ABA9?JA{ ׽RA٘i)I9q@YG J<JJJJןE&K Y\~?yקYVAdE{7j7MU9)B[[28@[< \~?[[[[[BZYY i) b; r())r(i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035303.003165 s, next control iter: 1743035303.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035303.403165 s.&vI~,&AJ"J*J2J:JBJnJvJAQ0@Ag 0@A<]~? A1A}&"AA.sNA"AZAbAjArAzAAA9@[1[~?[h[[[[BZYY i) - elevatorAngleAction: 0.083710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035304.243295F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=J1@A&2=1@As]~? A3)Aj &"AAsNA"AZAbAjArAzAAA]FQH2@AHzrAjes@A A#A@3@A 3A*?AUY<*Az9?2A"ֽ:AwBAz9?JA"ֽRAw٘i)I9es@Y#G J<JJJJߟE&K Y[~?yĢWAlE77{7IXU94B)BE[[i@<@[R[~?[ݧ[[[[BZYY i) @3 Y[~?yɧXA4@oE77[U95B)BE[[=@[[~?[3ܧ[[[[BZYY i) &sNA"AZAbAjArAzAAA݃]1@A vrA:t@AA޾A5@A0AL?A<*A9?2A[ֽ:AkBA9?JA[ֽRAkI٘i)I9t@YG Jy<JJJJE&K Y[~?yƧxXAqEt_U9)B[[Y>@[߆[~?[ڧ[[[[BZYY i)  elevatorAngleAction: 0.083710< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035305.503301F (some fields omitted in printout)AR1@A~Az1@A-]~? AA>!&"AAsNA"AZAbAjArAzAAA/ s1@A@jqtrAOu@AƬA/A 67@AdA ;?AQ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Ou@YMG J<B=JJJJE&K YSv[~?yçXAtE77{7 cU96B)BE[[I@@[l[~?[٧[[[[BZYY i) , elevatorAngleAction: 0.092731< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035306.763350F (some fields omitted in printout)Ǎ2@A2@A\~? AXA!&"AATrNA"AZAbAjArAzAAA(Z#lp0@A\nrA#Cw@A&<A6A,;@AAV?A<*A9?2Aֽ:A._BA9?JAֽRA._YD-@h;@y=4&<ٓH@o ˿m)???灿u?„?`?)D-@ I٘i)I9Cw@Y}G JK<C=JDJJJE&K#x> Y7%[~?yEZA;@|E777mU9:B)BE[[wAD@[[~?[ק[[[[BZYY i)  BZYY i¸>)  G@AwcAk?A<*As9?2Ahս:A9!BAs9?JAhսRA9!٘i)I9Ry@YG J(<JJJJE&K YZ~?yڶ[AE777xU9)rB[[j0H@[B)mBE[[zI@[Z~?[է[[[[ZZZZBZYY i) GL7&AA3@A63@Aj\~? A A4"&"AAqNA"AZAbAjArAzAAAuVtwE.@A:%DgrA]z@AprA AA@A A?A6=*AL9?2A^ֽ:A BAL9?JA^ֽRA Y{3@A@yIٓHa7ʽK??BE [?Ir v?){3@ I٘i)I9z@YG J=Jh<JJJE&Kw> YZ~?y\AA@E{7Z7U9?B)gBE[[J@[Z~?[ ֧[[[[ZZZZBZYY i) ꛵/crA4}@AXW<AAE@A A?AzS<*A9?2Apֽ:Ae^:BA9?JApֽRAe^:٘i)I94}@YG J<C=JJJJE&K YFZ~?yް]AE7tU9BB)XBE[[-N@[QZ~?[gק[[[[ZZZZBZYY i) 5vJAffff4@A[4@A [~? AAI#&"AA3qNA"AZAbAjArAzAAA4 C+@A C'brA~@ArAS>;A"H@A`7'A@}?A7@<*A$9?2Aֽ:A r<BA$9?JAֽRA r;鷼ٓH@ໜ@r?"@GV@rW?):@ I٘i)I9~@YG Jk<C=JQC>JJJ E&KPx> YZ~?y#^A"H@Eb7U9BB)QBE[[5Q@[Z~?[٧[[[[ZZZZBZYY i1{) Qz}R@[{Z~?[+ڧ[[[[ZZZZBZYY i) gJJJE&Kv> Y"Y~?y]ACE77U9DB)RBE[[W@[Y~?[ߧ[[[[BZYY ie) 5vJA\5@A=5@AO[~? AA$&"AAHpNA"AZAbAjArAzAAAzLD$'@A=zH_rA}@AS<A݆=AABApAU?ACe*Aֆ9?2AIս:A=BAֆ9?JAIսRA=٘i)I9}@YzG JIJJJJE&K YdY~?yg]AEb77U9CB)UB}E[[%X@[jY~?[[[[[BZYY i) 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035314.323325F (some fields omitted in printout)AGzT6@AWA tG6@A[~? AAQ $&"AA=oNA"AZAbAjArAzAAAJ4~[&@A_rA|@A*' ;A]=A8?AtAjAЗ*Aߑ9?2Awֽ:AI =BAߑ9?JAwֽRAI =٘i)I9|@YG JdB=JJJJ E&K Y,Y~?yD\AE77j7JU9)\BwE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #49q/1^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY iH) *;)ye}ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035314.343165 s, next control iter: 1743035314.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8813*, header.stamp.nsec: 0*0 temperature: 13.384446** salinity: 33.391674*, density: 1025.000000** values[0]: 0.708304*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035314.743165 s.W+I~,m&AAףp=6@A"1}6@A[~? AA $&"AAoNA"AZAbAjArAzAAA8_%@Al0_rAh|@A:ܻA=AB>AksAȒA蟼*A99?2Aֽ:A =BA99?JAֽRA =٘i)I9h|@YG J~C=JJJJ"E&K YY~?yq\AEb77߱U9)`B[[\@[EY~?[[[[[BZYY i) Q;IF?i!@G< X)) Xuc@y/fPѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035314.763165 s, next control iter: 1743035315.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035315.163165 s.x}2I~,q&AJ"J*J2J:J35?BJ35?nJ>5vJA6@A6@AZ~? AAG$&"AAkoNA"AZAbAjArAzAAA1 %@Ac_rA{@APA=AG=AzAPAݭ*AOh:?2AM½:A=BAOh:?JAM½RA=Y5F@^W=y =IQٓH``m?@:2>ǿtxȚ`U`x?)5F@ I٘i)I9{@YLG JJ=JJJ%E&Kj> YX~?y \AW=E77{7uU9DB)eBtE[[]@[n.Y~?[Q[[[[BZYY i) ;I=F?i @< Z)) U@yԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035315.183165 s, next control iter: 1743035315.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035315.583165 s.8I~,R&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035315.583284F (some fields omitted in printout)A)\6@A66@AZ~? AA#&"AAoNA"AZAbAjArAzAAARD$@A_rAS{@A_GA@=Af<AyA娨Aܵ*A:?2Afý:Ae=BA:?JAfýRAe=٘i)I9S{@YG J JJJJ(E&K YX~?y<[AEŧ7b7 U9)iBqE[[^@[dY~?[[[[[BZYY i) e;IF?i @<  )) U@ҪYn YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035315.603165 s, next control iter: 1743035315.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8814, header.stamp.nsec: 00 temperature: 13.384682* salinity: 33.391689, density: 1025.000000* values[0]: 0.707308F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035316.003165 s.u @I~,@4&AJ"J*J2J:J5?BJ5?nJ=5vJAR+7@Aog_y7@AZ~? A'A#&"AA\oNA"AZAbAjArAzAAAo#.#@A], `rAz@A{AƘ=AP;AuAA砫*Aa:?2AŽ:A`=BAa:?JAŽRA`=٘i)I9z@YG JJJJJ*E&K Y7X~?yַ<[AEU9)nBnE[[6`@[Y~?[h[[[[BZYY i) liG;IF?i@f@< /J))/JO=@,ҪYaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035316.023165 s, next control iter: 1743035316.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035316.423165 s.uFI~,&AA{Ga7@A=T7@AZ~? AA#&"AA5oNA"AZAbAjArAzAAAJG#@A,_w`rA3z@A(;Aϛ=Al:A:oA 5A'*Au:?2Aǽ:AX=BAu:?JAǽRAX=٘i)I93z@YHG JZJJJJ-E&K YsX~?yqZAE775U9)sBkE[[na@[YA`}A*A:?2AFͽ:A=BA:?JAFͽRA=Y ;L@7y_=T[<ٓH?CSпiJyg2X?`?) ;L@ I٘i)I9 y@YG JJ5ػJJJ2E&KP> YvjX~?ya ZA7E7777_U9)|BeE[[$c@[X~?[[[[[BZYY i) &9I2JG?i'@.< 7))7 @ʪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035317.283165 s, next control iter: 1743035317.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88162, header.stamp.nsec: 020 temperature: 13.3852212* salinity: 33.3916852, density: 1025.0000002* values[0]: 0.7051672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035317.683165 s.lZI~,^k&AJ"J*J2J:J4?BJ4?nJJ=5vJA(\8@A7@AALZ~? AA}#&"AA.nNA"AZAbAjArAzAAA1ymp!@A oEbrA|x@AR%;AĐ=Aa6AIAEAY*A&:?2AϽ:Aky=BA&:?JAϽRAky=٘i)I9|x@Y<G J+JJJJ5E&K Y@dǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035317.683165 s, next control iter: 1743035318.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035318.103165 s.aI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743035318.103318F (some fields omitted in printout)AQ88@AF+8@A{2Z~? AA#&"AAnNA"AZAbAjArAzAAA;' @Ao crA2w@A;*A?=AT75AN7A A!S*A:?2Aѽ:AT<BA:?JAѽRAT<٘i)I9w@YG J꣼JJJJ8E&K Y4X~?y§FYAşE77j7U9)B[[Ff@[ӒX~?[A[[[[BZYY i) кIG?i^#@}< ))))pE@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035318.123165 s, next control iter: 1743035318.503178 s, wait time: 0.380013 s*4X~?)*§ rAdjusting time to match Gazebo time: 1743035318.523165 s.gI~,-|&AJ"J*J2J:JBJnJvJAHzn8@AR a8@AZ~? AAt#&"AA qnNA"AZAbAjArAzAAAsf8 @A͈crA'pw@At6AS=A>3A!A A**A:?2A9ӽ:A<BA:?JA9ӽRA<٘i)I9pw@YG JJJJJ:E&K YX~?ydħXAǟE77 U9)B_E[[yg@[}X~?[[[[[BZYY i) {%IG?i'@}< K))Kތ@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035318.543165 s, next control iter: 1743035318.923185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8817, header.stamp.nsec: 00 temperature: 13.385493* salinity: 33.391682, density: 1025.000000* values[0]: 0.704138F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035318.943165 s.WdnI~,>]&AAq= ף8@AFʖ8@A5Y~? A*Ae#&"AA1JnNA"AZAbAjArAzAAA,E:@A' drARv@AbA9U=A2A AͰÿA*Az:?2AZԽ:A<BAz:?JAZԽRA<٘i)I9v@YLG JϕJJJJ=E&K YW~?yƧXAʟE{7j7U9)B\E[[h@[hX~?[[[[[BZYY i) MbIG?i),@^< e))env@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035318.963165 s, next control iter: 1743035319.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035319.363165 s.uI~,>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035319.363277F (some fields omitted in printout)J"J*J2J:JBJnJvJA8@Ac8@AY~? AAD#&"AA|#nNA"AZAbAjArAzAAA@A:frA wv@A[Am=A31AAſAu*Au:?2AGOս:A<BAu:?JAGOսRA Y;W~?yɧ$XA=1͟E77KU9)BYE[[gi@[2TX~?[[[[[BZYY iÚ) nSISG?i.@p< ))뿩/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035319.383165 s, next control iter: 1743035319.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8818&, header.stamp.nsec: 0&0 temperature: 13.385712&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.703206&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035319.783165 s.f{I~, &AA(\9@A]mO9@A_Y~? AA #&"AAmNA"AZAbAjArAzAAAh@AG$.grAu@Ak9Ak=A-/AA@_ǿAm*A4q:?2Aաս:A<BA4q:?JAասRA<٘i)I9u@YG JJJJJBE&K YW~?y"ͧWAϟE7{7U9)BVE[[9k@[?X~?[2 [[[[BZYY i) eI$H?i)2@x <  )) 鿩@ݺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035319.803165 s, next control iter: 1743035320.183192 s, wait time: 0.380027 s rAdjusting time to match Gazebo time: 1743035320.203165 s.I~, &AJ"J*J2J:JBJnJvJAQE9@A89@A&Y~? A A"&"AAmNA"AZAbAjArAzAAA@A thrA΀u@Ad<A܆=A&.A A2ɿAdꑼ*APh:?2Aս:AC<BAPh:?JAսRAC<٘i)I9u@YkG JxJJJJEE&K YW~?yVЧlWAҟE77uU9)BTE[[5>l@[+X~?[[[[[BZYY i) yλIKH?i5@< ;));翩A@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035320.223165 s, next control iter: 1743035320.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035320.623165 s.VI~,X'&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035320.623306F (some fields omitted in printout)AGz9@Ar1m9@AY~? A0 A"&"AA}mNA"AZAbAjArAzAAAno@AOirAu@A2zb<A=AGV-AଏAR˿AqӐ*A`:?2AQ'ֽ:Ao&=BA`:?JAQ'ֽRAo&=٘i)I9u@Y!G J<JJJJHE&K YHW~?yӧWA՟E77 U9)B[[Clm@[X~?[[[[[BZYY i) IsH?i9@< ))俩؏@y8ϹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035320.643165 s, next control iter: 1743035321.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8819 , header.stamp.nsec: 0 0 temperature: 13.385929 * salinity: 33.391666 , density: 1025.000000 * values[0]: 0.702326 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035321.043165 s.I~,B&AJ"J*J2J:JBJnJvJA= ף9@A9@A#Y~? AA"&"AAmNA"AZAbAjArAzAAAEdA@A IkrA+t@Apt2<A=A,AjA̿A<*AW:?2A:ֽ:A-,=BAW:?JA:ֽRA-,=I٘i)I9t@YG JJJJJKE&K YyW~?y֧VAןEj7j7U9CB)BQE[[n@[}X~?[[[[[BZYY i) OIH?i>@%W< G))G⿩ n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035321.063165 s, next control iter: 1743035321.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035321.463165 s.YI~,]&AAffff9@A>W[9@A`hY~? A$Aqr"&"AAdmNA"AZAbAjArAzAAAHR@AI7VlrAt@Al;A==A=*A`BAοAg㊼*AO:?2A׽:A=BAO:?JA׽RA=YsY@ȥ*y&=I;ٓHcF?@7ݿt@`A`^b??)sY@ I٘i)I9t@YG JJ7JJJME&K7{> Y`W~?yڧXVA*ڟE{75U9)BNE[[/o@[#W~?[[[[[BZYY i) IH?i@@< ))))࿩@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035321.483165 s, next control iter: 1743035321.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8820, header.stamp.nsec: 00 temperature: 13.386193* salinity: 33.391674, density: 1025.000000* values[0]: 0.701463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035321.883165 s.yI~,8x&AJ"J*J2J:J3?BJ3?nJL<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035321.883309F (some fields omitted in printout)A(:@AX7:@AOY~? AA?"&"AA?mNA"AZAbAjArAzAAA.@AŇnrAes@AAɊ=AM)AmA@CBпA*A'H:?2A}׽:AK=BA'H:?JA}׽RAK=٘i)I9s@YIG JJJJJPE&K YGW~?yާUAݟE7777U9)BKE[[p@[W~?[ [[[[BZYY i) a%IH?iC@q< ݿ))ݿl@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035321.903165 s, next control iter: 1743035322.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035322.303165 s.`I~,g&AAQ:@AbD:@Ae7Y~? AA"&"AAemNA"AZAbAjArAzAAA㉈T@A!BprA1s@A[A'=A'AA`)ѿAM,*A@:?2A׽:A-=BA@:?JA׽RA-=٘i)I91s@YG JJJJJSE&K Y.W~?yUAߟE77`U9BB)BHE[[ r@[sW~?[I$[[[[BZYY i) "4II?iG@< uۿ))uۿc2@*ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035322.323165 s, next control iter: 1743035322.703187 s, wait time: 0.380022 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8821., header.stamp.nsec: 0.0 temperature: 13.386387.* salinity: 33.391659., density: 1025.000000.* values[0]: 0.700628.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035322.723165 s.I~,H&AJ"J*J2J:J\3?BJ\3?nJ<5vJAz:@APz:@A2Y~? AA:!&"AAlNA"AZAbAjArAzAAA@AKۢrrA2r@AFȀ=AG&A ּAd ҿA͏*A9:?2Ax׽:AZ=BA9:?JAx׽RAZ=٘i)I9r@YG JB=JJJJUE&K Y{W~?yEUAE777U9)B[[ Ks@[%W~?[([[[[BZYY i) 9tDIiJ@= g!ٿ))g!ٿǒ@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035322.743165 s, next control iter: 1743035323.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035323.143165 s.V/I~,*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035323.143271F (some fields omitted in printout)A ףp:@Ae:@A5Y~? AA͒!&"AA lNA"AZAbAjArAzAAAjDz@AHQp] trACr@AwAo=Ad%A"A@ҿAꔼ*A+3:?2A=׽:Ac=BA+3:?JA=׽RAc=٘i)I9Cr@YrG JC=JJJJXE&K Y]V~?yTAEŧ77U9)BEE[[)st@[9W~?[ -[[[[BZYY i) SIiN@j= +ֿ))+ֿ[@iɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035323.183165 s, next control iter: 1743035323.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035323.563165 s.I~,R &AJ"J*J2J:JBJnJvJA3333:@A&:@AnX~? AA!AsS!&"AAӬlNA"AZAbAjArAzAAAblTHZ@Ab{(vrAq@Anʵ;A̔=A""$AzYAӿA*A&-:?2Aֽ:As =BA&-:?JAֽRAs =Y_@$y˔=E;ٓHȽt?Xk`桿OFv?C?)_@ I٘i)I9q@Y$G JJ3b<JJJ[E&K,y> YV~?yTA$E77j7 U9)BBE[[&u@[dW~?[1[[[[BZYY i) 3cIi>Q@= 3{Կ))3{Կ@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035323.583165 s, next control iter: 1743035323.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8822, header.stamp.nsec: 00 temperature: 13.386613* salinity: 33.391624, density: 1025.000000* values[0]: 0.699782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035323.983165 s.I~,&AA\(;@A";@AX~? A$A3!&"AAlNA"AZAbAjArAzAAA0P<@A(2xrA$=q@AzO<A=A<"A$AԿAÏ*A':?2Aֽ:A=BA':?JAֽRA=٘i)I9=q@YG JB=JJJJ]E&K  V9Y V~? V9y!TAEb77V9AB)B@E[[v@[W~?[A6[[[[BZYY i) ~lrIiS@Ѫ= 'ҿ))'ҿ@OϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035324.003165 s, next control iter: 1743035324.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035324.403165 s.&ƻI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075568< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035324.403282F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^;@Aܞ Q;@AX~? AY(A &"AAjelNA"AZAbAjArAzAAA=0"@AʞgzrAHp@A>NW<Ac%=A=!ABAտA*A":?2ASֽ:AԵ=BA":?JASֽRAԵ=٘i)I9p@Y~G JKC=JJJJ`E&K Y`V~?yPSAE77{7KV91B)B[[?w@[rW~?[:[[[[BZYY iN) 'ҀIiW@ = Ͽ))Ͽ@LѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035324.423165 s, next control iter: 1743035324.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8823", header.stamp.nsec: 0"0 temperature: 13.386847"* salinity: 33.391640", density: 1025.000000"* values[0]: 0.698838"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035324.823165 s.̻I~,B4&AAGz;@Am;@A|X~? A,A &"AA?BlNA"AZAbAjArAzAAA ս@Auֈ|rA%p@AB;;AJ>=A7 A>A7YֿA(*A:?2A ׽:A*=BA:?JA ׽RA*=٘i)I9%p@Y)G JJJJJcE&K YV~?yYSAE77V90B)B=E[[y@[bW~?[?[[[[BZYY i) nIiZ@ = Ϳ))ͿT@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035324.863165 s, next control iter: 1743035325.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035325.243165 s.ӻI~,dO&AJ"J*J2J:J2?BJ2?nJt;5vJAףp=;@AED1;@AX~? A0A+9 &"AAulNA"AZAbAjArAzAAAqKGW @ArAyo@AIRA=AA ]vA1׿A΢*A:?2A;z׽:AG=BA:?JA;z׽RAG=٘i)I9o@YG J᤼JJJJeE&K YV~?yRAE{7j7u V9)B:E[[n;z@[QW~?[D[[[[BZYY i) Ii{^@fc= @˿))@˿?@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035325.263165 s, next control iter: 1743035325.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035325.663165 s.ڻI~,qj&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035325.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8824, header.stamp.nsec: 00 temperature: 13.387097* salinity: 33.391624, density: 1025.000000* values[0]: 0.697829F (some fields omitted in printout)A<@Aй;@A|X~? A4Ap&"AAkNA"AZAbAjArAzAAA|t @ATKrADo@Ab;A=ArA 17AؿA*A :?2Aڭ׽:An=BA :?JAڭ׽RAn=Yf@גy=b;ٓH-!? Ϫ` `{@5 @!lg?)f@ I٘i)I9o@YG JB=J<JJJhE&Kx> YpV~?yuRAEj7 V9)B[[b{@[aAW~?[I[[[[BZYY i) Ii`@= ȿ))ȿtӖ@yeתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035325.683165 s, next control iter: 1743035326.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035326.083165 s.DI~,S&AJ"J*J2J:JBJnJvJA)\5<@A̛õ(<@AeX~? AJ8A&"AAkNA"AZAbAjArAzAAAL@AW"rASn@A_A=A3A.A ؿA)*A:?2Aѝ׽:A=BA:?JAѝ׽RA=٘i)I9n@Y.G JC=JJJJkE&K Y$ZV~?y "RAE777V9)B7E[[|@[}1W~?[N[[[[BZYY i) Ii c@OP= Gƿ))Gƿf@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035326.103165 s, next control iter: 1743035326.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035326.503165 s.I~,D4&AARk<@A y^<@AOX~? A<AG&"AAkNA"AZAbAjArAzAAAPDh @AKɆrAGm@A#! A=AKA@A@ŦٿA>'*A9?2AN׽:A/Q=BA9?JAN׽RA/Q=٘i)I9m@YG J秼JJJJmE&K Y.DV~?yQAE{76V9)B5E[[}@[!W~?[S[[[[BZYY i) oIie@$= _[Ŀ))_[Ŀ@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035326.523165 s, next control iter: 1743035326.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8825, header.stamp.nsec: 00 temperature: 13.387326* salinity: 33.391609, density: 1025.000000* values[0]: 0.696865F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035326.923165 s.<I~,&AJ"J*J2J:Je2?BJe2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035326.923303F (some fields omitted in printout)A{G<@AUt<<@A+:X~? AAA&"AAmkNA"AZAbAjArAzAAAΔۈ@APեrAcim@Aw:A=A/A@oA`oڿAV*Ah9?2Aֽ:AK=BAh9?JAֽRAK=٘i)I9im@Y~G J JJJJpE&K Y8.V~?y PQAE77V9/B)įB1E[[~@[W~?[X[[[[BZYY i) Ii&i@ 7= s¿))s¿@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035326.963165 s, next control iter: 1743035327.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035327.343165 s. Y9V~?y$sPA E77 V9)ίB.E[[@[oV~?[c[[[[BZYY i) ռIin@= ))@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035327.783165 s, next control iter: 1743035328.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035328.183165 s.I~,c &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035328.183269F (some fields omitted in printout)A(\B=@A5=@AW~? AUOA&"AA7kNA"AZAbAjArAzAAA?A3rAk@A+<A=AA`A߻ܿA:Ǽ*A9?2A ֽ:A]e=BA9?JA ֽRA]e=٘i)I9k@YWG J#ƼC=JJJJxE&K Y3U~?y*PAE)7ŧ7$V9)ӯB[[:@[4V~?[h[[[[BZYY i) #ļIip@e= B))B5?@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743035328.203165 s, next control iter: 1743035328.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035328.603165 s.74 I~,&&AJ"J*J2J:JBJnJvJAQx=@ADk=@AwW~? AVTA&"AAkNA"AZAbAjArAzAAA]X5?AcArAPj@AN:A=A*sAIA}ݿAǼ*A99?2A׽:A=BA99?JA׽RA=٘i)I9j@YG JǼJJJJ{E&K Y+U~?y*1OAE777 (V9)دB,E[[3@[VV~?[in[[[[BZYY i) r˼Ii]s@$= )).К@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035328.623165 s, next control iter: 1743035329.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8827 , header.stamp.nsec: 0 0 temperature: 13.387892 * salinity: 33.391613 , density: 1025.000000 * values[0]: 0.694658 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035329.023165 s.ZI~,{A&AAHz=@AV=@A\W~? AyYA&"AAjNA"AZAbAjArAzAAA f?A4drA5j@A;AC=ApA`CA<޿ApǼ*A9?2Ak׽:A =BA9?JAk׽RA =٘i)I95j@YG JǼJJJJ~E&K Y"U~?y\7OA Eb77+V9)ݯB)E[[>@[V~?[s[[[[BZYY i) ҼIiRv@k= c))c`@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035329.043165 s, next control iter: 1743035329.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035329.443165 s.@I~,d]\&AJ"J*J2J:J1?BJ1?nJO:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035329.443297F (some fields omitted in printout)Aq= =@AeÚ=@AW~? A^Ax&"AAjNA"AZAbAjArAzAAA?jO?A;XrAi@A]A=AAAp޿A"ɼ*A9?2Ab~׽:A =BA9?JAb~׽RA =٘i)I9i@Y%G JȼJJJJE&K YU~?y=NA Ej7Z7K/V9)B[[΂@[V~?[y[[[[BZYY i) XڼIiy@= +))+@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035329.463165 s, next control iter: 1743035329.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8828, header.stamp.nsec: 00 temperature: 13.388182* salinity: 33.391586, density: 1025.000000* values[0]: 0.693478F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035329.863165 s.+I~,>w&AA>@A|% >@A3W~? AdAO&"AAjNA"AZAbAjArAzAAA>?A6prAh@ADAAn=AvA`VA߿Aͼ*A9?2A_G׽:A=BA9?JA_G׽RA=Yґs@‡yk=CBٓH:`?@`֢@G ;f t(?)ґs@ I٘i)I9h@Y G JʼB=J<JJJE&Knx> Y3U~?y[D/NAEb772V9.B)B&E[[^@[ձV~?[.[[[[BZYY i) ICIi.{@ = <))<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035329.903165 s, next control iter: 1743035330.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035330.283165 s.1R$I~,&AJ"J*J2J:J`1?BJ`1?nJ95vJA(\O>@A,NB>@A'W~? AiAf&"AAjNA"AZAbAjArAzAAAehg?A6.@rA3h@A }AĴ=A4AgA.AMԼ*A9?2Aֽ:Ao=BA9?JAֽRAo=٘i)I93h@YR G JмC=JJJJE&K YNU~?y&KMAEv6V9)B[[@[OV~?[鄨[[[[BZYY i) tIi}@`!= ))@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035330.323165 s, next control iter: 1743035330.683174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88292, header.stamp.nsec: 020 temperature: 13.3884622* salinity: 33.3915942, density: 1025.0000002* values[0]: 0.6922722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035330.703165 s.ֺ*I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093741< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035330.703277F (some fields omitted in printout)AQ>@A>x>@AyW~? A?oAx&"AAjNA"AZAbAjArAzAAAGR?A#ЮrA~g@A'0;Aѻ=A AɮAބA(ۼ*A|9?2Awzֽ:A=BA|9?JAwzֽRA=٘i)I9~g@Y G JB׼B=JJJJE&K Ye~U~?yQ>MAEŧ7b7 :V9/B)B$E[[~@["V~?[[[[[ZZ¸BZYY i¸Ax=) mܼIi`@p#= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035330.743165 s, next control iter: 1743035331.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035331.123165 s.;1I~,m&AJ"J*J2J:JBJnJvJAG>@Aӭ>@A)sW~? AtA &"AAhjNA"AZAbAjArAzAAABhzĵ?AknW/rAf@AR<A=A A`+XA`FAݼ*A 9?2A;Iֽ:A=BA 9?JA;IֽRA=٘i)I9f@Ys G JܼC=JJJJE&K YlU~?yXLAE{7{7=V9.B)B!E[[ @[[V~?[[[[[ZZBZYY i) xkмIi@#%= ))/@YFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743035331.143165 s, next control iter: 1743035331.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035331.543165 s.I8I~,&AA= ף>@Ai7>@AI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082261< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035331.963295F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff&?@A)[Z?@AOW~? AʀA%&"AA1jNA"AZAbAjArAzAAA?doտAđpdrAhe@A?;Az=A AD߿A`}A*A9?2Aاֽ:A%<BA9?JAاֽRA% YKU~?yfKA E777DV9-B)BE[[+@[vV~?[U[[[[ZZBZYY i) EIi$@D'= ))M@yu=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035331.983165 s, next control iter: 1743035332.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035332.383165 s.EI~,/&AA(\?@ApO?@A>W~? A܆A&"AAbjNA"AZAbAjArAzAAAŴ456A.rA@d@AAw=A&A#޿A A*Ab9?2Aֽ:A+h<BAb9?JAֽRA+h<٘i)I9@d@Y G J~JJJJE&K Yb;U~?y6nKA E)7ŧ7aHV9) B[[@[kV~?[X[[[[ZZBZYY i) c Ii@(= ˤ))ˤܟ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035332.403165 s, next control iter: 1743035332.783176 s, wait time: 0.380011 s b;U~?) 6n&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8831&, header.stamp.nsec: 0&0 temperature: 13.389150&* salinity: 33.391544&, density: 1025.000000&* values[0]: 0.689413&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035332.803165 s.vALI~,wg3&AJ"J*J2J:JBJnJvJA?@AyZ~?@A-W~? A A9&"AAiNA"AZAbAjArAzAAAS*ύAݷrAc@AOAb3=AbA`ݿAAe̼*A9?2Aֽ:Aδ;BA9?JAֽRAδ;٘i)I9c@Yw G JJJJJE&K Y+U~?yuKA"Ej7Z7KV9.B)BE[[I@[aV~?[e[[[[ZZBZYY i) ]bIi@(*= g))gk@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035332.823165 s, next control iter: 1743035333.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035333.223165 s.gSI~,HN&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082261< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743035333.223302F (some fields omitted in printout)Az?@A\7?@AW~? AQA&"AAiNA"AZAbAjArAzAAAn=WAY rAb@ACpA l<ARA 7ݿAskAc*Am9?2A0ֽ:Aa0BAm9?JA0ֽRAa0٘i)I9b@Y G JB=JJJJE&K Y)U~?y|JA%E)7ŧ7OV9)B[[$؇@[yWV~?[{[[[[ZZBZYY i) Ii@O+= V))V@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035333.243165 s, next control iter: 1743035333.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035333.643165 s.xYI~,*i&AJ"J*J2J:JBJnJvJA ףp?@A'e?@A W~? AAC&"AA$iNA"AZAbAjArAzAAAo~Af՜nrAxcb@AAb*<AA.SܿA+A*A9?2Aֽ:ACBA9?JAֽRAC٘i)I9cb@Y G J C=JJJJE&K Y U~?y7KJA(E77!SV9-B)BE[[e@[MV~?[[[[[ZZBZYY i)  Iiy@g-= k ))k @YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8832, header.stamp.nsec: 00 temperature: 13.389462* salinity: 33.391552, density: 1025.000000* values[0]: 0.688126F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743035333.663165 s, next control iter: 1743035334.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035334.063165 s.`I~,t &AA33333@@A@)&@@AV~? A0AH&"AAPiNA"AZAbAjArAzAAA񊷑AVrAb@Ah=:A"eA7A3ۿAA-<*A^9?2A-ֽ:A%yBA^9?JA-ֽRA%yY'M@Fye=:ٓHݿ`S?_]?SݿWt?lu?lG??)'M@ I٘i)I9b@Y G J;fB=JZCJJJE&Knx> YaT~?y RJA*Ej7j7VV9)B[[@[`DV~?[к[[[[ZZBZYY ix=) Ii@-= _䛿))_䛿@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035334.083165 s, next control iter: 1743035334.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035334.483165 s.x_gI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.060725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035334.483287F (some fields omitted in printout)J"J*J2J:JBJnJvJA\h@@AZA[@@AV~? AƦAF&"AA!iNA"AZAbAjArAzAAA7V$CA̓rAja@A_#<AVAB/AڿAzHAY*A9?2Aֽ:A^BA9?JAֽRA^٘i)I9a@Ye G JC=JJJJE&K Y6T~?yؓYJA-E7777LZV9/B)!BE[[g@[S;V~?[[[[[ZZBZYY iC=) 9nIi@B.= 㩙))㩙b@C)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035334.503165 s, next control iter: 1743035334.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8833, header.stamp.nsec: 00 temperature: 13.389655* salinity: 33.391521, density: 1025.000000* values[0]: 0.687368F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035334.903165 s.mI~,͹&AAQ@@A@@AfV~? AsAO&"AAiNA"AZAbAjArAzAAA/g[NrAsrAџa@AE#a<AAAiٿA`A`*AF9?2Aֽ:AüBAF9?JAֽRAü٘i)I9a@YQ G J?JJJJE&K Y T~?y`JA0E{7{7]V9.B)E[[@[2V~?[[Ǩ[[[[BZYY i) L[Iih@/= p))p3@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035334.923165 s, next control iter: 1743035335.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035335.323165 s.utI~,!&AJ"J*J2J:JBJnJvJAGz@@A%vmo@@A6V~? A9AB&"AApiNA"AZAbAjArAzAAA\"A}LagrAa@A#<A0A(AB/ٿAhAQ+;*A9?2Aֽ:A}BA9?JAֽRA}⼙٘i)I9a@Y J9JJJJE&K YT~?yygJA2E7777waV9)[[@[W*V~?[ͨ[[[[BZYY i) #_HIil@9/1= 9))9@y\='m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035335.343165 s, next control iter: 1743035335.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8834*, header.stamp.nsec: 0*0 temperature: 13.389705** salinity: 33.391518*, density: 1025.000000** values[0]: 0.687202*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035335.743165 s.W{I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071419< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743035335.743310F (some fields omitted in printout)Aףp= A@A5'/2@@AwV~? AA&"AA[iNA"AZAbAjArAzAAA A,rAFa@AT:A_9VA8AaؿAMAD ;*AԻ9?2A}ֽ:A;BAԻ9?JA}ֽRA;٘i)I9a@Ye G JH;JJJJE&K YT~?yInJA5E{7 eV9-B)BE[[-@[j"V~?[Ԩ[[[[BZYY i) Lr5Ii@=2= {)){N@|*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035335.763165 s, next control iter: 1743035336.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035336.163165 s.u}I~,q &AJ"J*J2J:JBJnJvJA@A@A#32A@A+V~? A©Ak6&"AAGiNA"AZAbAjArAzAAAf[!A15rAa@AAc4uA/A`׿AMAo3<*A 9?2Au/ֽ:A BA 9?JAu/ֽRA Y@y1uK*ٓH׿%?[e?|׿J?@?\ ?)@ I٘i)I9a@Y G Jx<J/JJJE&K$w> Y'T~?yvJA8EhV9.B)E[[Ժ@[V~?[hڨ[[[[BZYY i d=) j%Ii@3= /̐))/̐ܤ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035336.183165 s, next control iter: 1743035336.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035336.583165 s.戼I~,S%&AA)\uA@AʧǶhA@ASV~? A ɩA#&"AA+3iNA"AZAbAjArAzAAA WXAnrARb@AgAAzAֿAAh<*Ae9?2AGֽ:A BAe9?JAGֽRA ٘i)I9Rb@Y G JNL<JJJJE&K YT~?yKA;Ej77lV9)B[[oH@[V~?[[[[[BZYY i) oIii@к3= Õ))Õjj@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035336.603165 s, next control iter: 1743035336.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8835, header.stamp.nsec: 00 temperature: 13.389623* salinity: 33.391514, density: 1025.000000* values[0]: 0.687585F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035337.003165 s. I~,j4@&AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035337.003304F (some fields omitted in printout)ARA@ALxA@AV~? A&ЩAG$&"AA iNA"AZAbAjArAzAAAF<AYrAb@ADȀA=A`տAA7!<*A9?2AFֽ:ASfBA9?JAFֽRASfI٘i)I9b@Y G J%<JJJJE&K YT~?yèfKA=E{7oV9)BE[[Ռ@[ V~?[J[[[[BZYY i) Ii@4= K`))K`@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035337.023165 s, next control iter: 1743035337.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035337.423165 s.uI~,[&AA{GA@A>A@AV~? ATשA&"AA iNA"AZAbAjArAzAAAk9.A&X7rA8c@AlAAB9Az տAxA@<*Aݽ9?2Aɨֽ:A BAݽ9?JAɨֽRA ٘i)I98c@YJ G J:<B=JJJJE&K YT~?y˨KA@E777bsV9)B[[b@[>V~?[[[[[BZYY iZZ=) Ii@5= ,)),ք@ypd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035337.443165 s, next control iter: 1743035337.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8836, header.stamp.nsec: 00 temperature: 13.389466* salinity: 33.391499, density: 1025.000000* values[0]: 0.688408F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035337.843165 s.J "J *J 2J :J ;0?BJ ;0?nJ 85vJ ݜI~,u&AAp= B@A B@AV~? AީA &"AAhNA"AZAbAjArAzAAAϒA`rA=c@A.q;AmhAA9.ԿA@Q3Az<*A9?2A ׽:AR BA9?JA ׽RAR ٘i)I9c@Y G J}<C=JJJJE&K YT~?y*Ԩ LACEŧ7b7vV9/B)BE[[s@["V~?[B[[[[BZYY i) ˻Ii@7= ))n@yƋd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035337.883165 s, next control iter: 1743035338.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035338.263165 s.I~,Aؐ&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035338.263292F (some fields omitted in printout)ALB@A?B@A{V~? AA}&"AAhNA"AZAbAjArAzAAA}s+AT3rAICd@Am[<AOAaA@ NӿAigAUg<*A9?2A/׽:ABA9?JA/׽RAYHΆ@y}Lܫ[<ٓHvѿ2?~?@ѿ 9??@a??)HΆ@ I٘i)I9Cd@Y G Jˠ<Ju JJJE&Kpx> Y$T~?yܨpLAEE77zV9.B) BE[[f|@[^U~?[[[[[BZYY i) `kIi@.7= Ņ))Ņa@yE=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035338.303165 s, next control iter: 1743035338.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88372, header.stamp.nsec: 020 temperature: 13.3892362* salinity: 33.3914682, density: 1025.0000002* values[0]: 0.6894702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035338.683165 s.lI~,g&AJ"J*J2J:JBJnJvJA(\B@AuB@A,qV~? ANA&"AAhNA"AZAbAjArAzAAA&&A]տrA@d@AZ"V<AwA-?A`mҿA@͘AΤ<*A9?2A^׽:A pBA9?JA^׽RA p٘i)I9d@Y@ G J<JJJJE&K YRT~?yLAHE7"~V9)B[[> @[U~?[\[[[[BZYY i) 0Iim@K7= ))9+@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035338.683165 s, next control iter: 1743035339.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035339.103165 s.I~,&AAQB@AIbIB@A1gV~? AA\&"AAhNA"AZAbAjArAzAAA[­A#R/rAUXe@A\;AԗAٵAѿAwA<*A9?2AKֽ:A(BA9?JAKֽRA(٘i)I9Xe@Y G J<B=JJJJE&K Y~T~?y=MAKE{7{7V9)B[[@[U~?[[[[[BZYY i) NaIi@<:8= _))_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035339.123165 s, next control iter: 1743035339.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035339.523165 s.I~,|&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035339.523277F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzB@AgB@A]V~? AJA&"AAIhNA"AZAbAjArAzAAA'| iP A{rAe@AiΎAltA3A۫пAAY<*A9?2A8sֽ:AtBA9?JA8sֽRAt٘i)I9e@Y G Jߪ<C=JJJJE&K YvT~?yMAME7777LV9-B)BE[[_"@[GU~?[[[[[BZYY i) Jd%Ii@N9= \~))\~ZD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035339.563165 s, next control iter: 1743035339.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8838, header.stamp.nsec: 00 temperature: 13.389032* salinity: 33.391460, density: 1025.000000* values[0]: 0.690599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035339.943165 s.[dI~,O]&AAq= #C@A{C@ATV~? AAR7&"AA:hNA"AZAbAjArAzAAAIu A26gsAyf@AfIAPgAAϿA ADĭ<*AE9?2AFֽ:ABAE9?JAFֽRA٘i)I9yf@YE G J~<JJJJàE&K YnT~?yu NAPEŧ77V9,B)BE[[m@[U~?[%[[[[BZYY i) ѺIiz@Y6:= y))yhЩ@H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035339.983165 s, next control iter: 1743035340.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035340.363165 s.żI~,>&AJ"J*J2J:JBJnJvJAYC@AHoLC@A.LV~? A AҢ&"AAhNA"AZAbAjArAzAAAwE@D A:sA g@A|aAkבAA`ͿAEA<*A_9?2A[ֽ:AWBA_9?JA[ֽRAWY3@Y߿yӑbٓHƿ9{?ۚ?@h nƿJ?6?a/v?)3@ I٘i)I9 g@Y G J<Jz;JJJƠE&K'x> YiT~?y kNA߿SE77wV9)B[[:@[U~?[[[[[BZYY i) .Iip@7):= u))u\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035340.383165 s, next control iter: 1743035340.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8839&, header.stamp.nsec: 0&0 temperature: 13.388754&* salinity: 33.391434&, density: 1025.000000&* values[0]: 0.691775&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035340.783165 s.^˼I~,2&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035340.783300F (some fields omitted in printout)A(\C@A!UC@A,DV~? A0AA &"AA^hNA"AZAbAjArAzAAA£'\ A:y sA4g@A>\AAhݿA/˿A lAM<*A99?2Aeֽ:AsBA99?JAeֽRAs٘i)I9g@Y G JJ<JJJJɠE&K YdT~?yNAUE777 V9)B[[eǑ@[}U~?[u"[[[[BZYY i) VӋ9Ii@^X:= 3q))3q`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035340.803165 s, next control iter: 1743035341.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035341.203165 s.ӼI~,M&AJ"J*J2J:JBJnJvJAQC@AcDC@A elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035342.043324F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף0D@Aǚ#D@A7/V~? A*AF &"AAZshNA"AZAbAjArAzAAA@9AC^sAi@AKdh<AHAeտA s^ƿA=AN<*Ax9?2A;׽:A΄BAx9?JA;׽RA΄𼙘٘i)I9i@Y G J<JJJJѠE&K YUT~?y)OA]Eb77͚V9)B[[k@[U~?[6[[[[BZYY i) LI;Ii@N<= d))d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035342.063165 s, next control iter: 1743035342.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035342.463165 s.RI~,פ&AAfffffD@A.\YD@AC)V~? Ah2A &"AAihNA"AZAbAjArAzAAA6A MIsAi@AW{"<A2цAҿAĿA<AA<*A9?2A׽:AKNBA9?JA׽RAKNYgR@ҿyφ"<ٓH`w@? si?ְ?UO??)gR@ I٘i)I9i@Y'G J`<JQ<JJJԠE&KJx> YST~?y2NPAҿ`E{7j7bV9)߯BE[[@[U~?[7=[[[[BZYY i=) ;Ii@i<= _))_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035342.483165 s, next control iter: 1743035342.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8841, header.stamp.nsec: 00 temperature: 13.388304* salinity: 33.391407, density: 1025.000000* values[0]: 0.693958F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035342.883165 s.yI~,<&AJ"J*J2J:J1?BJ1?nJH:5vJA(D@A(>D@A#V~? AO:A &"AA=ahNA"AZAbAjArAzAAA*A3!sAj@A9AϊAMпA¿AA<*A9?2Aֽ:AmBA9?JAֽRAm٘i)I9j@YoG J'<JJJJ֠E&K YhQT~?yZ;PAcEŧ7ŧ7V9)ܯB[[@[0U~?[C[[[[BZYY i) /;Iiޒ@U;= UN[))UN[@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035342.903165 s, next control iter: 1743035343.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035343.303165 s.WI~,{g&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743035343.303271F (some fields omitted in printout)AD@A1A D@AV~? A>BAx &"AAYYhNA"AZAbAjArAzAAA"<A9Ϭ+z&sAj@AoA)ЄAͿAA 9AHz<*A9?2A$qֽ:AKnBA9?JA$qֽRAKn٘i)I9j@YG J<JJJJ٠E&K Y elevatorAngleAction: 0.075469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035344.563287F (some fields omitted in printout)A3333sE@A~k'fE@A>V~? A5ZAΥ &"AAcFhNA"AZAbAjArAzAAA8uTAy>5sAk@A=A $AſA>AORA <*Ah9?2ARֽ:A<BAh9?JARֽRA<Y㔐@ſy#=ٓH`*s?v?@ڑT?BO?? \?g #?)㔐@ I٘i)I9k@YG J<J$ɹJJJE&KXx> YKT~?y^RAſmEZ7Z7MV9)̯B[[@[U~?[^[[[[BZYY i) &AA\E@AE@AjV~? A>bA) &"AAAhNA"AZAbAjArAzAAAWvA5j6^:sAZNl@AZE;AA-4ÿAeA|_A<*A9?2A2׽:ABA9?JA2׽RA٘i)I9Nl@YG J<JJJJE&K YMLT~?yOgmRApE)7ŧ7V9)ȯB[[>ǿ[U~?[e[[[[BZYY i) asAl@A ]<A=AAA@jA6<*A9?2AM׽:AYBA9?JAM׽RAY٘i)I9l@YG J<B=JJJJE&K YMT~?ypRAsEŧ7b7xV9)ůBE[[ſ[U~?[Ul[[[[BZYY i) . elevatorAngleAction: 0.075469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035345.823329F (some fields omitted in printout)AGzF@AIpF@A[ V~? AZrA&"AA:hNA"AZAbAjArAzAAA7;A~CsA.m@APO<AZAArAqA<*A9?2A'׽:APBA9?JA'׽RAP٘i)I9.m@YZG JІ<C=JJJJE&K YMT~?yx#SAvEb77 V9)B[[¿[vU~?[s[[[[BZYY i) R> YQT~?yvSAڸ{E)78V9,B)BE[[~[IU~?[[[[[BZYY i) a] elevatorAngleAction: 0.075469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035347.083323F (some fields omitted in printout)A)\µF@A$'F@A8 V~? AA&"AA6hNA"AZAbAjArAzAAAAJ[RsA٥n@AOAAh]Ac?A@zAz<*A99?2AIBֽ:A BA99?JAIBֽRA ٘i)I9n@Y?G Jٜ<JJJJE&K YUT~?y2DTA~Eb77V9)BE[[N[@U~?[4[[[[BZYY i) lI~,&AJ"J*J2J:J?BJ?nJ5vJA{G!G@A=G@Al V~? AA&"AA7hNA"AZAbAjArAzAAAK8A#|\sAeo@A*AXA`A?A@~tA3<*A 9?2Aֽ:AWBA 9?JAֽRAW٘i)I9o@YG Jm<JJJJE&K Y\T~?y UAE77{7V9)B[[/[JU~?[[[[[BZYY i) M elevatorAngleAction: 0.084621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035348.343291F (some fields omitted in printout)Ap= WG@A~WIG@A V~? AɢA&"AA8hNA"AZAbAjArAzAAAS<A3chasA@p@AX0;AәAeA@E?ATmAq<*AR9?2Ac׽:ABAR9?JAc׽RA٘i)I9@p@Y9G J<JJJJE&K Y>`T~?yfmUAE77V9)B[[[\U~?[F[[[[BZYY i) 30׽:A+BA޵9?JA>׽RA+Y@ЫyD'?2:<ٓH ?(?] k?NU?`?4??)@ I٘i)I9p@YG Jß<J"JJJE&KNx> YfT~?yUAЫE{7j7#V9)BE[[[U~?[롩[[[[BZYY i) hNA"AZAbAjArAzAAAWʿlA;ksAMq@A<+e<AAA oҳ?A+WAZ<*Ab9?2A 5׽:ABAb9?JA 5׽RA٘i)I9Mq@YG J<JJJJE&K YmT~?y?VAE77V9)B[[\[U~?[[[[[BZYY i) 4 elevatorAngleAction: 0.084621J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J dt: 0.420038:JBJ2 time: 1743035349.603299F (some fields omitted in printout)nJvJAQG@AajKG@A8V~? A溪AE&"AABhNA"AZAbAjArAzAAA%V|HAHj psAq@A*<A4AZA?AcHA"<*A.9?2A ֽ:A=BA.9?JA ֽRA=٘i)I9q@Y1G J9<B=JJJJE&K YnsT~?yǩVAE77{7NV9-B)BE[[*[U~?[/[[[[BZYY i) *&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035350.863288F (some fields omitted in printout)AH@A-H@AP V~? AҪAq&"AAShNA"AZAbAjArAzAAAkA!^~sAs@A@gATAA@c?A&A?<*A9?2A0ֽ:A-BA9?JA0ֽRA-YY@(̞yZPchٓH ?@G?*@I?@J?C?@?)Y@ I٘i)I9s@YIG J<JچJJJ E&Kw> Y^T~?yWA̞Ej7SI7V9)B[[q[qU~?[©[[[[BZYY i)  elevatorAngleAction: 0.084621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035352.123290F (some fields omitted in printout)AG:I@A,-I@A1V~? AwA%"AAkhNA"AZAbAjArAzAAAމr! A )sAu@A;AVAW㖿A F?A@aAK3<*Ac9?2A׽:A0BAc9?JA׽RA0٘i)I9u@YxG Jz<JJJJE&K YϤT~?yBYAEj7j7V9)B[[[[g V~?[m֩[[[[BZYY i) V~? AAFr%"AAhNA"AZAbAjArAzAAAJEE: A%ǨsAv@A!XJ<AuAIA@r?AC{A<*A9?2Aֽ:A;(BA9?JAֽRA;(Y@đyVreK<ٓH ?0 ?j@= ??G?J?K?)@ II٘i)I9v@YCG J_<JJJJE&K x> YŹT~?y ,ZAđE{7{7V90B)yB E[[g[*V~?[E[[[[BZYY i)  elevatorAngleAction: 0.084621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035353.383279F (some fields omitted in printout)A(I@A֎I@AyFV~? AA/%"AAhNA"AZAbAjArAzAAA AC]sA`w@A1;A+˳AA?AWAV<*A9?2AVֽ:A&(BA9?JAVֽRA&(٘i)I9w@YG J<JJJJE&K YT~?yZAEb7b7V91B)tB!E[[e[V~?[[[[[BZYY i<=) @BZYY i¸>娽)  Y^T~?yc1r\AĄEb7 W93B)^B(E[[1[@V~?[[[[[ZZZZBZYY i)  ))>>^*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743035355.503165 s, next control iter: 1743035355.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8854, header.stamp.nsec: 00 temperature: 13.567987* salinity: 33.375019, density: 1025.000000* values[0]: 0.579679F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035355.903165 s.ȽI~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035355.903275F (some fields omitted in printout)AQK@A1K@A~V~? A.Af%"AAhNA"AZAbAjArAzAAArU߈zAsA5|@A/N<A1A>A@?AKLALR<*AA9?2Aֽ:AUBAA9?JAֽRAU٘i)I95|@YG J<<JJJJ*E&K YU~?y@?]AE{7j7W94B)RB+E[[[SV~?[ [[[[ZZZZBZYY i) JJJ2E&KWx> YAU~?yV^AvoEŧ7b7W96B)HB/E[[p[}rV~?[O![[[[ZZZZBZYY iy) v{4^AںhsA1~@AeAA=AdA?AA4A:*A9?2Aֽ:AYa<BA9?JAֽRAYa<٘i)I9~@YG J;JJJJ7E&K Y8cU~?ye]AàE)7ŧ7"W9)FB[[[ՈV~?[1-[[[[BZYY i) 'V(_ZsA4~@A.A22=A_A%?AAK5*A 9?2Aֽ:AG<BA 9?JAֽRAG<٘i)I9~@YG JlB=JJJJ:E&K YtU~?y!l]AƠE&W9)GB5E[[[V~?[3[[[[BZYY i) Oֽ:A<BA9?JA>OֽRA<٘i)I9}@YG JaC=JJJJJJJ?E&Kv> YЗU~?yy]AUˠE77-W99B)LB9E[[tx[V~?[>[[[[BZYY id) o #= В=))В=В=VYFF]:Waiting for Gazebo time sync: latest Gz time: 1743035359.283165 s, next control iter: 1743035359.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88582, header.stamp.nsec: 020 temperature: 13.5671812* salinity: 33.3750502, density: 1025.0000002* values[0]: 0.5813022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035359.683165 s.lI~,c&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.055893< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035359.683271F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\M@ATL@A V~? AmA%"AAʊiNA"AZAbAjArAzAAA@A0CsAX}@Aj<ARՇ=AmPA?AQ.As}k*A|9?2Aս:AY=BA|9?JAսRAY=٘i)I9X}@Y2G J|OJJJJBE&K YͪU~?yH@]AΠE{7j7N1W9)NB[[s[V~?[HD[[[[BZYY i) \G+M@AKW~? AAtA%"AAliNA"AZAbAjArAzAAAkA~CsA|@A5M<A=ASKAg?AA*A-9?2ARֽ:A=BA-9?JARֽRA=٘i)I9|@YG JVJJJJDE&K Y˽U~?yІ\AѠE774W9:B)SBW&AJ"J*J2J:JBJnJvJAM@A>B͐M@A\2W~? ARA%"AA;iNA"AZAbAjArAzAAA;9xA;SsAb{@AR\A=A4;A@d?AAcߢ*A19?2A&׽:A]=BA19?JA&׽RA]=Y@v;y =\ٓH`?C^?@?U?`k e?)@ I٘i)I9b{@YG JZJ =JJJME&K2x> YU~?y[Av;٠E77?W9)aBCE[[a[V~?[`Z[[[[BZYY i) z;Iis@T= `ƽ))`ƽ`ƽyq$ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035361.383165 s, next control iter: 1743035361.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8860&, header.stamp.nsec: 0&0 temperature: 13.567486&* salinity: 33.375080&, density: 1025.000000&* values[0]: 0.580334&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035361.783165 s.WI~,r&A "2Initializing CTD_Seabird.A(\N@APN@A7CW~? AxA!%"AAqjNA"AZAbAjArAzAAA=(i;w޿A.sAz@AOS^A.=A5AN?AjA%*AZ9?2Adֽ:A~=BAZ9?JAdֽRA~=٘i)I9z@YG JrJJJJOE&K Y V~?yy[A۠Ej7j79CW9)fB[[]][2V~?[_[[[[BZYY i) F;Iio@=  p)) p pҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035361.803165 s, next control iter: 1743035362.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035362.203165 s.#I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743035362.203278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQEN@Aqn8N@AwTW~? AAת%"AACjNA"AZAbAjArAzAAAĘtѿAHWsAJz@AY׻A=A}0AD?A`cA&*Ao9?2Aֽ:Alj=BAo9?JAֽRAlj=٘i)I9Jz@YVG J識JJJJRE&K Y"V~?y[AޠE7)7FW9=B)kBFE[[7X[ W~?[d[[[[BZYY i) "N;IiVm@= %|))%|%|ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035362.223165 s, next control iter: 1743035362.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035362.623165 s.Z)I~,i&AAGzN@AImN@AfW~? ApA5%"AA6jNA"AZAbAjArAzAAAI:!#A]i sAoy@A~;A#=A+A?A,A୼*A9?2AOֽ:A)=BA9?JAOֽRA)=٘i)I9y@YG JJJJJUE&K Y7V~?yiZAE7S7dJW9>B)pBIE[[AT[W~?[8j[[[[BZYY i) d;Iik@r= 3))33.ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035362.663165 s, next control iter: 1743035363.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8861 , header.stamp.nsec: 0 0 temperature: 13.567665 * salinity: 33.375069 , density: 1025.000000 * values[0]: 0.579754 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035363.043165 s.0I~,&AJ"J*J2J:Jj?BJj?nJ5vJA= ףN@AIG9N@A"xW~? ABA%"AAQjNA"AZAbAjArAzAAA@}I?AjssA'y@AI<A=A&AUq?AࢾA*A9?2A@ ֽ:AR'=BA9?JA@ ֽRAR'=٘i)I9'y@YG JʮJJJJWE&K YLV~?yKEZAE77{7MW9?B)vBJE[[O[g+W~?[_o[[[[BZYY i) :Ii1i@=>= Ӽ))ӼӼbͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035363.063165 s, next control iter: 1743035363.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035363.463165 s.W7I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743035363.463297F (some fields omitted in printout)AffffN@A[N@AW~? AAYR%"AA@mjNA"AZAbAjArAzAAA:5?AysA6x@AQh<A~=A!A?A hAd*A9?2A2ֽ:A_=BA9?JA2ֽRA_=Yc߭@)k!yz=zh<ٓH?@?@OB? @,? r`K ?:?)c߭@ I٘i)I9x@YKG JPJJJJZE&K x> YcV~?y|YAk!E77QW9@B){BME[[;#K[:W~?[ft[[[[BZYY i) 9Iie@V= ))ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035363.503165 s, next control iter: 1743035363.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8862, header.stamp.nsec: 00 temperature: 13.567848* salinity: 33.375088, density: 1025.000000* values[0]: 0.579133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035363.883165 s.y=I~,<&AJ"J*J2J:JBJnJvJA(O@AlO@ANW~? AA%"AAejNA"AZAbAjArAzAAA=(k·?A0htAx@A <A =AX\A`?AAHԥ*Aq9?2A~ֽ:Al=BAq9?JA~ֽRAl=٘i)I9x@YG JҩJJJJ]E&K Y`zV~?yYAE7$UW9)BPE[[F[JW~?[^y[[[[BZYY i) 2Ii;b@= <))<<ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035363.903165 s, next control iter: 1743035364.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035364.303165 s.VDI~,wg&AAQO@ADO@ArW~? AAw%"AAjNA"AZAbAjArAzAAA4?Ao+tAQ~w@AƺA=AXAp?Al߿A=*A9?2A@ֽ:A<BA9?JA@ֽRA<٘i)I9~w@YG J:JJJJ_E&K Y/V~?yYAE777XW9AB)BSE[[A[F[W~?[E~[[[[BZYY i) ĺIiR_@ = <))<<SªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035364.343165 s, next control iter: 1743035364.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8863., header.stamp.nsec: 0.0 temperature: 13.568003.* salinity: 33.375107., density: 1025.000000.* values[0]: 0.578538.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035364.723165 s.KI~,H.&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743035364.723280F (some fields omitted in printout)J"J*J2J:JBJnJvJAzO@A|YzO@AW~? A_A+%"AA\jNA"AZAbAjArAzAAA7)*?AO tAFv@A1Aɨ=AA?A޿A`M*A9?2A׽:A<BA9?JA׽RA<٘i)I9v@YSG JJJJJbE&K YV~?yƪXAEŧ7b7O\W9)B[[]=[kW~?[[[[[BZYY i) T Ii\@N = #;=))#;=#;=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035364.763165 s, next control iter: 1743035365.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035365.143165 s.Z/RI~,*I&AA ףpO@A"dO@AW~? AA%"AA)jNA"AZAbAjArAzAAAvq?A'i2 tAv@A,mA;Έ=AR A?A]ݿA<*A"9?2A׽:A.<BA"9?JA׽RA.<٘i)I9v@YG JJJJJeE&K YξV~?y@˪YXAE77_W9BB)BVE[[߻8[|W~?[݇[[[[BZYY i) IG\IiZ@s = =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035365.183165 s, next control iter: 1743035365.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035365.563165 s.XI~,p d&AJ"J*J2J:J?BJ?nJ85vJA3333O@A&O@AW~? AAB%"AA{jNA"AZAbAjArAzAAALlD?A rNtA v@A,AgT=A/A`?A9ݿA*AF9?2Aֽ:AI<BAF9?JAֽRAI Y3V~?yϪWA\E77{7zcW9)BZE[[$4["W~?[{[[[[BZYY i ) GIiV@l = V=))V=V=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035365.603165 s, next control iter: 1743035365.963183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8864, header.stamp.nsec: 00 temperature: 13.568164* salinity: 33.375099, density: 1025.000000* values[0]: 0.578004F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035365.983165 s._I~,~&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743035365.983303F (some fields omitted in printout)A\(P@AEkP@AX~? AīA%"AANkNA"AZAbAjArAzAAAE'?A}VtAu@AWdA=A#A@?A zܿA*A69?2AΘֽ:A<BA69?JAΘֽRA<٘i)I9u@YvG J䎼JJJJjE&K YV~?y#ԪWAE77gW9CB)B[E[[o/[W~?[ [[[[BZYY i) qIi.S@'= `K=))`K=`K=ƸYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035366.023165 s, next control iter: 1743035366.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035366.403165 s.'fI~,Ι&AJ"J*J2J:J?BJ?nJ5vJAQ^P@A]QP@AVX~? A~ɫA%"AA=kNA"AZAbAjArAzAAA(]U @A"YcJtAu@A4<AV=At0A?A!ۿAc*Ao9?2ATֽ:Aɣ<BAo9?JATֽRAɣ<٘i)I9u@Y,G JǎJJJJmE&K YW~?yتIWAEb7jW9DB)B^E[['*[W~?[[[[[BZYY i) ,˻IiP@"= u=))u=u=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035366.443165 s, next control iter: 1743035366.803194 s, wait time: 0.360029 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8865", header.stamp.nsec: 0"0 temperature: 13.568316"* salinity: 33.375111", density: 1025.000000"* values[0]: 0.577514"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035366.823165 s.lI~,)&AAGzP@AV pP@A{*X~? A2ΫA"%"AAi]kNA"AZAbAjArAzAAAō8@A )tAt@Aj<Au=AuA@s9?A@ڿA۰*A9?2ABֽ:A2=BA9?JABֽRA2=٘i)I9t@YG J㍼JJJJpE&K Yb W~?yݪVAE{7{7:nW9)BaE[[ 6&[W~?[陪[[[[BZYY i) Ii?M@[= @g >))@g >@g >y㷪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035366.843165 s, next control iter: 1743035367.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035367.243165 s.sI~,y&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035367.243291F (some fields omitted in printout)J"J*J2J:J?BJ?nJ5vJAףp=P@A(1P@A?X~? AҫA%"AA}kNA"AZAbAjArAzAAA~o@AYJ1tAm,t@AzE<A>M=AoA`~?A*ڿACm*A9?2Apֽ:A=BA9?JApֽRA=٘i)I9,t@YG JJJJJrE&K Y8W~?ywVAEj7qW9EB)BdE[[![XW~?[8[[[[BZYY i)  IiJ@"= (>))(>(>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035367.263165 s, next control iter: 1743035367.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035367.663165 s.zI~,q&AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8866, header.stamp.nsec: 00 temperature: 13.568431* salinity: 33.375103, density: 1025.000000* values[0]: 0.577027F (some fields omitted in printout)AQ@AmP@AUX~? A4׫Ao%"AA`kNA"AZAbAjArAzAAA5I%@AS9tAs@APg;AƩ=A|ھA?A[ٿA-*A"9?2A#ֽ:Aq=BA"9?JA#ֽRAq=YKc@˗ھy=g;ٓHO?ك?@7?qڿ?@H] @l??)Kc@ I٘i)I9s@YUG J≼JJ9JJJuE&K4x> Y~RW~?y8VAھE777euW9)BgE[[[W~?[b[[[[BZYY i) IiF@X< 0>))e0>0>ĺYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035367.683165 s, next control iter: 1743035368.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035368.083165 s.DI~,S&AJ"J*J2J:J?BJ?nJ5vJA)\5Q@A_(Q@AkX~? A۫Al%"AAkNA"AZAbAjArAzAAAZ<<@ASӆeH tAGGs@A<A=AϾA`?AljؿAW*AN9?2A׽:A =BAN9?JA׽RA =٘i)I9Gs@YG J熼JJJJxE&K Y5lW~?yUAE{7xW9)B[[_4[W~?[x[[[[BZYY i) $IiB@< mC>)) mC>mC>gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035368.103165 s, next control iter: 1743035368.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035368.503165 s.I~,H4 &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035368.503293F (some fields omitted in printout)ARkQ@A-x^Q@AX~? A߫A%"AA kNA"AZAbAjArAzAAA2Y @Aj+"tA r@A+_A0=AižAnE?A׿A3*A\9?2A@ֽ:A=BA\9?JA@ֽRA=٘i)I9r@YG JJJJJzE&K YW~?yiUAE77|W9FB)BjE[[O[UX~?[x[[[[BZYY i) 3Ii?@.< 0>V>))0>V>0>V>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035368.523165 s, next control iter: 1743035368.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8867, header.stamp.nsec: 00 temperature: 13.568540* salinity: 33.375137, density: 1025.000000* values[0]: 0.576564F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035368.923165 s.9I~,;&AJ"J*J2J:J?BJ?nJ5vJA{GQ@A:Q@AX~? AA x%"AA$lNA"AZAbAjArAzAAA Ir} @A1WC%tAer@A:QXA"ێ=A1AҀ?AֿAYf*A-9?2A5ֽ:AӢ=BA-9?JA5ֽRAӢ= I٘i)I9er@YG JJJJJ}E&K YW~?y'UA EZ7Z7%W9HB)BnE[[[#X~?[a[[[[BZYY i) @;CIi<@oY< p)i>))p)i>p)i>ĪY-+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035368.943165 s, next control iter: 1743035369.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035369.343165 s.G JiJJJJE&K Y[W~?yTA Eb77W9)BqE[[ [7X~?[2[[[[BZYY i) RIi9@k< +|>))+|>+|>ZȪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035369.363165 s, next control iter: 1743035369.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8868&, header.stamp.nsec: 0&0 temperature: 13.568650&* salinity: 33.375137&, density: 1025.000000&* values[0]: 0.576114&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035369.763165 s.5I~,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: -0.075708< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035369.763287F (some fields omitted in printout)A R@ANGQ@AX~? ABA%"AARHlNA"AZAbAjArAzAAA󛌫k@A)tApq@A<;A-=A;)A?Ak:տAu*A9?2A)ս:A =BA9?JA)սRA =Y@yZ-= ;ٓH@;? ?@_%?sԿ,O?`Bb#s?@z?)@ I٘i)I9pq@YG JB=JIn<JJJE&Ku> YW~?yhTAE{7j7PW9)BtE[[P[KX~?[۵[[[[BZYY i)  bIi5@]v< }>))]}}>}>˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035369.783165 s, next control iter: 1743035370.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035370.183165 s.ˢI~,|&AA(\BR@A5R@AX~? AA%"AAwklNA"AZAbAjArAzAAAGms@Aww,tAp@AwSP<A>=AA%?AbԿA*A9?2Aս:A=BA9?JAսRA=٘i)I9p@YG JܝC=JJJJE&K YW~?yXTAE77W9)B[[7[y_X~?[l[[[[BZYY i) 4DqIi1@yg< H>)) H>H>ΪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035370.203165 s, next control iter: 1743035370.583182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035370.603165 s.74I~,&AJ"J*J2J:JBJnJvJAQxR@AEkR@AgX~? AGAyT%"AAlNA"AZAbAjArAzAAA%@A*n-/.tAbp@Anf<AΗ=A@ᒾA@J\?AംӿAt*A9?2A Խ:A=BA9?JA ԽRA=٘i)I9bp@YNG JJJJJE&K Y X~?y*SAE7zW9IB)ƯBwE[[[5tX~?[弪[[[[BZYY ii) ?Ii.@d< }>))}>}>ѪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035370.623165 s, next control iter: 1743035371.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8869 , header.stamp.nsec: 0 0 temperature: 13.568807 * salinity: 33.375156 , density: 1025.000000 * values[0]: 0.575599 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035371.023165 s.ZI~,|&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035371.023287F (some fields omitted in printout)AHzR@AR@A- Y~? AA%"AAвlNA"AZAbAjArAzAAA_Ė^@A=00tA8o@A<Aw=AvA ?A ҿAå*Ay9?2Aս:A=BAy9?JAսRA=٘i)I9o@YG JJJJJE&K Y\$X~?y>SAE77W9)ʯBzE[[ [EX~?[D[[[[BZYY i) ݇Ii*@< >))>>ҪYYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035371.043165 s, next control iter: 1743035371.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035371.443165 s.6öI~,:]&AJ"J*J2J:JBJnJvJAq= R@A`R@A(%Y~? AA%"AAlNA"AZAbAjArAzAAA.@Ay72tAiMo@AA~=A{A༻?AѿA\*A9?2ASս:A=BA9?JASսRA=٘i)I9Mo@YG JJJJJE&K Y?X~?yRAEŧ7b7W9)ϯB}E[[%f[X~?[ê[[[[BZYY i) )|Ii*(@"@< >))>>rԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035371.463165 s, next control iter: 1743035371.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8870, header.stamp.nsec: 00 temperature: 13.568942* salinity: 33.375160, density: 1025.000000* values[0]: 0.575032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035371.863165 s.+I~,>&AAS@Aa S@AU=Y~? AAܗ%"AAvlNA"AZAbAjArAzAAAƧg @A3tAn@A7A/؜=AfA?A`!пA *A9?2A\0ֽ:A}=BA9?JA\0ֽRA}=Yպ@fy՜= }8ٓH@?T??Ԋ̿@1?y`͕6 y?)պ@ I٘i)I9n@YRG JHJ$<JJJE&K=u> YZX~?yqRAfE777:W9)ӯBE[[]ھ[X~?[ƪ[[[[BZYY i) 5Ii#@~< YB>))lmzYB>YB>y<תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035371.883165 s, next control iter: 1743035372.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035372.283165 s.4RľI~,&AJ"J*J2J:J"?BJ"?nJG5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244558@ elevatorAngleAction: -0.084834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035372.283292F (some fields omitted in printout)A(\OS@ABOBS@AUY~? AA^%"AA< mNA"AZAbAjArAzAAAn3@A5O5tA=n@AójAO=A5QA?AпAb䣼*A9?2Agֽ:Aw=BA9?JAgֽRAw=٘i)I9=n@YG JJJJJE&K Y$vX~?yRAEb77МW9JB)دBE[[BѾ[X~?[ɪ[[[[BZYY i) {Ii@>< >)) >>۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035372.303165 s, next control iter: 1743035372.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8871., header.stamp.nsec: 0.0 temperature: 13.569060.* salinity: 33.375183., density: 1025.000000.* values[0]: 0.574448.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035372.703165 s.ҺʾI~,-&AAQS@AިxS@AAnY~? A3A)%"AALEmNA"AZAbAjArAzAAA(]@AJ7tAm@AZ""A=A<AY=?A@)οA*A9?2A:Խ:A=BA9?JA:ԽRA=٘i)I9m@YG JB=JJJJE&K YX~?yQA!Eŧ7b7eW9)ܯBE[[Ǿ[X~?[̪[[[[BZYY i) Ii@< 5>))5>5>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035372.723165 s, next control iter: 1743035373.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035373.123165 s.8ѾI~,aG&AJ"J*J2J:JBJnJvJAGS@AOխS@AY~? AA%"AAjmNA"AZAbAjArAzAAAMy;z@A~%8tAm@A熀A=A)A3a?An̿A4*Ak9?2AԽ:A=BAk9?JAԽRA=٘i)I9m@YQG J쮼C=JJJJE&K Y-X~?y 5QA$Eb77W9)B[[ٽ[X~?[PϪ[[[[BZYY i) {Ii@=E< E>))E>E>&YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035373.143165 s, next control iter: 1743035373.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035373.543165 s.IؾI~,b&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743035373.543301F (some fields omitted in printout)A= ףS@AoS@AٟY~? AA %"AA/mNA"AZAbAjArAzAAA|(@AGJ H:tA"l@At<AHѨ=AA7?AΫʿAb*A{9?2AtԽ:A§=BA{9?JAtԽRA§=٘i)I9l@YG JXJJJJE&K YX~?y PA&E7W9)BE[[U[ Y~?[Ѫ[[[[BZYY i) Ii@< a>))a>a>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035373.583165 s, next control iter: 1743035373.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8872, header.stamp.nsec: 00 temperature: 13.569219* salinity: 33.375187, density: 1025.000000* values[0]: 0.573883F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035373.963165 s.u޾I~,}&AJ"J*J2J:J?BJ?nJ 5vJAffff&T@A5[T@AݸY~? AQA%"AAmNA"AZAbAjArAzAAA[@AP;tALk@Ak<A!=AwA~?AȿAļ*A9?2AԽ:A=BA9?JAԽRA=Y @;y=>l<ٓH`?`#??ܿĽ?ZC] ~??) @ I٘i)I9k@YG JJ<JJJE&Kt> YX~?y YPA;)Ej7j7%W9)BE[[]b[#Y~?[zԪ[[[[BZYY i) LIi @< Y>))/xY>Y>,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035374.003165 s, next control iter: 1743035374.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035374.383165 s.I~,<&AA(\T@A OOT@AY~? Ab An%"AAmNA"AZAbAjArAzAAA|L@A, )) }>}>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035374.403165 s, next control iter: 1743035374.783177 s, wait time: 0.380012 sY~?) "tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8873", header.stamp.nsec: 0"0 temperature: 13.569412"* salinity: 33.375198", density: 1025.000000"* values[0]: 0.573214"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035374.803165 s.AI~,g&AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743035374.803332F (some fields omitted in printout)AT@APT@ANY~? AI A!H%"AA2nNA"AZAbAjArAzAAAs6J@A}1=>tACj@A 8;Au=AA?AſAǼ*A9?2ACԽ:A=BA9?JACԽRA=٘i)I9j@YG JǼJJJJE&K YY~?ysOA/E)7b7PW9)BE[[UΖ[ QY~?[ ٪[[[[BZYY i) oʼIi @v_< aQ>))aQ>aQ>6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035374.823165 s, next control iter: 1743035375.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035375.223165 s.gI~,H&AAzT@AeT@AZ~? AAd$%"AA(nNA"AZAbAjArAzAAAwd~@Aa^r?tAi@AWA*=A<A1?A`/NÿA`Ǽ*A9?2AVԽ:AC=BA9?JAVԽRAC=٘i)I9i@Y^G JǼJJJJE&K Y8Y~?y OA1Eb77W9LB)BE[[ꌾ[{hY~?[C۪[[[[BZYY i) i8ҼIi@+< p?))p?p?Y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035375.263165 s, next control iter: 1743035375.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035375.643165 s.sI~,)&AJ"J*J2J:J?BJ?nJ5vJA ףpT@A/IeT@A;Z~? AA%"AA2OnNA"AZAbAjArAzAAA?XeY @A$!@tADi@AcAı=A4A`a?A@tuAȼ*AZ9?2A*zս:A =BAZ9?JA*zսRA =٘i)I9Di@Y G JǼJJJJE&K YTY~?y%NA4E77{W9)BE[[5[-Y~?[Fݪ[[[[BZYY i) نټIi@@-< ?))??@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035375.663165 s, next control iter: 1743035376.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8874, header.stamp.nsec: 00 temperature: 13.569605* salinity: 33.375229, density: 1025.000000* values[0]: 0.572539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035376.063165 s.I~,V &AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035376.063327F (some fields omitted in printout)A33333U@AD)&U@A7Z~? A A*%"AAunNA"AZAbAjArAzAAA$H: @A@tAh@A-.SAV=AB¼A@ '?AO6A̼*A9?2A߮ս:A=BA9?JA߮սRA=Y@@NA̼yR=SٓH?l^? u?rn??ce?)@@ I٘i)I9h@Y G J;ʼB=JH<JJJE&K_t> YpY~?y]NAA̼7E77W9)BE[[Br[Y~?[ߪ[[[[BZYY i) Ii?'< & ?))v& ?& ?hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035376.103165 s, next control iter: 1743035376.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035376.483165 s.x_I~,&AJ"J*J2J:Jy?BJy?nJ5vJA\hU@Atb[U@AQZ~? AOA%"AA͜nNA"AZAbAjArAzAAA{ !@A$S8һAtA2g@A*Aᵴ=AHA,9?AAzӼ*AP9?2Aս:A=BAP9?JAսRA=٘i)I9g@Y' G JϼC=JJJJE&K YY~?yMA9Eb77W9) B[[p^[Y~?[[[[[ZZ¸BZYY i¸_=) жԼIi6?+< s?)){\s?s?RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035376.503165 s, next control iter: 1743035376.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8875, header.stamp.nsec: 00 temperature: 13.569804* salinity: 33.375225, density: 1025.000000* values[0]: 0.571804F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035376.903165 s. I~,9&AAQU@A-U@ARkZ~? AiAq%"AAnNA"AZAbAjArAzAAA)4Z-"@Ay(.hBtA7g@Aw3;A2=A q<A@L?AZAڼ*A9?2Aӽ:A=BA9?JAӽRA=٘i)I97g@Y G JּJJJJE&K YAY~?y$MA elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198162 time: 1743035377.323269F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzU@A&lsU@A)Z~? A[AD%"AAnNA"AZAbAjArAzAAAQC "@A;|BtAkf@AUS<A=Al =AV?A!A;*A9?2Aӽ:Au<BA9?JAӽRAu<٘i)I9kf@Y< G JB=JJJJE&K YvY~?yLA?E77{7W9)BE[[CW6[Y~?[[[[[ZZBZYY i) DIi{?:<  z?)) z? z?VYAYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035377.343165 s, next control iter: 1743035377.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8876*, header.stamp.nsec: 0*0 temperature: 13.570004** salinity: 33.375225*, density: 1025.000000** values[0]: 0.571042*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035377.743165 s."WI~,o&AAףp= V@A3U@A Z~? A%A"%"AAoNA"AZAbAjArAzAAA7|eg#@AvCtAe@A _<Aw=A[=A|a?A"gAD*AD9?2AԽ:Ah:<BAD9?JAԽRAh:<٘i)I9e@Y G JC=JJJJE&K YY~?y>4LAAE7fW9KB)BE[[C"[Y~?[+[[[[ZZBZYY i) Ii^?P<  ?)) ? ?yOĨ=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035377.763165 s, next control iter: 1743035378.143185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035378.163165 s.t}"I~,q&AJ"J*J2J:J?BJ?nJ(5vJA@V@A>2V@AZ~? AA%"AA\9oNA"AZAbAjArAzAAA]"A$@AlGCtAd@Ap;Aq=A!=A@!k?A@2\Ah*A9?2AJԽ:ARi<BA9?JAJԽRARi YY~?yKA=DE7777W9RB)-BE[[ [7Z~?[O[[[[ZZBZYY i) nIi? << %?))u%?%?xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035378.183165 s, next control iter: 1743035378.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035378.583165 s.(I~,R&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240208> elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035378.583290F (some fields omitted in printout)A)\uV@A9whV@AZ~? A>A4v%"AA`oNA"AZAbAjArAzAAA*g$@A"DtAc@AsA,=A=A1s?AءA˼*A:?2A>ս:Aa;BA:?JA>սRAa;٘i)I9c@Y G J B=JJJJE&K YZ~?yKAGEj7Z7W9)2BE[[Ơ[)Z~?[P[[[[ZZBZYY i) /Ii/?ӭ< ›*?))#›*?›*?sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035378.623165 s, next control iter: 1743035378.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8877, header.stamp.nsec: 00 temperature: 13.570318* salinity: 33.375244, density: 1025.000000* values[0]: 0.570097F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035379.003165 s.y 0I~,P4&AJ"J*J2J:J?BJ?nJ5vJARV@AWyV@AZ~? AAn%"AAoNA"AZAbAjArAzAAA8l?%@Ao3QDtApVc@A.QA2<AKe=A{?A<Ao*A5!:?2A7ӽ:A@BA5!:?JA7ӽRA@٘i)I9Vc@Y\ G JC=JJJJE&K Y46Z~?yE@KAIESI7%W9)7BE[[ʽ[BZ~?[*[[[[ZZBZYY i) IiY?S{< ʳ/?)) ʳ/?ʳ/??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035379.023165 s, next control iter: 1743035379.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035379.423165 s.u6I~,&AA{GV@A]=V@A[~? AAj%"AAoNA"AZAbAjArAzAAAA@G%@A#gDtAb@AN|A8 <A >A ?AuAs*AZ:?2A׼ӽ:A3^)BAZ:?JA׼ӽRA3^)٘i)I9b@Y G JɑJJJJE&K YdRZ~?yJALE7)7W9OB)8BE[[ϡ[<\Z~?[[[[[ZZBZYY i) 7IiY?j^r< 4?))4?4?~UYCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035379.463165 s, next control iter: 1743035379.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8878, header.stamp.nsec: 00 temperature: 13.570493* salinity: 33.375267, density: 1025.000000* values[0]: 0.569402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035379.843165 s. elevatorAngleAction: 0.083190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035379.843294F (some fields omitted in printout)Ap= W@A_B W@A![~? AAh%"AAoNA"AZAbAjArAzAAA5o/{&@AxdDtA݂b@A%'A9Ay>A`?A ;?A)R(*A:?2AEԽ:AOBA:?JAEԽRAO٘i)I9b@Y G JTB=JJJJáE&K YnZ~?yJAOE77QW9);B[[,p[uZ~?[j[[[[ZZBZYY i) |pIi4?ɀj< h:?))h:?h:?)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035379.863165 s, next control iter: 1743035380.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035380.263165 s.DI~,&AALW@A}?W@A;[~? A}Acj%"AAuoNA"AZAbAjArAzAAA2'@A&4 IDtAHb@A8AøA2>A(}?AQ?Aû*A :?2AԽ:ABA :?JAԽRAY}@2>yøY8ٓH?=ƿz YvZ~?yl JA2>QEb77W9)=BE[[![Z~?[[[[[ZZBZYY io~p=) ,^Ii?8N^< ??))u????)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035380.303165 s, next control iter: 1743035380.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88792, header.stamp.nsec: 020 temperature: 13.5705442* salinity: 33.3752752, density: 1025.0000002* values[0]: 0.5690962F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035380.683165 s.lJI~,Z+&AJ"J*J2J:JBJnJvJA(\W@AuW@AU[~? A&ALo%"AA%pNA"AZAbAjArAzAAA۶'@ADtA,b@A#<A- A$G>A`w?Ao٣?A*AN9?2Aڙս:AӼBAN9?JAڙսRAӼ٘i)I9,b@Y G JJJJJȡE&K YTZ~?y JATEZ787{W9)E[[0[]Z~?[[[[[BZYY i=) LIi?P0S< VFD?))1VFD?VFD?#<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035380.683165 s, next control iter: 1743035381.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035381.103165 s.QI~,F&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260145> elevatorAngleAction: 0.069396< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743035381.103301F (some fields omitted in printout)AQW@A%VFW@Ao[~? AA|w%"AAUMpNA"AZAbAjArAzAAA[$T(@ACA r?A m«?AV;*A:?2AԽ:AIBA:?JAԽRAI輙٘i)I9/b@Y G J:JJJJˡE&K Y5Z~?y[ JAWE77W9NB)A .i?A Ѓ?A;*A`:?2A/Խ:A9BA`:?JA/ԽRA9٘i)I9Rb@Y G J6;JJJJΡE&K YZ~?yKAYE77j7W9MB);BE[[iݴ<[Z~?[[[[[BZYY i) k(Ii0?=@< ƶN?))ƶN?ƶN?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035381.543165 s, next control iter: 1743035381.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8880, header.stamp.nsec: 00 temperature: 13.570434* salinity: 33.375309, density: 1025.000000* values[0]: 0.569122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035381.943165 s.Xd^I~,B]|&AAq= #X@ADX@A[~? A$AC%"AA pNA"AZAbAjArAzAAA~m#)@A\BtA:b@A:A}A.>A`]?A@ &?A:<*A :?2AQԽ:A BA :?JAQԽRA ٘i)I9b@Y G J<JJJJСE&K YZ~?yI1KA\E7)7;W9)8BE[[.=[Z~?[[[[[BZYY i) Ii?o8< :S?)):S?:S?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035381.963165 s, next control iter: 1743035382.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035382.363165 s.eI~,>&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069396< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035382.363317F (some fields omitted in printout)J"J*J2J:JBJnJvJAYX@A|OLX@A׼[~? A)A%"AAKpNA"AZAbAjArAzAAAZ+*@A߄6@BtAb@A AA1*>AN?A bθ?As<*A:?2A vԽ:ABA:?JA vԽRAY.b=w>y9EٓH? KMѿ`GL??ov@S? ?).b= I٘i)I9b@Y G J8U<JJJJӡE&K s> Y([~?yKAw>_E)7W9LB)5B¹E[[=[[~?[Q[[[[BZYY irg=) TIi?],< 0Y?))8v0Y?0Y?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035382.383165 s, next control iter: 1743035382.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8881", header.stamp.nsec: 0"0 temperature: 13.570210"* salinity: 33.375294", density: 1025.000000"* values[0]: 0.569478"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035382.783165 s.YkI~,&AA(\X@A4OX@A[~? AAP%"AArpNA"AZAbAjArAzAAACXTa*@A{ȻAtA8[c@A\oA+AY>A Q=?A?A*<*A:?2AԽ:ABA:?JAԽRA٘i)I9[c@Y_ G J<JJJJ֡E&K YY0[~?yKA DaEŧ7b7fW9)1BŹE[[z=[m)[~?[[[[[BZYY i) cIi.|?e!< Jp^?))kJp^?Jp^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035382.823165 s, next control iter: 1743035383.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035383.203165 s.sI~,&&AJ"J*J2J:JBJnJvJAQX@A*X@AZ[~? AA%"AA}qNA"AZAbAjArAzAAAFQ>Td+@A(@tA:c@AQTA0cAJ>AO+?A2?A2c<*A2#:?2Aӽ:ABA2#:?JAӽRA٘i)I9c@Y G J<JJJJءE&K YK[~?y!ILAdE{7Z7W9)-B[[W=[oC[~?[[[[[BZYY i) ٸлIil?H< Ժc?)) Ժc?Ժc?Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035383.223165 s, next control iter: 1743035383.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035383.623165 s.RyI~,H&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035383.623284F (some fields omitted in printout)AGX@AX@A \~? A>A%"AAj8qNA"AZAbAjArAzAAA>+@AluV?tAhd@AJA⛽A>Ab?A?A٪<*A):?2AZJԽ:AfBA):?JAZJԽRAf٘i)I9hd@Y G Jl<JJJJۡE&K Yf[~?yLAgE77W9KB)(BȹE[[=[][~?[[[[[BZYY i) OIi_?< Ti?))Ti?Ti?yg=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035383.643165 s, next control iter: 1743035384.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8882 , header.stamp.nsec: 0 0 temperature: 13.569844 * salinity: 33.375313 , density: 1025.000000 * values[0]: 0.570120 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035384.043165 s.I~,&AJ"J*J2J:JBJnJvJA= ף0Y@A#Y@A#\~? A A%"AA4_qNA"AZAbAjArAzAAA}j,@A"d>tA:d@A;AA>A@?A ?A<*A.:?2A$ս:A BA.:?JA$սRA ٘i)I9d@Y\ G J<JJJJޡE&K  X9Y[~? X9y[MAjE7{7&X9JB)"B˹E[[p>[w[~?[[[[[BZYY i ކ=) ƒIi=S?1< ln?))ln?ln?*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035384.063165 s, next control iter: 1743035384.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035384.463165 s.TI~,ߤ&AAfffffY@AݔZYY@A<\~? A A))%"AAօqNA"AZAbAjArAzAAA}J4-@Aݖ=tAe@Aa<AAf>A@"?A@?A7<*A3:?2A7ս:ABA3:?JA7սRAYOZ>j޿>yI\a<ٓH?@b|׿Y\?`?@ftQ?!??)OZ> I٘i)I9e@Y G J<B=JJJJE&Kt> Y6[~?y"kMA޿>lE8787X9)BιE[[E*>[[~?[[[[[BZYY i) IiIi@?; ls?))0xls?ls?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035384.503165 s, next control iter: 1743035384.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8883, header.stamp.nsec: 00 temperature: 13.569441* salinity: 33.375332, density: 1025.000000* values[0]: 0.570875F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035384.883165 s.yI~,M8&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242374> elevatorAngleAction: 0.065853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035384.883287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(Y@APOY@ADV\~? A AjM%"AALqNA"AZAbAjArAzAAA;L-@A7ЗA?A @?A+<*A2:?2Azֽ:A}BA2:?JAzֽRA} I٘i)I9f@Y G J<C=JJJJE&K Yz[~?yMAoE7777QX9IB)BѹE[[@>[[~?[/[[[[BZYY i) B-Ii/?; y?)) y?y?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035384.903165 s, next control iter: 1743035385.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035385.303165 s.SI~,jgS&AAY@At Y@Aso\~? AAt%"AAqNA"AZAbAjArAzAAAgf.@AN;tAqf@A2^;A3NA>A}?A{v?A<*A^M:?2A[Խ:A'BA^M:?JA[ԽRA'٘i)I9f@Yd G Ja<JJJJE&K Y[~?y;NArEb77 X9HB)BԹE[[͟U>[[~?[[[[[BZYY i) 6Ii ?; w~?))w~?w~?*YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743035385.323165 s, next control iter: 1743035385.703174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 88842, header.stamp.nsec: 020 temperature: 13.5690422* salinity: 33.3753592, density: 1025.0000002* values[0]: 0.5716422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035385.723165 s.I~,Hn&AJ"J*J2J:JBJnJvJAzZ@AUסY@A~\~? AAN%"AAqNA"AZAbAjArAzAAA.@AZCk9tA=g@A2sAՓA}>A&?A4?A><*AN:?2A&lԽ:ABAN:?JA&lԽRA٘i)I9=g@Y G J<JJJJE&K Y[~?yxNAtEj7SI7{X9FB) BӹE[[Yk>[[~?[ߪ[[[[BZYY i) h~RIir?໼; %?))%?%?y؆=*Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035385.743165 s, next control iter: 1743035386.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743035386.143165 s.Z/I~,*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035386.143271F (some fields omitted in printout)A ףp=Z@A)zc0Z@Ad\~? AA%"AArNA"AZAbAjArAzAAARUԕ/@A)t8tAPg@A KA"$A z>A e?A@:?A R<*A[M:?2ABԽ:AhBA[M:?JABԽRAh٘i)I9g@Y G J<JJJJE&K YJ\~?y? OAwE{7{7X9EB)BֹE[[>[+[~?[ݪ[[[[BZYY i) Xn8Ii?y ; ?))??*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035386.163165 s, next control iter: 1743035386.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035386.563165 s.I~,[ &AJ"J*J2J:Jp?BJp?nJ5vJA3333sZ@AS'fZ@A"\~? AA%"AA#DrNA"AZAbAjArAzAAA{0@AJA6tA\h@AjnA"KA>A'??A ?A0<*AK:?2A)ս:ABAK:?JA)սRAY!>S>yAGHpoٓHb?8ݿႱ~6?2w?6>ű?Gۍ]?)!> I٘i)I9\h@Yk G J<Jll<JJJE&Kt> Yi\~?y7jOAS>zE777X9DB)BٹE[[m>[\~?[۪[[[[BZYY i) _:Ii>Ö; lc?))YVzlc?lc?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035386.603165 s, next control iter: 1743035386.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8885, header.stamp.nsec: 00 temperature: 13.568654* salinity: 33.375359, density: 1025.000000* values[0]: 0.572422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035386.983165 s.I~,&AA\Z@A`5Z@A\~? AA0%"AAirNA"AZAbAjArAzAAA"l`0@A-EJ;5tAh@A5A6Au>AY?A`}D?A6ʟ<*A/J:?2Aս:AEBA/J:?JAսRAE٘i)I9h@Y G J'<JJJJE&K Y7\~?y0OA|E<X9CB)BܹE[[7Y>[-\~?[:٪[[[[BZYY i) ;Ii>Ɓ; ;?)) ;?;?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035387.003165 s, next control iter: 1743035387.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035387.403165 s.&I~,&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035387.403315F (some fields omitted in printout)J"J*J2J:JBJnJvJAQZ@A Z@A\~? AA g%"AArNA"AZAbAjArAzAAA^0@Ak y3tAii@A&:A A?A$?A3?A<*A_:?2AԽ:ALBA_:?JAԽRAL٘i)I9ii@YG J<JJJJE&K YP\~?y(ߪ)PAE77X9BB)B߹E[[Z>[G\~?[֪[[[[BZYY i) T@;Ii>3^; ތ?))ތ?ތ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035387.423165 s, next control iter: 1743035387.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8886, header.stamp.nsec: 00 temperature: 13.568292* salinity: 33.375381, density: 1025.000000* values[0]: 0.573158F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035387.823165 s.I~,>&AAGz[@Aq[@AL]~? AA%"AAyrNA"AZAbAjArAzAAA2R}0@Asoy1tAi@A\3<Ab*AaH ?A`h?A`?Aq<*A^:?2Aս:ApBA^:?JAսRAp񼙘٘i)I9i@YZG J=<JJJJE&K Yi\~?y ۪PAE7g!X9)B[[;p>[a\~?[Ӫ[[[[BZYY i) };Ii>B=; ?))??5*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035387.843165 s, next control iter: 1743035388.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035388.243165 s.ÿI~,`&AJ"J*J2J:JBJnJvJAףp=J[@A+C3=[@AL]~? AA %"AArNA"AZAbAjArAzAAAY<1@Ax/tA[j@As<A-ޅA?A?A?AT<*A\:?2A ս:AnBA\:?JA սRAn٘i)I9[j@YG J<JJJJE&K Y\~?yתPAEZ7Z7$X9AB)BE[[ >[{\~?[Ѫ[[[[BZYY i=) ๝;Iiw|>f!; pm?))pm?pm?b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035388.263165 s, next control iter: 1743035388.643176 s, wait time: 0.380011 s\~?)ת rAdjusting time to match Gazebo time: 1743035388.663165 s.ʿI~,q*&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035388.663288F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8887, header.stamp.nsec: 00 temperature: 13.567935* salinity: 33.375401, density: 1025.000000* values[0]: 0.573835F (some fields omitted in printout)A[@A{r[@A3]~? AlAm%"AA?rNA"AZAbAjArAzAAAк1@A]-tA(j@A&3<AAϠ?A]?A?A<*AY:?2A ֽ:ABAY:?JA ֽRAY>r?y>3<ٓH?Qr@\ΨHd?`?@Ϧx?`o?@ I٘i)I9j@YG J<Jp0<JJJE&Ku> Y\~?yMҪAQAr?E7{7(X9@B)BE[[>[\~?[ͪ[[[[BZYY i) |;Ii6>: i0?))vE}i0?i0?5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035388.683165 s, next control iter: 1743035389.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035389.083165 s.DѿI~,SE&AJ"J*J2J:J?BJ?nJ 5vJA)\µ[@Aꗈ[@AJ]~? AA^%"AA& sNA"AZAbAjArAzAAA.D1@A1+tA0Bk@AQͦ:AiڄA`?A(?Aդ?A+`<*AfR:?2Aֽ:ABAfR:?JAֽRA٘i)I9Bk@Y.G J<JJJJE&K YD\~?yͪQAE77',X9[p\~?[ʪ[[[[BZYY i) J;Ii=.: R?)) R?R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035389.103165 s, next control iter: 1743035389.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035389.503165 s.׿I~,Y4`&AAR[@Ax[@Aa]~? ASAޣ%"AACsNA"AZAbAjArAzAAAA{2@AtnR)tA=k@AoAA?A@~?A@ ?A<*A_:?2AظԽ:ArBA_:?JAظԽRAr٘i)I9k@YuG J*<JJJJE&K Y\~?yȪQAE77{7/X9)߯B[[+>[\~?[:Ǫ[[[[BZYY i) ;Ii|=!: ǚ?))ǚ?ǚ?y=*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035389.523165 s, next control iter: 1743035389.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8888, header.stamp.nsec: 00 temperature: 13.567594* salinity: 33.375420, density: 1025.000000* values[0]: 0.574442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035389.923165 s.7޿I~,{&AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035389.923294F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G!\@An;\@Ay]~? AA%"AAfsNA"AZAbAjArAzAAA- X2@AdB'tAN,l@A3oAA"?A[!\~?[ê[[[[BZYY i) om [P\~?[[[[[BZYY i) SM-?y|}ٓH? ?`?[2?@٥on?)di> I٘i)I9m@YMG J_<JJJJ E&K;v> Y`]~?ySAM-?ESI7SI7|:X9)ѯB[[>[]~?[[[[[BZYY i) K, elevatorAngleAction: 0.074712< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035391.183309F (some fields omitted in printout)A(\\@A\@A]~? AiګA%"AAJsNA"AZAbAjArAzAAA߽_&3@A5TtAIm@A;A຋A2?A?A|?AX99B)ͯBE[[$?[+]~?[[[[[BZYY i) ^<]'AJ"J*J2J:Jw?BJw?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743035392.443295F (some fields omitted in printout)Aq= c]@AV]@A ]~? A̫A%"AA1tNA"AZAbAjArAzAAA ~,03@ATktAon@A;AM%AB?A@28?A`b-?Aŕ<*AA:?2Aֽ:ABAA:?JAֽRA٘i)I9n@YlG Jp<JJJJE&K Yug]~?yuTAE77HX9)B[[ j?[pt]~?[[[[[BZYY i) j7'AA]@A6]@AG^~? ACȫA1%"AA3RtNA"AZAbAjArAzAAAm$S,4@Al3ltANpo@AAAG?A;?Ax?A<*AM7:?2Aս:A=BAM7:?JAսRA=Y?{.G?y ٓHj?sGf? ?~곲?ϔr?)? I٘i)I9po@YG J;<JeJJJE&Kzv> Y{]~?yWTA.G?E77{7gLX9/B)BE[[$'?[]~?[Ȥ[[[[BZYY i) yUAESI7SI7OX9)B[[?[R]~?[[[[[BZYY i) C elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035393.703303F (some fields omitted in printout)AQ^@A!]@A<^~? AgA%"AAjtNA"AZAbAjArAzAAA_=L&4@AItAup@AfmAA[Q?A N\?Ak?A<*A)$:?2A)ֽ:AzBA)$:?JA)ֽRAz٘i)I9p@Y`G J<B=JJJJE&K Yѣ]~?yUAE)7ŧ7SX9.B)BE[[%?[|]~?[R[[[[BZYY i) N elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035394.963305F (some fields omitted in printout)Affff^@AO\^@A(x^~? AA;%"AAttNA"AZAbAjArAzAAA*^5@A%J(tA,r@AD29<AdAa?A@ Y]~?y}VAXa?E7R^X9)B)BE[[[7?[]~?[C[[[[BZYY i) Ʋ=?[^~?[<[[[[BZYY i)  elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035396.223280F (some fields omitted in printout)AzG_@A *:_@Aj^~? AѝAQc%"AABuNA"AZAbAjArAzAAA16@AɭsA s@AX:ALAq?A`@h?A@?A'<*Ab9?2Ahֽ:A5BAb9?JAhֽRA5٘i)I9s@YzG J<B=JJJJ,E&K Y^~?y|i%XAEiX9#B)BE[[? I?[>^~?[v[[[[BZYY i)  Y5^~?yd[ YAr{?E{7=pX9"B)xB E[[ U?[f^~?[Ri[[[[BZYY i)  elevatorAngleAction: 0.083834< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743035397.483276F (some fields omitted in printout)A\_@A/1_@AB^~? AA%"AAuNA"AZAbAjArAzAAAZϤ6@A>sAKu@AlFA?A4?A`?Az?A<*A9?2A$ֽ:AvBA9?JA$ֽRAv٘i)I9u@YG JG<JJJJ4E&K Y:E^~?yTYAE{7sX9)rB[[[?[Ez^~?[qb[[[[BZYY i) C!;oG`@A{_~? AAL%"AAuNA"AZAbAjArAzAAAc 7@A9sAYw@A0;A;dA?A3?Af?Ai<*A9?2Aj׽:AA`BA9?JAj׽RAA`٘i)I9Yw@YG J<C=JJJJ9E&K Yd^~?yrEmZAšE{7j7zX9)cB[[g?[C^~?[#T[[[[BZYY i==) = elevatorAngleAction: 0.092745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035398.743278F (some fields omitted in printout)Aףp=`@A4}`@Av_~? A"yA(%"AA;uNA"AZAbAjArAzAAAb>7@Aĭ:sAx@Af<A A&T?A@)o?A?A<*A9?2A׽:AhBA9?JA׽RAh٘i)I9x@YG J<JJJJZAǡEb77~X9B)\BE[[*m?[^~?[L[[[[ZZZZ¸>BZYY i¸>2) GBm7@AnD&EsAx@Ah[<AK4Ae?A`?A?AA<*A9?2Ae[׽:AqBA9?JAe[׽RAqYt]?Ɗ?y)0-[<ٓH?L{읿-?? }~?a? ?)t]? I٘i)I9x@Y_G J<JёJJJ>E&Kx> Yh^~?y[6\[AƊ?ʡE{7{7(X9)VB[[2s?[+^~?[=E[[[[ZZZZBZYY i) U:yy@A;A@Ar?A ?A$>?A'v<*A9?2Aֽ:ApTBA9?JAֽRApT󼙘٘i)I9yy@YG J<JJJJAE&K Y^~?y.[A͡Eŧ77X9B)MB E[[Ey?[P^~?[=[[[[ZZZZBZYY i) 3Ta@AR_~? A^A)%"AA:vNA"AZAbAjArAzAAA 7@ASsA6*{@ANAapA{?AJ?A?A<*A9?2Aֽ:AlBA9?JAֽRAl٘i)I9*{@YG J"<JJJJGE&K Y^~?y \AҡEb77X9)>B[[?[^~?[-[[[[ZZZZBZYY i) #JJJLE&K>w> Y^~?yb]A—?סE77j7X9B)/BE[[h?[~_~?[c[[[[ZZZZBZYY i0) \Ԋ]'AAq= ףb@Av1͖b@A_~? A^4A`^%"AAovNA"AZAbAjArAzAAAP\$18@AE@sA}@AS!<A =Aa#?AQ?A},?Aӂ9*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9}@Y`G J!*;JJJJWE&K YV^~?y_]AEb77hX9B)"BE[[P?[ J_~?[[[[[BZYY i)  dC'AJ"J*J2J:J?BJ?nJ5vJAb@A%b@A_~? A -A%"AAvNA"AZAbAjArAzAAA8@AlɵsA}@A驹A5=Abˤ?A@&q?A`?Avu^*A9?2AEֽ:A<BA9?JAEֽRAJJJYE&KNx> Y>^~?y]Aʤ?Ej7Z7X9 B)!BE[[^k?[U_~?[/[[[[BZYY isi) /2=A4?A`}?A@??A*A29?2A?ֽ:A=BA29?JA?ֽRA=Y?J̱?y<=F <ٓHB?`w.?b?`Y7? +l?#Z??)? I٘i)I9|@YaG JJ\=JJJgE&Kw> Y_~?yaP\A̱?EX9))B[[-?[F_~?[qĩ[[[[BZYY i) ^;IuG?iA] < @))< @< @ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035405.503165 s, next control iter: 1743035405.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8904, header.stamp.nsec: 00 temperature: 13.562789* salinity: 33.375580, density: 1025.000000* values[0]: 0.584107F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035405.883165 s.yI~,4x'AJ"J*J2J:JBJnJvJA(d@AZ+d@A_~? AA[%"AAwNA"AZAbAjArAzAAA9@A>-sAv{@Ak<AT+=AC?A@5?A3e?A$*A9?2A%ֽ:A=BA9?JA%ֽRA=٘i)I9v{@Y G J?JJJJiE&K Y_~?y[AE7}X9).B[[6?[΍_~?[[[[[BZYY i) ;IbG?i`Ca Ē@))Ē@Ē@$تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035405.903165 s, next control iter: 1743035406.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035406.303165 s.RI~,fg'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743035406.303278F (some fields omitted in printout)AQd@A~Dd@A_~? AAU%"AA$wNA"AZAbAjArAzAAAY@h9@AyйusAz@AGO<A% =A?Aa?Aو?AIH*Ab9?2AXֽ:AV=BAb9?JAXֽRAV=٘i)I9z@YG J)B=JJJJlE&K Y0"_~?y[AEZ7Z7X9B)0BE[[\?[_~?[[[[[BZYY i) w;IOG?iic @))@@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035406.343165 s, next control iter: 1743035406.703175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8905., header.stamp.nsec: 0.0 temperature: 13.562991.* salinity: 33.375568., density: 1025.000000.* values[0]: 0.583494.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035406.723165 s.I~,H'AJ"J*J2J:JBJnJvJAzd@Azd@A_~? AQA%"AA/wNA"AZAbAjArAzAAA/`9@Ap.ѶsAIz@A&ی;Auh=A?A?A?Aˎ*A9?2AOֽ:A=BA9?JAOֽRA=٘i)I9Iz@YUG JC=JJJJoE&K YK'_~?yg[AEb77X9)5B[[=?[_~?[[[[[BZYY i) L;IuX9)9B[[?[_~?[[[[[BZYY i) /;IX)G?i۱Rc ; @)); @; @ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035407.163165 s, next control iter: 1743035407.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035407.563165 s.I~,[ 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035407.563289F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333d@A)d@A._~? AA%"AACwNA"AZAbAjArAzAAA> 9@AE%sAy@AT_AX=A?A`?A?AF#*A9?2AH׽:Aa=BA9?JAH׽RAa=Yʢ??׾?y~=K_ٓH4\?$~? &??۪@aꋿ?)ʢ? I٘i)I9y@YG JJ.;JJJtE&Kgx> Y._~?yKZA׾?EX9B) Y7_~?ydBXA? EX9)PB[[{?[_~?[d[[[[BZYY i) XIF?ik @))@@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035409.683165 s, next control iter: 1743035410.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035410.083165 s.E!I~,*S'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066289< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035410.083302F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5f@Aa(f@At`~? AհA^&"AAtlwNA"AZAbAjArAzAAA_C:@A|NddisAdu@A{<AmȎ=A]g?A?A ^?A<*A9?2A%ֽ:A0=BA9?JA%ֽRA0=٘i)I9u@YG JJJJJE&K Yj6_~?yF[WAEj7{7SX9)TB[[?[_~?[Z[[[[BZYY i) ~늻IğF?iR=l @))@@ĪYFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743035410.103165 s, next control iter: 1743035410.483188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743035410.503165 s.'I~,L4'AARkf@A/x^f@A`~? AɨA&"AApwNA"AZAbAjArAzAAAgcTJ:@A0 esA5u@AEA =Ad?AP?Ai?Az*A?9?2A׽:An<BA?9?JA׽RAn<٘i)I9u@Y-G JJJJJE&K Y5_~?yxRWAEŧ77X9)XB[[?[_~?[Q[[[[BZYY i) 텩IF?ig l N@))N@N@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035410.523165 s, next control iter: 1743035410.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8909, header.stamp.nsec: 00 temperature: 13.564017* salinity: 33.375595, density: 1025.000000* values[0]: 0.580754F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035410.923165 s.<.I~,'AJ"J*J2J:J?BJ?nJ5vJA{Gf@A-;f@A`~? AA&"AAswNA"AZAbAjArAzAAAx!O:@A_X!`sAt@AAm3Aa=A?A@?Ar?AĔ*A9?2AEF׽:Am<BA9?JAEF׽RAm<٘i)I9t@YG J(JJJJE&K Y,5_~?yIWAE777~X9B)[BE[[?[_~?[OG[[[[BZYY i˚) ȻI=xF?i0{j >@))>@>@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035410.943165 s, next control iter: 1743035411.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035411.343165 s.<5I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743035411.343314F (some fields omitted in printout)Ap= f@Aё\f@A`~? AA|6&"AA&vwNA"AZAbAjArAzAAA.ϢS:@A4[sAt@ApAh=Am?A1ȝ?A x?Aď*Ar9?2AI׽:A<BAr9?JAI׽RA<٘i)I9t@YG J2JJJJE&K Y4_~?y@VAE77{7X9)_B[[=?[3_~?[=[[[[BZYY i) IdF?i鴿g @))@@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035411.363165 s, next control iter: 1743035411.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8910*, header.stamp.nsec: 0*0 temperature: 13.564244** salinity: 33.375587*, density: 1025.000000** values[0]: 0.580167*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035411.763165 s.7;I~,'AJ"J*J2J:JBJnJvJA g@AEdXf@A`~? AA(&"AAwwNA"AZAbAjArAzAAA 3,BV:@ATEVsAȨs@AK/A=A?A^?A?|?AQc*A9?2A׽:A<BA9?JA׽RAJJJE&K4x> Y1_~?y8`VA?Eŧ7b7X9)bB[[f?[_~?[3[[[[BZYY i) pI6QF?i򵿉h ^@))^@^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035411.783165 s, next control iter: 1743035412.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035412.183165 s.BI~,k 'AA(\Bg@A‚5g@A`~? A~Aq&"AAxwNA"AZAbAjArAzAAACW:@A0:+WQsA2s@A*A/=AÅ?A6DA }?A*A9?2Aֽ:Ap<BA9?JAֽRAp<٘i)I92s@YG JC=JJJJE&K Y-_~?ya/VAEb77>X9)fBE[[q?[:_~?[J*[[[[BZYY i) R~I=F?i쵿h F@))F@F@y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035412.203165 s, next control iter: 1743035412.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035412.603165 s.:4II~,&'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743035412.603321F (some fields omitted in printout)J"J*J2J:JBJnJvJAQxg@A!bGkg@A`~? AjA&"AAxwNA"AZAbAjArAzAAA^lLo2V:@AWughLsAr@A<A1=Az ?AAg{?A;*A09?2Amֽ:A9=BA09?JAmֽRA9=٘i)I9r@YG JJJJJE&K Y*_~?y&UA E77X9)jB[[?[_~?[ [[[[BZYY i)  "I8*F?i״zg  @)) @ @༪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035412.623165 s, next control iter: 1743035413.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8911 , header.stamp.nsec: 0 0 temperature: 13.564440 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.579588 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035413.023165 s.ZPI~,{A'AAHzg@A pg@A`~? AVxAw&"AAwwNA"AZAbAjArAzAAA@ S:@AMȄzGsA?r@A m<A=A?A잿A`w?A*A9?2AWֽ:Aצ=BA9?JAWֽRAצ=٘i)I9?r@YpG J<JJJJE&K Y&_~?yNUA#E777iX9)nB[[?[7_~?[[[[[BZYY i) 1IF?iɼd !@))!@!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035413.043165 s, next control iter: 1743035413.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035413.443165 s.9VI~,F]\'AJ"J*J2J:JBJnJvJAq= g@ADg@A`~? ADpAK&"AAGvwNA"AZAbAjArAzAAANcO:@A⒍BsAq@ASI<A=A:?AAp?A*A9?2Ajֽ:At=BA9?JAjֽRAt=٘i)I9q@Y$G JJJJJE&K Y#_~?y(TA%Eb7b7X9)rB[[?[_~?[ [[[[BZYY i) 1AI$F?iR` 6"@))6"@6"@YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035413.463165 s, next control iter: 1743035413.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8912, header.stamp.nsec: 00 temperature: 13.564683* salinity: 33.375603, density: 1025.000000* values[0]: 0.579021F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035413.863165 s.+]I~,>w'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035413.863285F (some fields omitted in printout)Ah@A!: h@A`~? A5hA&"AAswNA"AZAbAjArAzAAA'J:@AW>=sA1Hq@ATn;A룍=A?AˮA@g?A.鑼*A9?2Aֽ:ALb=BA9?JAֽRALb=Y ?\?y=zo;ٓH`̿0d_6?ʛ̿s?ذ@m?\?) ? I٘i)I9Hq@YG J풼J;JJJE&KOx> Y_~?y TA?(Eŧ77X9B)uBE[[)?[:_~?[,[[[[BZYY i) JPIAE?i` ^0$@))^0$@^0$@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035413.883165 s, next control iter: 1743035414.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035414.283165 s.5RdI~,'AJ"J*J2J:JBJnJvJA(\Oh@A QBh@Af`~? A*`Aۅ&"AApwNA"AZAbAjArAzAAAMB:@A"8sAMp@AAA=A?AAA8\?AG*A9?2A.2׽:A=BA9?JA.2׽RA=٘i)I9p@YG J B=JJJJE&K  Y9Yw_~? Y9y5TA+E7)Y9)yB[[O?[_~?[[[[[BZYY i) `IuE?i_ ڿ%@))ڿ%@ڿ%@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035414.323165 s, next control iter: 1743035414.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8913., header.stamp.nsec: 0.0 temperature: 13.564940.* salinity: 33.375587., density: 1025.000000.* values[0]: 0.578434.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035414.703165 s.׺jI~,'AAQh@AW=`xh@Az`~? A"XA" &"AAlwNA"AZAbAjArAzAAA::@A}3sA Up@AaaAۑ=A&I?AAM?AX*A9?2A'S׽:APs=BA9?JA'S׽RAPs=٘i)I9Up@YEG JLJJJJE&K Y$_~?yfSA-E7)7Y9)|B[[2t?[F}_~?[t[[[[BZYY i=) ooIE?i] P'@))P'@P'@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035414.723165 s, next control iter: 1743035415.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035415.123165 s.7qI~,]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035415.123344F (some fields omitted in printout)J"J*J2J:JBJnJvJAGh@AIZ֭h@A`~? A!PAc &"AAgwNA"AZAbAjArAzAAA`l/:@AHa.sAo@AP[A>?=A?A庿AJ=?A*A&9?2A/׽:A%=BA&9?JA/׽RA%=٘i)I9o@YG JC=JJJJE&K Y _~?ywSA0Eŧ7ŧ7T Y9B)BE[[o?[>t_~?[=[[[[BZYY i) ~IE?i ,Y (@))(@(@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035415.143165 s, next control iter: 1743035415.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035415.543165 s.IxI~,'AA= ףh@Ah@A `~? A%HA[ &"AAXbwNA"AZAbAjArAzAAAf(#:@A<*sAF[o@A»A=Ak?AdA@)?Ah*Ah9?2ATֽ:A =BAh9?JATֽRA =٘i)I9[o@YG JᖼJJJJE&K Y_~?y=SA3Ej7j7 Y9B)BE[[?[j_~?[ ߨ[[[[BZYY i) IۧE?iS p*@))p*@p*@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035415.583165 s, next control iter: 1743035415.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8914, header.stamp.nsec: 00 temperature: 13.565148* salinity: 33.375603, density: 1025.000000* values[0]: 0.577844F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035415.963165 s.z~I~,'AJ"J*J2J:JBJnJvJAffff&i@Ah[i@A`~? A0@A- &"AA[wNA"AZAbAjArAzAAA:@A4%sA n@A⮘;A00=AX?A "-A_?AH*A=9?2Apֽ:A=BA=9?JApֽRA=Y??y/=;ٓHąԿM@<6? .Կ@靲?`OAs??)? I٘i)I9n@Y]G JeJn<JJJE&Kw> Ym^~?yRA?5Eb7b7Y9)B[[?[`_~?[֨[[[[BZYY i) VI"E?iФR +@))+@+@y'ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035415.983165 s, next control iter: 1743035416.363178 s, wait time: 0.380013 sm^~?) rAdjusting time to match Gazebo time: 1743035416.383165 s.؅I~,<'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743035416.383279F (some fields omitted in printout)A(\i@AL!Oi@A`~? AC8AB &"AATwNA"AZAbAjArAzAAAy:@A$L~Y^ sAKn@A#tR<Ae=Ar?A ÿAo?A *AM9?2A3ֽ:A] =BAM9?JA3ֽRA] =٘i)I9Kn@YG JJJJJE&K YX^~?y٨HRA8E{7Z7Y9)B[[?[T_~?[ͨ[[[[BZYY i) 1IE?ilP ʊ-@))ʊ-@ʊ-@[تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035416.403165 s, next control iter: 1743035416.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8915", header.stamp.nsec: 0"0 temperature: 13.386085"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.698720"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035416.803165 s.{AI~,g3'AJ"J*J2J:J2?BJ2?nJ;5vJAi@A27߄i@A _~? A_0A, &"AALwNA"AZAbAjArAzAAA_ 9@A7sA׺m@Akj<Aj=AJ ?A ĿA?Anj*Aׯ9?2A>Aֽ:AZ=BAׯ9?JA>AֽRAZ=٘i)I9m@YG JJJJJE&K YE^~?y<ѨQA;Eŧ7b7Y9B)B E[[?[I_~?[>Ĩ[[[[BZYY i) IdsE?i" sAqk@A8Aר=AZ@A`{ʿA?A]*A9?2A<׽:A=BA9?JA<׽RA=Y?@y?Ԩ=R9ٓH@ڿѦ@r?ڿ?j@?)? I٘i)I9k@YG JJt<JJJE&Kdx> Y]^~?yPA@CEŧ77i#Y9B)BE[[-@[!_~?[g[[[[BZYY i) #I;BE?i? վ3@))վ3@վ3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035418.083165 s, next control iter: 1743035418.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035418.483165 s.w_I~,'AJ"J*J2J:JBJnJvJA\hj@A[j@A_~? A6A&"AAP%wNA"AZAbAjArAzAAA"~9@APNLsA$`k@AlnA<=A=b@AR̿A`p^?A*A9?2A6׽:AQ=BA9?JA6׽RAQ=٘i)I9`k@YAG JJJJJE&K Y^~?y/PAEE{7j7&Y9B)B[[r@[q_~?[[[[[BZYY i) .zIl2E?iB;< I5@))I5@I5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035418.503165 s, next control iter: 1743035418.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8917, header.stamp.nsec: 00 temperature: 13.386647* salinity: 33.391685, density: 1025.000000* values[0]: 0.695653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035418.903165 s.ȭI~,͹'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035418.903289F (some fields omitted in printout)AQj@A$Cj@A_~? A AH%&"AAzwNA"AZAbAjArAzAAA9@AsCsAj@A4&AhI=AU@AH οA`7?A}*A9?2A:ֽ:AT=BA9?JA:ֽRAT=٘i)I9j@YG J4JJJJE&K Y^~?yOAHE77*Y9B)BE[[C@[u_~?[™[[[[BZYY i) J¼I"E?ia7 6@))6@6@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035418.943165 s, next control iter: 1743035419.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035419.323165 s.rI~,'AJ"J*J2J:JBJnJvJAGzj@A'jinj@A(_~? AA&"AA wNA"AZAbAjArAzAAA[p9@A0c}%3rAj@AʹAC=A@A`ϿA[?Aՠɼ*A9?2AMxֽ:AB=BA9?JAMxֽRAB=٘i)I9j@Y|G JļJJJJE&K Y!^~?yMOAKEb7b7*.Y9B)BE[[(@[^~?[[[[[BZYY i) v(ʼIE?i\1 _8@))_8@_8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035419.343165 s, next control iter: 1743035419.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8918*, header.stamp.nsec: 0*0 temperature: 13.386942** salinity: 33.391663*, density: 1025.000000** values[0]: 0.694986*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035419.743165 s.WI~,u'AAףp= k@Ae2j@A_~? A\AN&"AAvNA"AZAbAjArAzAAAUuU9@AmrAJpi@A<AD=A'@A@пA?AѼ*AՓ9?2Aֽ:A=BAՓ9?JAֽRA=٘i)I9pi@YG JͼJJJJ¢E&K Yc^~?yNAME)7ŧ71Y9)B[[?R @[^~?[[[[[BZYY i) HѼIE?ia4* }9@))}9@}9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035419.763165 s, next control iter: 1743035420.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035420.163165 s.t}I~,q 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035420.163273F (some fields omitted in printout)J"J*J2J:JBJnJvJA@k@Aeȱ2k@A_~? AA &"AAxvNA"AZAbAjArAzAAAlz89@AKrAh@A8n<Aqd=A;n@AcѿAз?A*W׼*Af9?2Acֽ:A=BAf9?JAcֽRA=Y?&@y_=/#o<ٓH3$௜C;}?* ,3?`dƍ??)? I٘i)I9h@Y G JԼJH<JJJŢE&Kw> Y^~?ycNA@PE7)7T5Y9 B)ïBE[[2 @[^~?[߁[[[[BZYY i) ؼID?i$' p;@))p;@p;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035420.203165 s, next control iter: 1743035420.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035420.583165 s.I~,R%'AA)\uk@A+lhk@A|_~? AjAt&"AAvNA"AZAbAjArAzAAAEA9@AZ<[vrAh@AbB<A{=Aٿ@AҿA`B?AAؼ*AE9?2Aa@ֽ:A =BAE9?JAa@ֽRA =٘i)I9h@Y7 G JmؼJJJFJȢE&K Y~^~?yfMASE778Y9 B)ɯBE[[` @[^~?[-z[[[[ZZ¸BZYY i¸ e=) ̼ID?iU~`" <@))<@<@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035420.603165 s, next control iter: 1743035420.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8919, header.stamp.nsec: 00 temperature: 13.387264* salinity: 33.391674, density: 1025.000000* values[0]: 0.693581F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035421.003165 s.J "J *J 2J :J 1?BJ 1?nJ .:5vJ } I~,a4@'AARk@A`|xk@A_~? A A&"AAvNA"AZAbAjArAzAAAe#8@A\nrARg@AuhB;Ac=A @AxӿA`U?A׼*AR9?2A{ֽ:A=BAR9?JA{ֽRA=٘i)I9Rg@Y G JaؼJJJJʢE&K Yp^~?yсrMAUE77@))>@>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035421.043165 s, next control iter: 1743035421.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743035421.423165 s.uI~,{['AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743035421.423266F (some fields omitted in printout)A{Gk@A(@k@A_~? AܩA$&"AAvNA"AZAbAjArAzAAA 8@ATrrA7f@A*AN=Av @ATԿA?A/*Aȗ9?2Aֽ:AY<BAȗ9?JAֽRAY<٘i)I9f@YP G JnB=JJJJ͢E&K YAb^~?y;zLAXE77@Y9 B)ׯBE[[h@[ʞ^~?[Gk[[[[ZZBZYY i) ꣴIED?ij% @@))@@@@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035421.443165 s, next control iter: 1743035421.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8920", header.stamp.nsec: 0"0 temperature: 13.387589"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.692106"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035421.843165 s.I~,u'AJ"J*J2J:J-1?BJ-1?nJ95vJAp= l@A l@Ar_~? AթA"&"AAıvNA"AZAbAjArAzAAAXڵ8@A:rAĵe@AdhAW=AN @A 0տA?A\.*A9?2A# ׽:AzĮ<BA9?JA# ׽RAzĮ<٘i)I9e@Y G J^C=JJJJТE&K YS^~?yrLA[E77CY9)ޯB[[@[^~?[d[[[[ZZBZYY i) IZD?i]% A@))A@A@y=kЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035421.883165 s, next control iter: 1743035422.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035422.263165 s.I~,#ؐ'AALl@A`?l@A{_~? AXΩA&"AAvNA"AZAbAjArAzAAA 8@AjrAd@As_Aq=A @A ֿA`s?A:*An9?2Aֽ:AoT<BAn9?JAֽRAoT Y@C^~?yk0LA @ D]Ej7j7?GY9B)BE[[|l@[x^~?[][[[[ZZBZYY i) eIøD?iW C@))C@C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035422.283165 s, next control iter: 1743035422.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 89212, header.stamp.nsec: 020 temperature: 13.3879532* salinity: 33.3917052, density: 1025.0000002* values[0]: 0.6904542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035422.683165 s.lI~,g'AJ"J*J2J:J0?BJ0?nJW95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035422.683291F (some fields omitted in printout)A(\l@Aul@A z_~? ADǩA9&"AAvNA"AZAbAjArAzAAATk8@A0fperA#-d@A̻A-=Ar^@AֿAu?A˼*A9?2A2ֽ:AOC;BA9?JA2ֽRAOC;٘i)I9-d@Y G J%޼C=JJJJբE&K Y2^~?ypdKA`Eb77JY9)B[[W@[d^~?[V[[[[ZZBZYY i) *ID?iRO D@))D@D@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035422.683165 s, next control iter: 1743035423.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035423.103165 s.I~,'AAQl@A{Gl@A&m_~? ADAE&"AAezvNA"AZAbAjArAzAAA{D8@AzrAc@A;AE<A8@A׿A9?A/*AD9?2Aֽ:ANBAD9?JAֽRAN٘i)I9c@Y} G J.JJJJآE&K Y!^~?yU]KAcE)7ŧ7jNY9B)BE[[cn@[P^~?[VO[[[[ZZBZYY i) )ID?iEH F@))F@F@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035423.143165 s, next control iter: 1743035423.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035423.523165 s.I~,{'AJ"J*J2J:J0?BJ0?nJ!95vJAHzl@A} l@A__~? AYAAK&"AAfvNA"AZAbAjArAzAAAR(D8@A{urA c@ANVD<ANL <A#@A ؿAH?A *A9?2AWֽ:Au<BA9?JAWֽRAu<٘i)I9 c@Y- G JJJJJڢE&K Y^~?y:V>KAfE77QY9)B[[ @[ <^~?[H[[[[ZZBZYY i) kwID?i8F G@))G@G@9VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035423.543165 s, next control iter: 1743035423.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8922, header.stamp.nsec: 00 temperature: 13.388288* salinity: 33.391705, density: 1025.000000* values[0]: 0.689054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035423.943165 s.YdI~,F]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743035423.943296F (some fields omitted in printout)Aq= #m@Am@AQ_~? AA&"AAQvNA"AZAbAjArAzAAAc7@AYrAb@AZX<AGA?@AYٿA`?A7*A9?2A&ֽ:A {BA9?JA&ֽRA {٘i)I9b@Y G JhJJJJݢE&K Y`^~?yOJAhEb77UY9B)BE[[f@['^~?[mB[[[[ZZBZYY i) V`ID?i*~ڻ ,I))-II@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035423.963165 s, next control iter: 1743035424.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035424.363165 s.J "J I~*J2J,>'A:JB0?BJB0?nJ85vJAYm@AɍLm@AC_~? AīAJV&"AA Yh]~?yH KA@kE7*YY9B)BE[[@[^~?[,<[[[[ZZBZYY is=) 8NI#D?i*#л lG))lGIJ@))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035424.383165 s, next control iter: 1743035424.763181 s, wait time: 0.380016 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8923&, header.stamp.nsec: 0&0 temperature: 13.388491&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.688185&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035424.783165 s.Z I~,2'AA(\m@A^ Pm@A5_~? AA<&"AA&vNA"AZAbAjArAzAAAG:7@AwrA2Qb@A*?A<Aq@A`ڿA4?A"#*A9?2A6ֽ:AۼBA9?JA6ֽRAۼ٘i)I9Qb@Y G J8nJJJJE&K Yp]~?yB*KAnE{7j7\Y9)B[[Ba@[]~?[6[[[[BZYY iD=) =I~D?i Ļ F))FL@B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035424.803165 s, next control iter: 1743035425.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035425.203165 s.I~,M'AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743035425.203285F (some fields omitted in printout)AQm@A m@A%_~? AAfZ&"AAAvNA"AZAbAjArAzAAAkl7@Aӿ,rA^b@AT?AVm?A@A?ۿA ?A;*A9?2AWս:ABA9?JAWսRA٘i)I9^b@Y G J:JJJJE&K Yw]~?yx;IKApEU`Y9B)BE[[t@[F]~?[:0[[[[BZYY i) +I elevatorAngleAction: 0.070126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035426.463288F (some fields omitted in printout)Afffffn@AV]Yn@A^~? ArA&"AAuNA"AZAbAjArAzAAA/6@Aj­NrA0c@A_|A$!A; @AݿA ?A/:m<*A9?2Aֽ:AgBA9?JAֽRAgY8 @] @y$! ٓH॰sڿ?@g?@`W`??)8 @ I٘i)I90c@YE G J Y<B=JݽJJJE&Kw> Y]~?yw(KA @xE77kY9B)BE[[>!@[]~?[[[[[BZYY iJk=) )IdD?i=Ѿ酻  @)) @ R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035426.483165 s, next control iter: 1743035426.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8925, header.stamp.nsec: 00 temperature: 13.388484* salinity: 33.391727, density: 1025.000000* values[0]: 0.688344F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035426.883165 s.y-I~,@'AJ"J*J2J:JBJnJvJA(n@Ac`n@A9^~? AIAK&"AAuNA"AZAbAjArAzAAAt66@A &rAc@Az<AJAb@A±޿A?AY<*A9?2A9ֽ:ABA9?JA9ֽRA٘i)I9c@Y G J|<C=JJJJE&K Yw]~?y"BLA{E77{7nY9)B[[ͳ"@[]~?[[[[[BZYY i) 5лI_D?ip />))/>S@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035426.903165 s, next control iter: 1743035427.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035427.303165 s.V4I~,wg'AAn@ATn@A^~? A<AE&"AAەuNA"AZAbAjArAzAAAaJ}t6@AVnrAHd@ALBg<AYuA@Aj߿Ak?AH<*A9?2AQֽ:At BA9?JAQֽRAt ٘i)I9d@Y G J1<JJJJE&K Yb]~?yLA~E777@rY9B)BE[[&$@[Cq]~?[[[[[BZYY i) r@I+[D?iP =))=2 U@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035427.323165 s, next control iter: 1743035427.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8926., header.stamp.nsec: 0.0 temperature: 13.388343.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.689027.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035427.723165 s.J "J *J 2J :J d0?BJ d0?nJ 85vJ ;I~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057567< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035427.723323F (some fields omitted in printout)Azo@A#Hn@An^~? AKyAt8&"AA{uNA"AZAbAjArAzAAAʥr2%?6@A~wΫrA/d@A7<AҝA@ALAn?A<*A/9?2Aֽ:A BA/9?JAֽRA ٘i)I9d@Y G J\<B=JJJJE&K YM]~?yLAEb77uY9B)B޹E[[%@[GY]~?[[[[[BZYY i) HIWD?i$+ ;));V@y*l=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035427.763165 s, next control iter: 1743035428.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035428.143165 s.T/BI~,) 'AA ףp=o@Af0o@As^~? AwsA}&"AA`uNA"AZAbAjArAzAAA+6@AC?rA**e@An9;AѻAA@A fA?Ah<*A_9?2Aoֽ:A* BA_9?JAoֽRA* ٘i)I9*e@Yy G J<C=JJJJE&K Y8]~?yZMAE77jyY9)B[['@[.A]~?[^ [[[[BZYY iԺ=) fITD?iJ> R':))R':cW@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035428.183165 s, next control iter: 1743035428.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035428.563165 s.HI~,[ $ 'AJ"J*J2J:JBJnJvJA3333so@Aq&fo@A^~? AmAX&"AAEuNA"AZAbAjArAzAAA5@ArA~e@A^AA? @A@A,q?A<*AǪ9?2A#ֽ:A BAǪ9?JA#ֽRA Yʅ@ @ycٓH6@bb? ?@@rT?k?)ʅ@ I٘i)I9e@Y G J<JJJJE&Kw> Y!]~?y MA @E}Y9"B)BڹE[[s(@[(]~?[[[[[BZYY i) {*IRD?iB$AҺ 8))8mY@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035428.583165 s, next control iter: 1743035428.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8927, header.stamp.nsec: 00 temperature: 13.388176* salinity: 33.391754, density: 1025.000000* values[0]: 0.689953F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035428.983165 s.OI~,> 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035428.983287F (some fields omitted in printout)A\o@A:o@A`^~? A&hA&"AA)uNA"AZAbAjArAzAAA+375@Ap"VrA `f@AF`AA`!@AAG?A<*A 9?2Aֽ:Aa BA 9?JAֽRAa ٘i)I9`f@Y5 G JY<JJJJE&K Y2 ]~?yo.NAE7Y9$B)B׹E[[)@[]~?[[[[[BZYY i) "ݺI QD?i`콉H <7))<7Z@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035429.003165 s, next control iter: 1743035429.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035429.403165 s.&VI~,Y 'AJ"J*J2J:JBJnJvJAQo@Ao@AJx^~? AbAR&"AAc uNA"AZAbAjArAzAAAuZ^5@ASRrAf@AoLAA#@A,dA`?Amo<*Ao9?2A=ֽ:ANiBAo9?JA=ֽRANi٘i)I9f@Y G JE<JJJJE&K Yq\~?y:NAE{7j7*Y9)B[[ M+@[\~?[[[[[BZYY i) KI-PD?i&O% 5))5V\@V*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035429.423165 s, next control iter: 1743035429.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8928", header.stamp.nsec: 0"0 temperature: 13.387933"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.691057"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035429.823165 s.\I~,Ot 'AAGzp@AWXpp@Ad^~? AM]ARa&"AA6tNA"AZAbAjArAzAAAg#5@A+VᷚrAg@A A"An$@AIA`?A,<*AT9?2Aֽ:AcsBAT9?JAֽRAcs٘i)I9g@Y G JE<B=JJJJE&K Y\~?yOAEj7Y9%B)BԹE[[ ,@[\~?[[[[[BZYY i) 69I!PD?i\^ V4))V4]@yb=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035429.843165 s, next control iter: 1743035430.223188 s, wait time: 0.380023 s"\~?)" rAdjusting time to match Gazebo time: 1743035430.243165 s.cI~,m 'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743035430.243291F (some fields omitted in printout)Aףp=Jp@A7n1=p@A Q^~? AXA&"AAtNA"AZAbAjArAzAAA wc4@A+rA>h@AV;A A%@AA ?A.ͤ<*A˺9?2Aֽ:A(}BA˺9?JAֽRA(}٘i)I9h@YF G Jܩ<C=JJJJE&K Y\~?ykOAEŧ7b7UY9'B)BѹE[[.@[\~?[V[[[[BZYY i) N:IQD?i =v&: ,2)),2:_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035430.263165 s, next control iter: 1743035430.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035430.663165 s.jI~,q 'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8929, header.stamp.nsec: 00 temperature: 13.387710* salinity: 33.391750, density: 1025.000000* values[0]: 0.692068F (some fields omitted in printout)Ap@AZarp@A<^~? ARA.&"AAAtNA"AZAbAjArAzAAAѿV\S4@A0grAΦh@A8TT<A㌏A'@AUUA P?Au<*AĽ9?2A׽:AABAĽ9?JA׽RAAY @'@ỷT<ٓHx/#?,? @ۘw?@V?2?) @ I٘i)I9h@Y G JJ<B=J<JJJE&K x> Y\~?yYOA'@Ej7Z7Y9(B)BιE[[|/@[&\~?[[[[[BZYY i) g;IpRD?i=#\: t1))t1$`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035430.683165 s, next control iter: 1743035431.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035431.083165 s.DqI~,R 'AJ"J*J2J:J+1?BJ+1?nJ95vJA)\µp@Avmop@Ap(^~? AMA&"AAtNA"AZAbAjArAzAAA ?l4@A\rAG)i@A]<AՁAdl(@A7A?A^<*AM9?2A׽:ABAM9?JA׽RA٘i)I9)i@Y G Jj<C=JJJJ E&K Y7\~?y+PAE7777Y9*B)B͹E[[0@[\~?[[[[[BZYY i) :  0)) 0b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035431.103165 s, next control iter: 1743035431.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035431.503165 s.wI~,H4 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035431.503298F (some fields omitted in printout)ARp@A{p@A^~? AIA&"AA=utNA"AZAbAjArAzAAA0-4@AofrAi@AMq;AkˋA5)@A`mA`?A<*A9?2Avֽ:AzBA9?JAvֽRAz٘i)I9i@Y6G J<JJJJ E&K Y}\~?ymPAEŧ7ŧ7Y9,B)ޯBʹE[[Q2@[w\~?[[[[[BZYY i) =};I`WD?iS>+; v.))v.?c@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035431.523165 s, next control iter: 1743035431.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8930, header.stamp.nsec: 00 temperature: 13.387555* salinity: 33.391747, density: 1025.000000* values[0]: 0.693002F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035431.923165 s.9~I~, 'AJ"J*J2J:JBJnJvJA{G!q@A%<q@A]~? AgDAVN&"AAUtNA"AZAbAjArAzAAA]26\03@A2hrA)j@ASQA>A+*@A<1A s?AHC<*Az9?2Avpֽ:ABAz9?JAvpֽRA٘i)I9)j@YG J<JJJJE&K Ye\~?yPAEb77Y9)گBǹE[[3@[^\~?[[[[[BZYY i) U;I[D?iȉ>\0; @)-))@)-ud@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035431.943165 s, next control iter: 1743035432.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035432.343165 s.]; +))+bf@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035432.383165 s, next control iter: 1743035432.743175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8931*, header.stamp.nsec: 0*0 temperature: 13.387344** salinity: 33.391750*, density: 1025.000000** values[0]: 0.693879*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035432.763165 s.=I~,80 'AJ"J*J2J:J1?BJ1?nJC:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743035432.763347F (some fields omitted in printout)Ǎq@Aq@Ai]~? A];A&"AAtNA"AZAbAjArAzAAA0.E5uj3@ArAv*k@AVeA1A-@A@]A v?Aؽ<*A 9?2AJֽ:ABA 9?JAJֽRAY@ƒ-@y.:fٓHճڿ\?`ؗ?D@? Z?)@ I I٘i)I9*k@Y G JD<B=J <JJJE&Kx> Yx3\~?yܧQA-@E7ŧ7֠Y9)ԯB[[xu6@[C*\~?[n[[[[BZYY iU=) 9;IdD?i->Py; R*))R*,g@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035432.783165 s, next control iter: 1743035433.163183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035433.183165 s.˒I~,ZK 'AA(\q@Aiq@Aj]~? A 7AqW&"AAsNA"AZAbAjArAzAAA'3@A^rA>k@AADžA.@A "A@?Awi<*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9k@YlG J<C=JJJJE&K Y\~?y+٧RAEj7j7kY9/B)ѯBE[[7@["\~?[[[[[BZYY i) _;IjD?i>H; s())s(B7i@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035433.203165 s, next control iter: 1743035433.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035433.603165 s.94I~,f 'AJ"J*J2J:JBJnJvJAQq@AoIq@A$]~? A2Ao&"AAsNA"AZAbAjArAzAAA׿ɂ<2@AuҀrAl@AT:A;A/0@A:A?A~<*A9?2Aֽ:A9BA9?JAֽRA9٘i)I9l@YG J<B=JJJJE&K Y\~?yէ]RAE77Y90B)ϯBE[[(49@[[~?[[[[[BZYY i)  ; &'))&'j@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035433.623165 s, next control iter: 1743035434.003181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8932, header.stamp.nsec: 00 temperature: 13.387174* salinity: 33.391731, density: 1025.000000* values[0]: 0.694768F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035434.023165 s.ZI~, | 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035434.023289F (some fields omitted in printout)AHz.r@Atx!r@A]~? A.A&"AAsNA"AZAbAjArAzAAAˎ2@A/\~rAl@AY&<A.A1@A\xA Y?A<*AE9?2A#׽:AgBAE9?JA#׽RAg٘i)I9l@YG J#<C=JJJJE&K Yk[~?yѧRAE{7{7Y91B)ͯBE[[z:@[[~?[ߧ[[[[BZYY i) wZ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035434.043165 s, next control iter: 1743035434.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035434.443165 s.6æI~,:] 'AJ"J*J2J:JBJnJvJAq= cr@AtA}Vr@Ay]~? A*A H &"AAsNA"AZAbAjArAzAAARZ2@A{rALl@Aag<An;AU2@AJA%?A<*AI9?2AO)׽:A<BAI9?JAO)׽RA<٘i)I9l@Y:G J<JJJJ E&K Y[~?y*ΧSAE77j7+Y94B)̯BE[[;@[[~?[2ާ[[[[BZYY i) +$))>$wnm@[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035434.463165 s, next control iter: 1743035434.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8933, header.stamp.nsec: 00 temperature: 13.387031* salinity: 33.391750, density: 1025.000000* values[0]: 0.695542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035434.863165 s.+I~,> 'AAr@A덌r@Ab]~? A8'A &"AAjsNA"AZAbAjArAzAAA2@A)SyrA:hm@Af.<AA!4@AlA /L?AY<*A^9?2Auֽ:A6oBA^9?JAuֽRA6oY&@4@y/<ٓH@ :׎ԿQ?@=?_M `/]?ԅ??)&@ I٘i)I9hm@Y}G J݂<J)JJJ#E&Kx> Y[~?yT˧pSA4@Eŧ7ŧ7Y9)ɯB[[C=@[[~?[ܧ[[[[BZYY i) xj; elevatorAngleAction: 0.077941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035435.283287F (some fields omitted in printout)A(\r@A1"Qr@AoK]~? A#A] &"AAGsNA"AZAbAjArAzAAA<411@AwrAm@AO:AB$Ad5@A Ar?A7<*A9?2Aƕֽ:A4BA9?JAƕֽRA4٘i)I9m@YG J<JJJJ&E&K Y<[~?y~ȧSAEb7b7VY95B)ƯBE[[>@[d[~?[#ۧ[[[[BZYY i) {J1@A(7MesrAn@AdA/A&7@A0A`?A%<*Ag9?2AS)ֽ:ABAg9?JAS)ֽRA٘i)I9n@Y[G J<C=JJJJ+E&K Ya[~?y§TAEb7Y98B)BE[[IA@[%Y[~?[ا[[[[BZYY i) Bi elevatorAngleAction: 0.077941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743035436.543294F (some fields omitted in printout)A= ףps@Aǚcs@A:]~? AAj!&"AArNA"AZAbAjArAzAAA-DL0@A yqrAYo@A#GAiA<9@AA?A<*Aܭ9?2A2Uֽ:AYBAܭ9?JA2UֽRAY٘i)I9Yo@YG J<JJJJ.E&K YG[~?yTAE7777Y99B)BE[[B@[>?[~?[ק[[[[BZYY i) GUy Yz+[~?yLUA:@E77Y9:B)BE[["C@[%[~?[)ק[[[[BZYY i) 9 elevatorAngleAction: 0.077941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035437.803292F (some fields omitted in printout)At@Aut@A6\~? A3AK"&"AAQnrNA"AZAbAjArAzAAAH0@ADlrA@p@ASW<AڜAD=@A d6ARF?A <*A9?2A/׽:A BA9?JA/׽RA ٘i)I9p@YG J<JJJJ6E&K YtZ~?yVAE77Y9)B[[F@[Z~?[2֧[[[[BZYY i) WV@Ar\A t?AO<*A9?2A׽:A BA9?JA׽RA ٘i)I9wq@YG J<JJJJ8E&K YZ~?yVAâEkY9<JJJJ;E&K YlZ~?y VAƢE7Y9>B)BE[[.I@[Z~?[է[[[[BZYY i) 0s elevatorAngleAction: 0.087546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035439.063297F (some fields omitted in printout)A3333t@A$)t@Ap\~? A A"&"AAqNA"AZAbAjArAzAAAn[qm.@A*PgrA)r@AAAtA@A(A?AHx<*AϞ9?2A@Sֽ:AËBAϞ9?JA@SֽRAËY{3@A@yN'ٓH1`lп?c?@n_61O?7p?){3@ I٘i)I9r@YG J=<B=J7?JJJ>E&Kw> YgZ~?y SWAA@ɢE77{7Y9?B)BE[[}J@[ģZ~?[֧[[[[BZYY i) ߩE?i?ԜM< w))w>|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035439.083165 s, next control iter: 1743035439.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035439.483165 s.z_I~, 'AJ"J*J2J:J3?BJ3?nJ;5vJA\t@AVfJt@AW\~? AA#&"AAqNA"AZAbAjArAzAAA3v[-@Aێ>YfrAH1s@AFAE夽AYB@ANA@?AH<*Aq9?2Aֽ:AOABAq9?JAֽRAOA٘i)I91s@YG J<C=JJJJAE&K YfZ~?yWAˢE7,Y9@B)BE[[K@[Z~?[B֧[[[[BZYY i) L\~? AA,#&"AAqNA"AZAbAjArAzAAAyR*<-@A~7erAs@A^_dA3+A5C@A^A&?Ab|<*A+9?2A} ֽ:ARTBA+9?JA} ֽRART٘i)I9s@YbG Jm<JJJJCE&K YeiZ~?yڲ-XA΢E)7ŧ7Y9AB)BE[[[M@[pZ~?[֧[[[[BZYY i)  elevatorAngleAction: 0.087546< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420014*J2J2 time: 1743035440.323321F (some fields omitted in printout):JBJnJvJAGzTu@AGqGu@A$\~? A_ATP#&"AA2qNA"AZAbAjArAzAAAᗮD,@A #apdrAlt@A A>tAUD@A\A` G?A<*A59?2Avnֽ:ABA59?JAvnֽRA٘i)I9lt@YG JW<JJJJFE&K YbMZ~?yñXAѢEb7b7VY9BB)BE[[]N@[_WZ~?[Aק[[[[BZYY i) M$Z~?[ק[[[[BZYY i)  x> Y,Z~?yy}YAG@֢Ej7Z7Y9CB)BE[[P@[*%Z~?[ا[[[[BZYY i)  elevatorAngleAction: 0.087546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035441.583301F (some fields omitted in printout)A)\u@Ayju@A![~? AAz#&"AA qNA"AZAbAjArAzAAA *@ANarAOv@Af<A! A I@A3A$?AI<*A܁9?2A׽:A=BA܁9?JA׽RA=٘i)I9Ov@YG J<JJJJNE&K YY~?yGYA٢Ej7Y9DB)BE[[2R@[) Z~?[٧[[[[BZYY i) T.arAv@A'<A_ijA&GA@xCA^?AM<*A}9?2Aֽ:A.<BA}9?JAֽRA.<٘i)I9v@YNG JD<JJJJQE&K YY~?ygZAܢE777Y9EB)BE[[wS@[gY~?[ۧ[[[[BZYY i) Z elevatorAngleAction: 0.087546< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035442.843330F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= v@ACv@A[~? AVA#&"AApNA"AZAbAjArAzAAAURt(@AuY%`rAoWx@AkA,AXEAf[A ¯?A<*Afw9?2Aֽ:A BAfw9?JAֽRA ٘i)I9Wx@Y&G J!<JJJJVE&K Y[Y~?yQ[AEŧ7b7Y9GB)BE[[U@[Y~?[ݧ[[[[ZZZZ¸>BZYY i¸>() L Y@Y~?ya[ACE{7{7lY9)BE[[[[[[ZZZZBZYY i) DA`mA wAJ<*A9?2AOֽ:AhQBA9?JAOֽRAhQ٘i)I9_|@YG J <JJJJcE&K YY~?y)]AE7777Z9)fBwE[[5\@[|KY~?[g[[[[ZZZZBZYY i) +W 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082109< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743035445.363274F (some fields omitted in printout)Aw@Aw@A Z~? A)Az$&"AA!oNA"AZAbAjArAzAAA 7PK%@AMm_rAG}@A6f<A;$ALv=AkA`AȪ<*A 9?2A:vֽ:A1;BA 9?JA:vֽRA1;Y՜F@|=yl弙Mf<ٓH=w@?ْ?`ǿyNT?آ?@(ь? ?)՜F@ I٘i)I9}@YG J<J|>JJJfE&Kw> YX~?y]A|=Eb77W Z9DB)\BtE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #50q/2^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZZZBZYY izX) 2ʑ<)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035445.383165 s, next control iter: 1743035445.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8944&, header.stamp.nsec: 0&0 temperature: 13.384526&* salinity: 33.391693&, density: 1025.000000&* values[0]: 0.707995&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035445.783165 s._[I~,r 'AA(\x@A@Px@AZ~? AA#&"AAʎoNA"AZAbAjArAzAAAb/ez9$@A%6_rAc}@AO;A:A,<A7gA`LA]v<*Ar9?2Auֽ:A.8<BAr9?JAuֽRA.8<٘i)I9}@YLG J<JJJJiE&K Y!X~?yV ^AE777Z9)XBqE[[^@[Y~?[3[[[[ZZZZBZYY i) g5vJ cI~,  'AAQEx@APj8x@A)Z~? A A#&"AArgoNA"AZAbAjArAzAAAۧ$@Ae`rA}@A|uA;A9;A/jAHIAL><*Ap:?2AN½:A;h<BAp:?JAN½RA;h<٘i)I9}@YG Jl<JJJJlE&K YIX~?y췧2^AE77Z9EB)UBnE[["_@[Y~?[[[[[ZZZZBZYY iȡ) z5vJA= ףx@A`x@AIZ~? AA#&"AAoNA"AZAbAjArAzAAA69^"@Aρ9`rAM~@AQbA8P<A+k9AaA .A2;*A:?2A*Ž:AD$<BA:?JA*ŽRAD$<٘i)I9M~@YG J;B=JJJJqE&K YX~?y^AE77Z9)RBhE[[]b@[*X~?[M[[[[BZYY i) 9PJJJtE&KE> YHqX~?ybF^AL8Ej7Z7BZ9)[[c@[X~?[E[[[[BZYY ih) :?5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035447.883294F (some fields omitted in printout)A(y@AWCy@ASZ~? AAw#&"AA>nNA"AZAbAjArAzAAAW,t!@AAbrA8~@A;APS=A|7AIAjA&ϻ*Al:?2A)ʽ:Ao=BAl:?JA)ʽRAo=٘i)I98~@YG JJzJJJJvE&K YUX~?y ^AEb7b7!Z9)SBeE[[d@[X~?[Z[[[[BZYY iLz) $.=;@A XdrA=}@A!,<A=A.3A@rA¿A#*AFX:?2A7ѽ:A+=BAFX:?JA7ѽRA+=٘i)I9=}@Y!G J]{JJJJ~E&K YX~?yƧ`]A E77,Z9)ZB\E[[gh@[umX~?[7[[[[BZYY i) ;I G?iP*@E< o))oU@yƱSĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035449.163165 s, next control iter: 1743035449.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035449.563165 s.I~,V d'AJ"J*J2J:Js5?BJs5?nJC>5vJA3333y@Aӝ'y@AY~? AA2I#&"AAv.nNA"AZAbAjArAzAAA^A]@AQerA |@ApD:AbI=A1A@AlĿA%*AUS:?2Acӽ:A#?=BAUS:?JAcӽRA#?=YKR@1y_I=sE:ٓH@?~`Nֿ*@ʙ 񤲿.H?@>?)KR@ I٘i)I9|@YG JPJ=JJJE&Kuw> YW~?yɧ\A1 E7)7,0Z9)^BYE[[i@[XX~?[[[[[BZYY i) 0;IJG?i6-@< ;));쿩L@*ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035449.583165 s, next control iter: 1743035449.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8948, header.stamp.nsec: 00 temperature: 13.384542* salinity: 33.391647, density: 1025.000000* values[0]: 0.708411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035449.983165 s.I~,~'AA\(z@A z@AY~? AAz&#&"AAnNA"AZAbAjArAzAAA,rZ)@AdfrAG|@AAշ=An0AA@ƿAל*A)O:?2AԽ:A=#=BA)O:?JAԽRA=#=٘i)I9G|@YG JJJJJE&K Y1W~?y̧\AEb773Z9)bBVE[[j@[DX~?[f [[[[BZYY i) a';I>G?i0@< W))W꿩E@RӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035450.003165 s, next control iter: 1743035450.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035450.403165 s.&I~,͙'AJ"J*J2J:J>5?BJ>5?nJ >5vJvPublished 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: 0.4199822 time: 1743035450.403298F (some fields omitted in printout)AQ^z@AūQz@APY~? A A#&"AAmNA"AZAbAjArAzAAAh@AZoS;hrA{@AD$nAf=A/AA`ȿA*AK:?2AFxս:Ae =BAK:?JAFxսRAe =٘i)I9{@Y:G JNJJJJE&K Y̴W~?yϧ3\AE)7b7W7Z9)fB[[k@[/X~?[#[[[[BZYY i) ;IG?i44@̩< '))'翩Q @YתYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035450.423165 s, next control iter: 1743035450.803183 s, wait time: 0.380018 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8949", header.stamp.nsec: 0"0 temperature: 13.384793"* salinity: 33.391655", density: 1025.000000"* values[0]: 0.707524"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035450.823165 s.I~,2'AAGzz@Aooz@A1Y~? A A"&"AAOmNA"AZAbAjArAzAAAUW@AIӛirA5{@A+EA)=Af-A}A8ZʿA*AI:?2A!ս:A =BAI:?JA!սRA =٘i)I95{@YG JJJJJE&K YgW~?y ӧ[AE77{7:Z9CB)jBTE[[*m@[%X~?[[[[[BZYY i) |;IH?iI8@< 'b))'b忩Q@٪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035450.843165 s, next control iter: 1743035451.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035451.243165 s.I~,`'AJ"J*J2J:JBJnJvJAףp=z@Aj4z@A7Y~? AA"&"AAVmNA"AZAbAjArAzAAAz@A#djrA_z@ARAx=A},AvA )̿A;^*AG:?2Aֽ:AA =BAG:?JAֽRAA =٘i)I9z@YG JfJJJJE&K YW~?y*֧k[AE{7>Z9)nBQE[[pVn@[X~?[[[[[BZYY i) ?;I6FH?i<@<  )) 㿩3M@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035451.263165 s, next control iter: 1743035451.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035451.663165 s.I~,q'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: 0.4200162 time: 1743035451.663286F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8950, header.stamp.nsec: 00 temperature: 13.385017* salinity: 33.391655, density: 1025.000000* values[0]: 0.706496F (some fields omitted in printout)A{@Az@AgoY~? AA|"&"AAomNA"AZAbAjArAzAAAN{j@A9hlrA z@A8;A=A9+A oPAͿA*AE:?2A ֽ:A =BAE:?JA ֽRA =YX@0+yu=;ٓH~ ?`k`ܿ m@` }??)X@ I٘i)I9 z@Y/G JQJ<JJJE&K{> YfW~?y ڧ[A0+EZ7BZ9)sBNE[[o@[OW~?[[[[[BZYY i) ;IaoH?im?@k< ))࿩@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035451.683165 s, next control iter: 1743035452.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035452.083165 s.DI~,S'AJ"J*J2J:J4?BJ4?nJ=5vJA)\5{@ACV({@AVY~? A?A}J"&"AAJmNA"AZAbAjArAzAAA?@A %Ɔ"nrANoy@A:d<Aƛ=Ad)As(AhϿA*AD:?2A*ֽ:AK =BAD:?JA*ֽRAK =٘i)I9oy@YG JrJJJJE&K YMW~?yާZAE777EZ9)wBKE[[ p@[>W~?[[[[[BZYY i) ,:I2H?i~B@[< kQ޿))kQ޿{@|֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035452.103165 s, next control iter: 1743035452.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035452.503165 s.I~,Y4 'AARk{@A-x^{@AH>Y~? A A`"&"AA$mNA"AZAbAjArAzAAAz@A7orAx@A X<A;/=A(A`A`пA#*AC:?2Aֽ:AVE =BAC:?JAֽRAVE =٘i)I9x@YqG J0JJJJE&K Y`4W~?y -ZAE77BIZ9)|B[[q@[W~?[W#[[[[BZYY i) lA9IH?iE@^< ۿ))ۿl@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035452.523165 s, next control iter: 1743035452.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8951, header.stamp.nsec: 00 temperature: 13.385321* salinity: 33.391647, density: 1025.000000* values[0]: 0.705378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035452.923165 s.6I~,;'AJ"J*J2J:JBJnJvJvPublished 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: 0.4199982 time: 1743035452.923289F (some fields omitted in printout)A{G{@A_={@A&Y~? AA Y*V~?yXA$'E7777TZ9)BBE[[[u@[PW~?[0[[[[BZYY i) )IipP@f= Կ))Կϓ@sǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035453.783165 s, next control iter: 1743035454.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035454.183165 s.I~,|'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: 0.4200172 time: 1743035454.183301F (some fields omitted in printout)A(\B|@A5|@AjX~? A#A"!&"AAlNA"AZAbAjArAzAAAM-|>@ACqwrA-v@A{hA=AqB#A :ATԿA*A[?:?2A׽:A?<BA[?:?JA׽RA?<٘i)I9v@YG J֝JJJJE&K YaV~?yuXA)Eŧ77WZ9)BCE[[v@[ćW~?[65[[[[BZYY i) NfIiCS@#5= ҿ))ҿd@nĪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035454.203165 s, next control iter: 1743035454.583183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035454.603165 s.4I~,A'AJ"J*J2J:JBJnJvJAQx|@A@#Hk|@AX~? Aa'A &"AA;olNA"AZAbAjArAzAAA6Op@AtyrA v@A@+AX=AD!A A \0տA𦚼*A=:?2A3X׽:A8<BA=:?JA3X׽RA8<٘i)I9v@YG J㚼JJJJE&K YV~?y56XA,E777-[Z9AB)B@E[[w@[vW~?[9[[[[BZYY i) БIixV@B = o[п))o[п@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035454.623165 s, next control iter: 1743035455.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8953 , header.stamp.nsec: 0 0 temperature: 13.385824 * salinity: 33.391636 , density: 1025.000000 * values[0]: 0.703312 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035455.023165 s.ZI~,{'AAHz|@As |@AӯX~? A+A &"AAKlNA"AZAbAjArAzAAA󑨹@Ab[|rA u@A';AL=A AAֿAK*A;:?2A>׽:Am<BA;:?JA>׽RAm<٘i)I9u@YzG JŚJJJJE&K YˢV~?yWA/E77^Z9)B=E[[x@[eW~?[>[[[[BZYY i0) vIiZ@ = Gο))GοI@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035455.043165 s, next control iter: 1743035455.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035455.443165 s.5I~,5]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035455.443313F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= |@AJ|@AX~? A.AM &"AA(lNA"AZAbAjArAzAAAp @A Co~rAu@A><Ap)=A!tAA~ֿA<*A::?2A ֽ:A#<BA::?JA ֽRA#<٘i)I9u@Y+G J;B=JJJJE&K YV~?ysWA1Eŧ7b7XbZ9@B)B:E[[hy@[LUW~?[C[[[[BZYY i) ϻIi^@= ˿))˿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035455.483165 s, next control iter: 1743035455.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8954, header.stamp.nsec: 00 temperature: 13.386053* salinity: 33.391624, density: 1025.000000* values[0]: 0.702414F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035455.863165 s.+I~,>'AA}@Aډ }@A:X~? A2A? &"AAclNA"AZAbAjArAzAAAd\ @A?~yrAt@An<A҇=A(ATAH׿ALz*AS4:?2A@ֽ:Af=BAS4:?JA@ֽRAf=Yf@yM·=`o<ٓH4? 6q@| ڍ??)f@ I٘i)I9t@YG JC=J*JJJE&Kx> YtV~?y.WA4Ej7Z7eZ9)B[[ {@[DW~?[wH[[[[BZYY i) @Ii7`@\= uɿ))uɿx@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035455.903165 s, next control iter: 1743035456.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035456.283165 s.3RI~,'AJ"J*J2J:J3?BJ3?nJl<5vJA(\O}@A2PB}@AkX~? A7A۱&"AA7kNA"AZAbAjArAzAAA<:=@ABgrAt@A=:!<Ajc=AAKA iؿA*A.:?2A׽:A=BA.:?JA׽RA=٘i)I9t@YG JJJJJE&K Y^V~?y VA7EiZ9)B7E[[?G|@[5W~?[M[[[[BZYY i) ҮIib@#= (ǿ))(ǿE@yttYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035456.303165 s, next control iter: 1743035456.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8955., header.stamp.nsec: 0.0 temperature: 13.386296.* salinity: 33.391617., density: 1025.000000.* values[0]: 0.701495.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035456.703165 s.Ӻ I~,-'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743035456.703261F (some fields omitted in printout)AQ}@A ^x}@AUX~? Aa;A_&"AAvkNA"AZAbAjArAzAAAPQ$@A%frAGs@AAeƇ=A{A-AhVٿAw'*A(:?2Ag׽:A<BA(:?JAg׽RA<٘i)I9s@YHG J-B=JJJJE&K YHV~?y#bVA9Eŧ7b7mZ9?B)B5E[[cl}@[j%W~?[R[[[[BZYY i)  Y/V~?y?#MUAAE)7ŧ7wZ9>B)B.E[[j@[V~?[Qb[[[[BZYY i) DIin@W=  )) @BªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035457.983165 s, next control iter: 1743035458.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035458.383165 s.%I~,8'AA(\~@AO~@A6X~? AMA&"AA?kNA"AZAbAjArAzAAA,sG?AmSrA q@AAɚ=ArAANA`zܿAK*A:?2A׽:A=BA:?JA׽RA=٘i)I9q@Y.G JJJJJE&K YU~?ye)TADE{7{7m{Z9)B[[@[_V~?[g[[[[BZYY i) 59TIip@7= #Ż))#Ż@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035458.403165 s, next control iter: 1743035458.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8957", header.stamp.nsec: 0"0 temperature: 13.386708"* salinity: 33.391586", density: 1025.000000"* values[0]: 0.699879"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035458.803165 s.{A,I~,g'AJ"J*J2J:JBJnJvJA~@AX߄~@AW~? ARA`&"AAq kNA"AZAbAjArAzAAA79/?Al6ZrAWVq@A=<A͑=AA lA O9ݿA*A :?2Aֽ:A =BA :?JAֽRA =٘i)I9Vq@YG JJJJJE&K YU~?y/TAGE7)7Z9.B)B+E[[@[lV~?[-m[[[[BZYY iA᫽) cIis@N= ߀))߀@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035458.843165 s, next control iter: 1743035459.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035459.223165 s.g3I~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743035459.223267F (some fields omitted in printout)Az~@A0~@A\W~? AWAf:&"AAvkNA"AZAbAjArAzAAAPzX?Ak-urAp@Ah<Ac=AA@A ݿA߅*A :?2Aֽ:A =BA :?JAֽRA =٘i)I9p@YG JJJJJE&K YU~?y50TAIEj7j7Z9/B)B)E[[@[V~?[r[[[[BZYY i) esIiv@2= ?))??@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035459.263165 s, next control iter: 1743035459.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035459.643165 s.w9I~, *'AJ"J*J2J:JBJnJvJA ףp~@A\9{g~@ApW~? A(]A&"AAjNA"AZAbAjArAzAAAS?A&ʣrALp@AS<A{=A3iAA޿A*AH:?2Aֽ:A.=BAH:?JAֽRA.=٘i)I9Lp@Y@G JB=JJJJ£E&K YTU~?y;SALE77.Z9)B[[@[V~?[;x[[[[BZYY i) ?Iiz@_ = #))#ϛ@ͪYtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8958, header.stamp.nsec: 00 temperature: 13.386923* salinity: 33.391560, density: 1025.000000* values[0]: 0.698552F (some fields omitted in printout)FFF]Waiting for Gazebo time sync: latest Gz time: 1743035459.663165 s, next control iter: 1743035460.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035460.063165 s.@I~,V 'AA33333@A.'&@AݯW~? A~bA o&"AA jNA"AZAbAjArAzAAA0?A8rAo@A;A$=A-A}A th߿A@䞼*Ap9?2A׽:A=BAp9?JA׽RA=Y^s@6 y=k;ٓHr7?`>} >t?_?)^s@ I٘i)I9o@YG JIC=J`L<JJJģE&Kx> Y=U~?yBkSA OE777ÉZ9.B)B&E[[;>@[V~?[}[[[[BZYY i) ψIi{@!= ))6`@yIëЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035460.083165 s, next control iter: 1743035460.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035460.483165 s.q_GI~,'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: -0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035460.483286F (some fields omitted in printout)A\h@ATrN[@AW~? AgA&"AAjNA"AZAbAjArAzAAAcBC$q?AdN@;rAAo@A1AԚ=AA Z)A@ZAv*A9?2A4n׽:AQo=BA9?JA4n׽RAQo=٘i)I9Ao@YG JJJJJǣE&K Y%U~?y_ISAREj7j7XZ9)B[[{΃@[V~?[[[[[BZYY i)  aIi}@*a"= }))}v@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035460.503165 s, next control iter: 1743035460.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8959, header.stamp.nsec: 00 temperature: 13.387169* salinity: 33.391560, density: 1025.000000* values[0]: 0.698067F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035460.903165 s.rMI~,_9'AAQ@AJ@AωW~? AmA&"AANJjNA"AZAbAjArAzAAATO?ArAn@AXA'=Aj^AAhA*AF9?2AU׽:A=BAF9?JAU׽RA=٘i)I9n@YLG JJJJJʣE&K Y U~?y!PRATE)7b7Z9/B)B$E[[2^@[ۛV~?[a[[[[BZYY i) Ii @#= >))>-@Z٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035460.943165 s, next control iter: 1743035461.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035461.323165 s.yTI~,2T'AJ"J*J2J:JBJnJvJAGz@Aan@AXwW~? A YMU~?ydbQA \Ej7Z7Z9-B)ůBE[[ @[JyV~?[[[[[BZYY i) lIi@}(= 7))7 -@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035462.183165 s, next control iter: 1743035462.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035462.583165 s.hI~,R'AA)\u@Ah@A?BW~? AA]&"AAjNA"AZAbAjArAzAAA}n߿A%*rA nl@AMHF<A!Ԫ=AI A ޿AA¼*AB9?2Aa\ֽ:A'=BAB9?JAa\ֽRA'=٘i)I9nl@YG JսJJJJԣE&K YL=U~?y;lPA_E)7ŧ7CZ9)ʯB[[@[nnV~?[[[[[BZYY i) ĵIiz@.)= kO))kO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035462.603165 s, next control iter: 1743035462.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8961, header.stamp.nsec: 00 temperature: 13.387652* salinity: 33.391552, density: 1025.000000* values[0]: 0.696132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035463.003165 s.y pI~,P4'AJ"J*J2J:J52?BJ52?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035463.003299F (some fields omitted in printout)AR@A2z@AT1W~? A'A]&"AAjNA"AZAbAjArAzAAA3:A<·rA5k@A*m<AȬ=A.A`$޿AAsȼ*Ad9?2A`ֽ:Ab6=BAd9?JA`ֽRAb6=٘i)I9k@YG JbżJJJJףE&K Y-U~?ysPAbEŧ7b7٢Z9.B)ЯBE[[(@[cV~?[[[[[BZYY i) tIi@*= +))+J@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035463.023165 s, next control iter: 1743035463.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035463.423165 s.uvI~,'AA{G@AjJ>Ԁ@A W~? AfA&"AAiNA"AZAbAjArAzAAA2{A0rAk@A<AB=AҩAeݿAPAɼ*A9?2Aֽ:A89=BA9?JAֽRA89=٘i)I9k@YG JMɼJJJJڣE&K YU~?yzPAdE{7Z7nZ9)կB[[@[YV~?[ [[[[BZYY i) ^vļIi@Jr,= ݠ))ݠؠ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035463.443165 s, next control iter: 1743035463.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8962, header.stamp.nsec: 00 temperature: 13.387915* salinity: 33.391560, density: 1025.000000* values[0]: 0.694973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035463.843165 s.J "J *J 2J :J 1?BJ 1?|I~nJ:5vJ,'AAp= @A%̴ @AW~? AAi&"AAiNA"AZAbAjArAzAAA~=JAˌ|grAuj@A QA=AMA ܿAVA;ɼ*A9?2A׽:A==BA9?JA׽RA==٘i)I9uj@YG JɼJJJJܣE&K Y U~?yOAgEj7Z9-B)گBE[[C@[PV~?[![[[[BZYY i) f˼Ii@<.= ))e@9YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035463.863165 s, next control iter: 1743035464.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035464.263165 s.I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035464.263282F (some fields omitted in printout)AL@A_"?@AW~? A3A&"AAiNA"AZAbAjArAzAAA2lMiAA>WrAi@A*Ay=A%AۿA`Aȼ*A9?2A_׽:A=BA9?JA_׽RA=YV @y=%X+ٓH`޿^8?H@k*޿@K``V?)V @ I٘i)I9i@YKG JɼJ{ <JJJߣE&Kx> YU~?y܉(OAjE7777Z9)߯B[[7҈@[FV~?[N[[[[BZYY i) . ӼIi@j.= n))n2@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035464.283165 s, next control iter: 1743035464.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 89632, header.stamp.nsec: 020 temperature: 13.3881942* salinity: 33.3915442, density: 1025.0000002* values[0]: 0.6938112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035464.683165 s.lI~,+'AJ"J*J2J:JBJnJvJA(\@A u@AV~? AAn&"AAiNA"AZAbAjArAzAAA$A&-WrA#i@AqmnA<=AA`ۿA i.Ap?ʼ*A/9?2Ab׽:A=BA/9?JAb׽RA=٘i)I9#i@Y G J?ɼJJJJE&K YMT~?yNAlE{7j7.Z9/B)BE[[)`@[=V~?[[[[[BZYY i) EڼIiM@Ծ/= 6))6$@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035464.683165 s, next control iter: 1743035465.083185 s, wait time: 0.400020 s rAdjusting time to match Gazebo time: 1743035465.103165 s.I~,ÚF'AAQ@ATTJ@A V~? AdAb&"AAiNA"AZAbAjArAzAAA C.7ADNerA(xh@A4A=A@VAHڿAKsAμ*A9?2A׽:A=BA9?JA׽RA=I٘i)I9xh@Y| G J̼B=JJJJE&K YT~?y^;NAoE777ĴZ9.B)BE[[@[4V~?[Ũ[[[[BZYY i&) Ii+@0= ;));@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035465.123165 s, next control iter: 1743035465.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035465.523165 s.I~,{a'AJ"J*J2J:Ju1?BJu1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093226< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035465.523287F (some fields omitted in printout)AHz@Aq @AV~? A Aj&"AAtiNA"AZAbAjArAzAAA?ARhrAg@AߺA =AMA`~}ٿAuA@ռ*Ag9?2Aֽ:AO =BAg9?JAֽRAO =٘i)I9g@Y G JѼC=JJJJE&K YT~?yMArE7YZ9)B[[z@[t,V~?[ ̨[[[[ZZ¸BZYY i¸ =) ؇ռIi8@K32= ˕))˕ꜣ@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035465.543165 s, next control iter: 1743035465.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8964, header.stamp.nsec: 00 temperature: 13.388487* salinity: 33.391499, density: 1025.000000* values[0]: 0.692611F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035465.943165 s.\dI~,S]|'AAq= #@A1@AV~? AA&"AA)_iNA"AZAbAjArAzAAAp̐|MAGrAg@A <A=A-A ݰؿAA4ټ*A9?2A@Kֽ:Af=BA9?JA@KֽRAf=٘i)I9g@Y G JּJJJJE&K YWT~?yߨNMAtE{7Z9-B)BE[[@[{$V~?[SҨ[[[[ZZBZYY i) ɼIis@3= O))O)@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035465.963165 s, next control iter: 1743035466.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035466.363165 s.I~,>'AJ"J*J2J:JBJnJvJAY@A L@APV~? AٿA`&"AAaJiNA"AZAbAjArAzAAA7 UArA-If@Ai<A0=A*$A׿A@0A`*A9?2A'/ֽ:A5:=BA9?JA'/ֽRA5:=YM@fy=hj<ٓH?ؿ4? Hu} ;gؿ쯲`e 1??)M@ I٘i)I9If@Y' G JJSJJJE&Kw> YT~?yLAwE{7j7Z9.B)BE[[ꔋ@[V~?[ب[[[[ZZBZYY i) IiȌ@B44= c))c嶤@y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035466.403165 s, next control iter: 1743035466.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 8965&, header.stamp.nsec: 0&0 temperature: 13.388782&* salinity: 33.391502&, density: 1025.000000&* values[0]: 0.691318&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035466.783165 s.VI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035466.783298F (some fields omitted in printout)A(\@A2P@ANV~? AƩA+&"AAK6iNA"AZAbAjArAzAAA9i(A%rAie@Ay{J<AΗ=AA , ׿A 2mAQ*A9?2AZֽ:A<BA9?JAZֽRA<٘i)I9ie@Y G J JJJJE&K YT~?y$dLAzE77Z9)B[[ "@[V~?[ߨ[[[[ZZBZYY i) AIiL@W4= K/))K/D@y9=pҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035466.803165 s, next control iter: 1743035467.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035467.203165 s.I~,6'AJ"J*J2J:JBJnJvJAQł@Ak3@AŸV~? AͩAP&"AA"iNA"AZAbAjArAzAAASlYAvrA d@Axr;AUs=AA4ֿA nAq*A9?2Aֽ:A͑k<BA9?JAֽRA͑k<٘i)I9d@Y G JEJJJJE&K Y)T~?yGKA|E{7{7Z9) BE[[@[V~?[[[[[ZZBZYY i) Ii@5= ))Х@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035467.223165 s, next control iter: 1743035467.603187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743035467.623165 s.UI~,T'AAG@AG ^@AV~? A թA`&"AA4iNA"AZAbAjArAzAAA%~A`ZrAc@AkA$C/=A-Ad\տA0Aʼ*A9?2Aֽ:A>;BA9?JAֽRA>;٘i)I9c@Y G JB=JJJJE&K YnT~?yjɨ{KAE77DZ9)B[[{;@[V~?[[[[[ZZBZYY i) ÙIi@f6= Ɋ))Ɋv]@8vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035467.643165 s, next control iter: 1743035468.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8966 , header.stamp.nsec: 0 0 temperature: 13.389163 * salinity: 33.391491 , density: 1025.000000 * values[0]: 0.689774 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035468.043165 s.I~,'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: 0.082769< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743035468.043307F (some fields omitted in printout)A= ף0@A$#@AV~? ACܩA,9&"AA7hNA"AZAbAjArAzAAAYb͗A(a:rA8c@AVpA<AA ԿAAbt*A9?2Aֽ:AҾ.BA9?JAֽRAҾ.٘i)I98c@YJ G JƺC=JJJJE&K YT~?yѨKAE{7{7Z9/B)BE[[Ǎ@[V~?[j[[[[ZZBZYY i) эIi@A8= G))G@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035468.083165 s, next control iter: 1743035468.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035468.463165 s.gI~,/'AAfffff@A9\Y@A|V~? AA&"AAhNA"AZAbAjArAzAAAANA<0YrAb@A:qA<AqA@fӿANAv*An9?2Aֽ:A"BAn9?JAֽRA"YP@y<=qٓH@5ҿެ?ۃ?` 3ҿ೿`_'?)P@ I٘i)I9b@Y G J~Jz8JJJE&Kw> YT~?yڨJAE77nZ9.B)BE[[T@[U~?[[[[[ZZBZYY i=) Ii@w8= d))dv@ hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035468.483165 s, next control iter: 1743035468.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8967, header.stamp.nsec: 00 temperature: 13.389443* salinity: 33.391476, density: 1025.000000* values[0]: 0.688570F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035468.883165 s.zI~,r8'AJ"J*J2J:JF0?BJF0?nJ85vJA(@A elevatorAngleAction: 0.074677< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198452 time: 1743035469.303270F (some fields omitted in printout)Aу@Acă@AhV~? AZA&"AAhNA"AZAbAjArAzAAA+8A\/rA>(b@AQZm;AdAAѿA@A*A9?2AMֽ:ABA9?JAMֽRA٘i)I9(b@Y G J JJJJE&K Y}T~?yJAE7777Z9)B[[un@[PU~?[[[[[ZZBZYY i) v`Ii@ܙ9= ))p@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035469.323165 s, next control iter: 1743035469.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8968., header.stamp.nsec: 0.0 temperature: 13.389594.* salinity: 33.391453., density: 1025.000000.* values[0]: 0.687985.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035469.723165 s.I~,Hn'AJ"J*J2J:J0?BJ0?nJ85vJAz@A(@Ai^V~? AAU&"AAhNA"AZAbAjArAzAAAp Ac#`IrAU b@Au0K<AAA`ѿAA<*A9?2Aֽ:AٳļBA9?JAֽRAٳļ٘i)I9 b@Y G J℻JJJJE&K Y{uT~?yfJAE77.Z90B) BE[[@[U~?[ [[[[BZYY i) LIi@:= ))@ySH=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035469.743165 s, next control iter: 1743035470.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035470.143165 s.Y/I~,*'AA ףp=@A@1d0@A:UV~? AgAmg&"AA,hNA"AZAbAjArAzAAAh A#}rA b@A8)l<A:w1AqAпAP A;*AF9?2Aֽ:A;BAF9?JAֽRA;Ἑ٘i)I9Y Jk8JJJJE&K YmmT~?yJAEb77Z9/B)BE[[)@[(U~?[K[[[[BZYY i) 9Ii@d;= 5{))5{$@4n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035470.163165 s, next control iter: 1743035470.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035470.563165 s.I~,p 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J8 propOmegaAction: 25.132812*J2J< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074677:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJ dt: 0.419986vJ2 time: 1743035470.563282F (some fields omitted in printout)A3333s@A5=(f@ALV~? A Ac&"AAhNA"AZAbAjArAzAAAzE5v; AE_sAd*b@AE <A8XAAkοA4A)4;*A9?2A ֽ:ABA9?JA ֽRAY͉@yp6X̳ <ٓHǿq?[gU?f`jǿ]?? ?H?)͉@ I٘i)I9*b@Y G JE;J=JJJE&Kw> Y,hT~?yKAE777YZ9)B[[@[U~?[[[[[BZYY if=) &(Ii@;= v))v5@ϑ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035470.583165 s, next control iter: 1743035470.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8969, header.stamp.nsec: 00 temperature: 13.389610* salinity: 33.391445, density: 1025.000000* values[0]: 0.687944F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035470.983165 s.I~,'AA\@Ah$ꛄ@AXDV~? AAJ>&"AAĔhNA"AZAbAjArAzAAA U!{' Ay8sAeb@AbA6xAg޿A`b̿AjZAl0<*A9?2ARֽ:ANZ BA9?JARֽRANZ ٘i)I9eb@Y G J <JJJJ E&K YbT~?y/ XKAEŧ7ŧ7Z9)B[[ޟ@[tU~?[ [[[[BZYY i) cIi̒@;=  pr)) pr@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035471.003165 s, next control iter: 1743035471.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035471.403165 s.&I~,'AJ"J*J2J:JBJnJvJAQބ@Aaф@A elevatorAngleAction: 0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035471.823284F (some fields omitted in printout)AGz@Ao@At5V~? A& A*&"AA^}hNA"AZAbAjArAzAAAgDk AҪsA,c@AxAܐAQٿAɿAqA<*A9?2Aֽ:AFBA9?JAֽRAF٘i)I9,c@YB G JM<B=JJJJE&K YhXT~?yKAEj7Z9)B[[ @[:U~?[-[[[[BZYY i) Ii@/== i))iګ@yJg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035471.863165 s, next control iter: 1743035472.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035472.243165 s.I~,d'AJ"J*J2J:JX0?BJX0?nJ85vJAףp=J@A=4=@A.V~? A'A>y &"AArhNA"AZAbAjArAzAAAi AVMe9nsACc@A3A>䕽AֿA(ǿA@A<*A9?2ADMֽ:AUBA9?JADMֽRAU٘i)I9c@Y G Jؖ<C=JJJJE&K Y'ST~?y,'1LAE77Z9,B)B[[C@[U~?[4[[[[BZYY i) λIip@U>= ]Pe))]Pee@y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035472.263165 s, next control iter: 1743035472.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035472.663165 s. I~,q*'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8971, header.stamp.nsec: 00 temperature: 13.389316* salinity: 33.391430, density: 1025.000000* values[0]: 0.689367F (some fields omitted in printout)A@Ag{r@A(V~? A/A| &"AA ihNA"AZAbAjArAzAAA" A_IQ 8sAC1d@A위AAӿA`GſAsA<*A9?2Aֽ:A BA9?JAֽRA Y%@ӿyٓH !`@?*~? ˵?K?`P ?)%@ I٘i)I91d@Y G J<J`VJJJE&Kx> YPT~?y/LAӿE77DZ9) B[[ϓ@[zU~?[H;[[[[BZYY i) ̰IiB@== =`))=`@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035472.683165 s, next control iter: 1743035473.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035473.083165 s.DI~,RE'AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035473.083287F (some fields omitted in printout)A)\µ@ALP÷@A"V~? A7AF &"AA`hNA"AZAbAjArAzAAA+0,Ak, sAd@AU<AACѿA`cÿA@~A<*Aȷ9?2A׽:Ar BAȷ9?JA׽RAr ٘i)I9d@Y5 G J<JJJJE&K YZNT~?y8LAE{7j7Z9+B)B E[[b[@[U~?[A[[[[BZYY i) sIiC@3== \))\]}@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035473.103165 s, next control iter: 1743035473.483175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035473.503165 s.I~,L4`'AAR@Ayޅ@AV~? A?A &"AAWhNA"AZAbAjArAzAAA4CA<$sAFe@At<ADěA#οAA`A<*A9?2A,׽:ABA9?JA,׽RA٘i)I9Fe@Y G J|<JJJJE&K YKT~?y|AfMAE77oZ9)B[[#@[1U~?[H[[[[BZYY i) [hIis@>= 5X))5X @#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035473.543165 s, next control iter: 1743035473.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8972, header.stamp.nsec: 00 temperature: 13.389082* salinity: 33.391407, density: 1025.000000* values[0]: 0.690469F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035473.923165 s.@I~,{'AJ"J*J2J:JBJnJvJA{G!@AQ<@A:V~? AGA &"AAvPhNA"AZAbAjArAzAAA% A)sA1e@AJM<AAU̿A<A`%AB<*A9?2Aֽ:ABA9?JAֽRA٘i)I9e@Y G J<JJJJE&K  [9YIT~? [9yAJMAE777[9)B[[r@[U~?[gO[[[[BZYY i) R9,IiҔ@}>= S))SŔ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035473.943165 s, next control iter: 1743035474.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035474.343165 s.<%I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035474.343309F (some fields omitted in printout)Ap= W@AXmI@A%V~? AOAXv &"AAIhNA"AZAbAjArAzAAAone=AY.sAgf@Aj;AϚAɿAA`8A<*A 9?2A]ֽ:AF?BA 9?JA]ֽRAF?٘i)I9gf@Y: G J<JJJJ E&K Y%GT~?yS3NAEZ7Z7[9)BE[[6@[aU~?[V[[[[BZYY i) LߺIi_@2?= M}O))M}O1 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035474.363165 s, next control iter: 1743035474.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 8973*, header.stamp.nsec: 0*0 temperature: 13.572349** salinity: 33.374992*, density: 1025.000000** values[0]: 0.569192*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035474.763165 s.9+I~,'ذ'AJ"J*J2J:JBJnJvJǍ@A@AV~? AWA` &"AADhNA"AZAbAjArAzAAA`hALKrw3sAf@AA&AǿA·A[IA<*A9?2AOֽ:A'BA9?JAOֽRA'YP@ƿy~%ٓH`??x?`q?5'? ?} ?)P@ I٘i)I9f@Y G J۱<J3JJJ"E&Kx> YGT~?y[NAƿE777/[9)B[[@[U~?[\[[[[BZYY i) MIi@5>=  K)) K@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035474.783165 s, next control iter: 1743035475.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035475.183165 s.2I~,^'AA(\†@A@AV~? A_A= &"AA>hNA"AZAbAjArAzAAAtّȃAtZ\8sAg@AiAnΖAwĿA AWAи<*A59?2A/ֽ:AHBA59?JA/ֽRAH٘i)I9g@Y G J<JJJJ%E&K YHT~?ydOAE7 [9)B[[ǿ[U~?[c[[[[BZYY i) {9Iiؔ@u>= F))FF*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035475.203165 s, next control iter: 1743035475.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035475.603165 s.649I~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035475.603304F (some fields omitted in printout)AQ@AE@A V~? AgA+&"AA:hNA"AZAbAjArAzAAA.AD=sA)h@A`AAA5AcAB<*A9?2AWֽ:A BA9?JAWֽRA ٘i)I9)h@YL G JX<JJJJ(E&K YHT~?ynmhOAE{7j7Z[9)B[[?ſ[iU~?[@j[[[[BZYY i) S:Iiڔ@>= fB))fBfB*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035475.623165 s, next control iter: 1743035476.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8974 , header.stamp.nsec: 0 0 temperature: 13.572070 * salinity: 33.374981 , density: 1025.000000 * values[0]: 0.569875 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035476.023165 s.Z@I~,|'AAHz.@A( 5 !@A V~? AoA &"AAB7hNA"AZAbAjArAzAAA;/CAyx~/BsAih@AmûASA+A`A mA٧<*A9?2Alֽ:ANBA9?JAlֽRAN٘i)I9h@Y G Js<JJJJ*E&K YIT~?y= g >))g >g >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035476.043165 s, next control iter: 1743035476.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035476.443165 s.5FI~,5]'AJ"J*J2J:JBJnJvJAq= c@A/V@AV~? AwAf&"AA4hNA"AZAbAjArAzAAAuMA2nGsADi@A;AGAwAA@%uALΞ<*Al9?2A: ׽:APBAl9?JA: ׽RAP٘i)I9Di@Y G J<JJJJ-E&K Y}IT~?y 6PAE7ŧ7[9)B[[^[CU~?[w[[[[BZYY i) T,>;Iik@B?= ?9))?9?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035476.463165 s, next control iter: 1743035476.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8975, header.stamp.nsec: 00 temperature: 13.571803* salinity: 33.374985, density: 1025.000000* values[0]: 0.570554F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035476.863165 s.+MI~,>7'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035476.863276F (some fields omitted in printout)A@AkGq@AV~? AA&"AA2hNA"AZAbAjArAzAAA?*Ag h LsAi@AlY<AA?ɹA_AyA@<*A9?2A-=׽:ABA9?JA-=׽RAY@繿yXY<ٓHw-??@jɕy??w{?N-? '?)@ I٘i)I9i@YGG JK<J {<JJJ0E&KJx> YLT~?yȇPA繿E77[9)ݯB[[0[U~?[]~[[[[BZYY iE,=) {;Ii@{>= SQ5))SQ5SQ5¾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035476.883165 s, next control iter: 1743035477.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035477.283165 s.:RTI~,R'AJ"J*J2J:JBJnJvJA(\χ@AQ‡@A?V~? AڇA^+&"AA1hNA"AZAbAjArAzAAAe_AtetPsACj@Ao<A&A+AxiA{A<*A9?2Aa,׽:ACBA9?JAa,׽RAC񼙘٘i)I9Cj@YG J<JJJJ2E&K Y*PT~?yPAEj7j7[9,B)گBE[[[U~?[[[[[BZYY i)  ;Ii@B >= 0))00:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035477.303165 s, next control iter: 1743035477.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 89762, header.stamp.nsec: 020 temperature: 13.5715522* salinity: 33.3749582, density: 1025.0000002* values[0]: 0.5711442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035477.703165 s.ԺZI~,m'AAQ@A@AbV~? AA&"AA1hNA"AZAbAjArAzAAA?-A~$UsAӽj@AG<AbAA?AzA]<*A*9?2Aֽ:A(BA*9?JAֽRA(٘i)I9j@YG JH<JJJJ5E&K YST~?yFPQAE77E [9)֯B[[Һ[U~?[[[[[BZYY i) 9λ;Ii^@== #,))#,#,Ǻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035477.723165 s, next control iter: 1743035478.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035478.123165 s.CaI~J"J,'A*J2J:JJ?BJJ?nJe5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035478.123294F (some fields omitted in printout)AG:@A-@A V~? AA&"AA2hNA"AZAbAjArAzAAAi2A-ϰ"ZsA57k@A(A8AAp%?A`wA$ϑ<*A9?2Aֽ:AoBA9?JAֽRAo٘i)I97k@Y(G J<JJJJ8E&K YVT~?yQA£Eb77#[9)үB[[7[_U~?[n[[[[BZYY i) O;Iia@== 6())6(6(y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035478.143165 s, next control iter: 1743035478.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035478.543165 s.IhI~,â'AA= ףp@A!c@A= V~? AA7R&"AAu3hNA"AZAbAjArAzAAAAF._sAIk@AkAAAwA~?A qA<*AA9?2AMֽ:AQBAA9?JAMֽRAQ٘i)I9k@YsG J<JJJJ;E&K Y-ZT~?yê RAţEb7o'[9)ϯB[[t[PU~?[[[[[BZYY i) `;Ii@t.>= G#))G#G#=*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035478.563165 s, next control iter: 1743035478.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8977, header.stamp.nsec: 00 temperature: 13.571339* salinity: 33.374973, density: 1025.000000* values[0]: 0.571728F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035478.963165 s.znI~,'AJ"J*J2J:JBJnJvJAffff@Ab1Z@A V~? A$A&"AA5hNA"AZAbAjArAzAAA9AGŬdsA.l@ARdvAFAA?AiAӋ<*A9?2ANֽ:ABA9?JANֽRAYԖ@߬yBXvٓH?;?'@?@|?@D?@>̎ i?)Ԗ@ I٘i)I9.l@YG J0<J ;JJJ=E&K x> YY`T~?y\hRA߬ǣE{7j7+[9)˯BE[[E[U~?[[[[[BZYY i) GN *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035478.983165 s, next control iter: 1743035479.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035479.383165 s.uI~,+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743035479.383268F (some fields omitted in printout)A(܈@ADKψ@A0 V~? A0Ah&"AA8hNA"AZAbAjArAzAAAkGA4WeisAl@A)AEAZA@+?A`^Aђ<*A[9?2AȐֽ:A`WBA[9?JAȐֽRA`W٘i)I9l@Y G Jޓ<JJJJ@E&K YfT~?yRAʣEb77.[9)ǯB[[;[JU~?[[[[[[BZYY i)  elevatorAngleAction: 0.074791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035480.643278F (some fields omitted in printout)A ףp}@Aefp@AV~? A9ȪAtA&"AAIFhNA"AZAbAjArAzAAAMԻ%A;~BxsAcn@Adtt<AZAOA骽?A`/Aю<*As9?2AE׽:A:BAs9?JAE׽RA:٘i)I9n@YG J<JJJJHE&K YyT~?yթSAңE77Z9[9.B)BE[[[U~?[([[[[BZYY i) |NJ YT~?yީ>TAןգE{7j7<[9)B[[cU[U~?[[[[[BZYY i) QY elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035481.903275F (some fields omitted in printout)AQ@ApD@A%V~? AAo%"AA)[hNA"AZAbAjArAzAAA"zA?ȆsALo@AC AXA7Aj?AAsp<*A,9?2A&Qֽ:A BA,9?JA&QֽRA ٘i)I9o@YG JN<JJJJPE&K YٓT~?yUAڣEŧ7b7D[9/B)BE[[g[V~?[ͩ[[[[BZYY i) #x!;oG@A+V~? AA%"AAchNA"AZAbAjArAzAAA0cYA] ͕sAp@AxjmAA+AA?AA<*A9?2A-ֽ:A1BA9?JA-ֽRA1٘i)I9p@Y"G Jڣ<JJJJSE&K YɜT~?y&eUAݣE777G[9)BE[[ [+V~?[1ԩ[[[[BZYY i) ޴ elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035483.163268F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Aw.@A8V~? AA%"AAwhNA"AZAbAjArAzAAAC D AQ{EsA3q@AsAMAݒA-?AA Ԧ<*AƮ9?2Aֽ:AdBAƮ9?JAֽRAdYX@ϒy,MٓHp>?@o,?@mK?`V[?ʄ?mu@ ?)X@ I٘i)I93q@YG J!<J9JJJXE&K:x> YUT~?y1VAϒEb77N[90B)B E[[][V~?[[[[[BZYY i) ڒ elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035484.423281F (some fields omitted in printout)A{Ga@AlF=T@APV~? AAH%"AAhNA"AZAbAjArAzAAAI AK20sAr@A5.j<A ƤAيA@yv?AHA<*A\9?2A$׽:AхBA\9?JA$׽RAх٘i)I9r@YG J<C=JJJJ`E&K Y*T~?ykWAE77{7Y[92B)B$E[[!×[,V~?[[[[[BZYY i) A` YT~?y;/GXA˅EZ7`[9)B[[%[[=V~?[[[[[BZYY i) (4 elevatorAngleAction: 0.083592"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.420019BJnJ2 time: 1743035485.683305F (some fields omitted in printout)vJA(\@A@AmV~? A%A%%"AAhNA"AZAbAjArAzAAAvyk$Aή&sAt@AHAUAoRA]?AA"<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9t@YG J<C=JJJJhE&K YT~?y6XAEj7[d[93B)B(E[[&[FV~?[[[[[BZYY i)  U~?ys>+YAE777g[9)B[[m[PV~?[ [[[[BZYY i) d elevatorAngleAction: 0.083592< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743035486.943290F (some fields omitted in printout)Aq= ף@A1>̖@AV~? A;Av%"AAhNA"AZAbAjArAzAAA2 Atp_sAv@A9AөA1vA?AA^<*AE9?2A"ֽ:ABAE9?JA"ֽRA٘i)I9v@Y#G Jv<JJJJpE&K Y&U~?yMZAEŧ7b7o[9)B[[[cV~?[ [[[[BZYY i=) 0|'AJ"J*J2J:J?BJ?nJ5vJAٌ@AkGq̌@AV~? AFBA%"AAviNA"AZAbAjArAzAAAkHWAosAYw@AA+<ADžAJqA@j?A (A<*AV9?2A׽:ABAV9?JA׽RAYܣ@ąqyN +<ٓH ܶ?l?7 o?]C? l ?h?$?)ܣ@ I٘i)I9Yw@YG J<JUJJJsE&KQx> Y7U~?yTZAqE777r[96B){B/E[[ K[anV~?[[[[[BZYY i)  elevatorAngleAction: 0.092540< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035488.203295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQE@A8@AV~? AgPA%"AA*iNA"AZAbAjArAzAAA+eADPasA{x@A.M=<AAA fAU?A\JA<*A݁9?2Aֽ:ABA݁9?JAֽRA٘i)I9x@YYG J<JJJJxE&K Y9XU~?ycs[AE777y[97B)qB2E[[ك[MV~?[*[[[[ZZZZ¸>BZYY i¸>Bۨ) OiNA"AZAbAjArAzAAA\KAA3sAYy@A;AA0aA`O?A A><*A{9?2A5lֽ:ABA{9?JA5lֽRA٘i)I9Yy@YG J<JJJJ{E&K YhU~?y&j[AEŧ7b7p}[9)lB[[[ϏV~?[0[[[[ZZZZBZYY i) F=*AW9?2A%ֽ:AżBAW9?JA%ֽRAżY@zWykhpmٓH@d@??Q H?p?`h?ꗍ`?)@ I٘i)I9{@YG J=J<JJJE&Kuw> Y&U~?yw\AW E777[9)`B[[Pz[ʧV~?[><[[[[ZZZZBZYY i) Q?ACA<*A<9?2AT'ֽ:A-BA<9?JAT'ֽRA-٘i)I9{@YLG J=JJJJE&K YU~?yg~1]A E770[99B)ZB9E[[u[GV~?[A[[[[ZZZZBZYY i) QJJJE&Kw> YBU~?yc^A=E77[9)KB[[+c[V~?[ X[[[[ZZZZBZYY idz) xB)KBIE[[3Q[$W~?[)m[[[[BZYY i) [Z,JJJE&Kw> YVV~?y$]A#%E7777q[9@B)NBME[[M["4W~?[6r[[[[BZYY idf) i YV~?yΪF\A 3E77\[9)cB[[c66[`W~?[j[[[[BZYY i) /;Ii[@ = ˖=))˖=˖=y3ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035495.783165 s, next control iter: 1743035496.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035496.183165 s.˂I~,R 'AA(\B@A<5@AW~? A<ëA*%"AA kNA"AZAbAjArAzAAAF=X?AixtAN{@AQyAG=AV)Ag?A ܿA^)*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9N{@YG JhJJJJE&K YV~?y,Ӫ[A5E77{7[9CB)iB[E[[o1[W~?[[[[[BZYY i) )z;Ii X@D = `=))`=`=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035496.223165 s, next control iter: 1743035496.583176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035496.603165 s.84I~,&'AJ"J*J2J:JBJnJvJAQx@A=((Ek@A X~? AȫAV%"AA/,kNA"AZAbAjArAzAAAmu4?AottAgz@AyA=AA Q?A ܿA*A9?2A׽:A=BA9?JA׽RA=٘i)I9z@YG JϦJJJJE&K Y V~?yתx[A8E77[9DB)nB^E[[',[`W~?[}[[[[BZYY i) ^=;IiT@?= =))==ҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035496.623165 s, next control iter: 1743035497.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 8995 , header.stamp.nsec: 0 0 temperature: 13.567146 * salinity: 33.375103 , density: 1025.000000 * values[0]: 0.580486 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035497.023165 s.ZI~,5|A'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035497.023306F (some fields omitted in printout)AHz@A{ @AX~? A̫A=%"AAKkNA"AZAbAjArAzAAAvtv@A n[tA6z@ARAq=A_A`?A=ۿAH*A9?2Ahֽ:Ah=BA9?JAhֽRAh=I٘i)I96z@YIG JkB=JJJJE&K YQW~?y/ܪ[A;E{7Z7[9)sBaE[[W([kW~?[ꗪ[[[[BZYY i) V>;IiR@}z= >))>>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035497.043165 s, next control iter: 1743035497.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035497.443165 s.J "J *J 2J :J ?BJ ?nJ 5vJ <ÖI~,S]\'AAq= @A֑@A4X~? AѫA`%"AAkkNA"AZAbAjArAzAAA"@AE.tANy@ALpA=ANA a?A`wڿA*A9?2Aֽ:AiC=BA9?JAֽRAiC=٘i)I9y@YG J/C=JJJJE&K Y*W~?yZA=E777[9)wB[[o#[W~?[@[[[[BZYY i) ȉ:IiO@= >))>>vΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035497.463165 s, next control iter: 1743035497.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8996, header.stamp.nsec: 00 temperature: 13.567304* salinity: 33.375114, density: 1025.000000* values[0]: 0.579912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035497.863165 s.+I~,>w'AA@A @AIX~? AիAG%"AAXkNA"AZAbAjArAzAAAj,@AstA y@At;A=APM߾AR?A ٿA*A9?2Aw8ֽ:A(=BA9?JAw8ֽRA(=YV@)߾y= ;ٓH?` ?o?`Oڿ`?sw N~?m?)V@ I٘i)I9y@YG JJnӻJJJE&K x> Y*DW~?ygGZA߾@E{7j7G[9EB)|BdE[[_[5W~?[r[[[[BZYY i) 8IiK@L= (>))m(>(>˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035497.883165 s, next control iter: 1743035498.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035498.283165 s.;RI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250837@ elevatorAngleAction: -0.065729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035498.283284F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\O@A%PB@A_X~? AXګA1%"AAMkNA"AZAbAjArAzAAAq@A5tētAx@Afn<Au=A#վA?AؿAMܪ*Ao9?2A3ֽ:A=BAo9?JA3ֽRA=٘i)I9x@YDG JJJJJE&K Y]W~?yYACEb77[9)BgE[[g[W~?[[[[[BZYY i) TIiG@5< p:>)) p:>p:>qȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035498.303165 s, next control iter: 1743035498.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 8997., header.stamp.nsec: 0.0 temperature: 13.567476.* salinity: 33.375126., density: 1025.000000.* values[0]: 0.579307.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035498.703165 s.ֺI~,'AAQ@Asg&x@AuX~? AޫA%"AAkNA"AZAbAjArAzAAAZb`1 @As>&"tAw@Ae<Aǎ=AʾA>(?A;ؿAV*A9?2A6Hս:A3=BA9?JA6HսRA3=٘i)I9w@YG J B=JJJJE&K Y`wW~?yYAFE777r[9FB)BjE[[c[,X~?[[[[[BZYY i)  IiqD@ r< ]M>))]M>]M>ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035498.723165 s, next control iter: 1743035499.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035499.123165 s.5I~,T'AJ"J*J2J:JBJnJvJAGẒ@AϤMխ@AJX~? AA%"AAkNA"AZAbAjArAzAAA>4R @Aߢ$tArw@A;Af=AIAe?AA׿AC*A9?2A;ս:A<BA9?JA;սRA<٘i)I9rw@YG J1C=JJJJE&K YW~?yYAHEj7j7[9)BmE[[[X~?[[[[[BZYY i) .IirA@c<  0`>)) 0`> 0`>#Y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035499.143165 s, next control iter: 1743035499.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035499.543165 s.II~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035499.543290F (some fields omitted in printout)A= ף@A0k@AX~? AA>%"AAlNA"AZAbAjArAzAAAy @AJe 'tAv@A Aʉ=A쐵Aj?AtlֿA*A9?2AL>ֽ:A.U<BA9?JAL>ֽRA.U<٘i)I9v@YKG JJJJJE&K YW~?yDXAKEb77[9HB)BnE[[H [|-X~?[d[[[[BZYY i) PkIi>@H< s>))s>s>콪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035499.583165 s, next control iter: 1743035499.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 8998, header.stamp.nsec: 00 temperature: 13.567631* salinity: 33.375145, density: 1025.000000* values[0]: 0.578728F (some fields omitted in printout)2W~?)2D rAdjusting time to match Gazebo time: 1743035499.963165 s.vI~,'AJ"J*J2J:JBJnJvJAffff&@A[@AX~? A[A$%"AA`5lNA"AZAbAjArAzAAA-WD@A0nL[Y)tA vv@A]A=A檾A;?A տA*A9?2Aֽ:Az<BA9?JAֽRAz YBW~?y)_XA\NE7{71[9)BqE[[י[UAX~?[[[[[BZYY iw) Ii~:@< >)).}>>dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035499.983165 s, next control iter: 1743035500.363175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035500.383165 s.I~,Y'AA(\@A}:O@A:X~? AAv%"AA`XlNA"AZAbAjArAzAAAU@A]:}+tAu@A!KtAr=AsA~?A@ԿA*A9?2A-ֽ:Aq[<BA9?JA-ֽRAq[<٘i)I9u@YG JJJJJƤE&K YW~?y XAPE)7ŧ7[9)BtE[[G[UX~?[[[[[BZYY i) N8Ii6@< ([>)) ([>([>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035500.423165 s, next control iter: 1743035500.783180 s, wait time: 0.360015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 8999", header.stamp.nsec: 0"0 temperature: 13.567765"* salinity: 33.375130", density: 1025.000000"* values[0]: 0.578226"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035500.803165 s.xAI~,g3'AJ"J*J2J:J?BJ?nJ75vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035500.803298F (some fields omitted in printout)A둓@AC@AX~? A}Ad%"AA{lNA"AZAbAjArAzAAA))ٕ>ٕ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035500.823165 s, next control iter: 1743035501.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035501.223165 s.gI~,HN'AAzǓ@A&S@AcY~? AA!%"AAzlNA"AZAbAjArAzAAAh I)@AQW/tAu@A[;AnԆ=AȢA`5z?AӿAFc*A49?2Aս:A<BA49?JAսRA<٘i)I9u@Y,G JJJJJ̤E&K YPX~?yMWA DVE777[9)BzE[[%[~X~?[[[[[BZYY i) uIi/@s< g>))g>g>ybYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035501.243165 s, next control iter: 1743035501.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035501.643165 s.zI~,*i'AJ"J*J2J:JBJnJvJA ףp@At{Ic@AJY~? A A%"AAlNA"AZAbAjArAzAAA'g>K@AUߴ1tAt@A&E<AU=AA?A*ҿA*A9?2Aս:A~|=BA9?JAսRA~|=٘i)I9t@YG JJJJJΤE&K Y/X~?yVAXEb7b7[9)B[[][(X~?[[[[[BZYY tReceived state from Gazebo (printed only once in a while):i0 header.stamp.sec: 9000, header.stamp.nsec: 00 temperature: 13.567859* salinity: 33.375168, density: 1025.000000* values[0]: 0.577768F (some fields omitted in printout)) _Ii,@+p< Y>))Y>Y>7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035501.663165 s, next control iter: 1743035502.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035502.063165 s.I~,k 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743035502.063334F (some fields omitted in printout)A33333@AgE(&@Ac0Y~? AAW%"AAlNA"AZAbAjArAzAAA:_0_o@A Ȫ3tAN*t@AD{<Av=A:pA:?A LѿAW*A9?2A>ս:A!=BA9?JA>սRA!=Y@loyq=]|<ٓH ? K??(Ϳ?E`*`7y??)@ I٘i)I9*t@YG JRJ:JJJѤE&Ku> YzKX~?yVAo[E7[9)B}E[[]߾[QX~?[Ū[[[[BZYY i) PIi|(@ < Y>))#zY>Y>2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035502.083165 s, next control iter: 1743035502.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035502.483165 s.y_I~,'AJ"J*J2J:J?BJ?nJ5vJA\h@Atb[@AHY~? AAj%"AA mNA"AZAbAjArAzAAA?U-@A%ӸV5tA2s@A}-<A=A[A?AiпA˿*AZ9?2APս:A=BAZ9?JAPսRA=٘i)I9s@YQG J+JJJJԤE&K YfX~?y9VA^Eŧ7[9)BE[[ ־[ҾX~?[(Ȫ[[[[BZYY i) 'Ii\$@b< >)) >>yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035502.503165 s, next control iter: 1743035502.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9001, header.stamp.nsec: 00 temperature: 13.567979* salinity: 33.375160, density: 1025.000000* values[0]: 0.577295F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035502.903165 s.I~,͹'AAQ@AE`@A)aY~? AA2%"AAz1mNA"AZAbAjArAzAAAJ߾@A7tA9s@A39A=AFA`.?A]οA+*A9?2AŽԽ:A.=BA9?JAŽԽRA.=٘i)I99s@YG JJJJJ֤E&K YpX~?yUA`E777G[9JB)BE[[h̾[X~?[˪[[[[BZYY i) Z7Ii @< %>))%>%>VªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035502.943165 s, next control iter: 1743035503.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035503.323165 s.wI~,)'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743035503.323292F (some fields omitted in printout)AGzԔ@A 4sǔ@AyY~? AVAx%"AAVmNA"AZAbAjArAzAAAM@A]8tAKr@A&A^Y=A~1A@T?A3ͿA*A/9?2AySս:AC=BA/9?JAySսRAC=٘i)I9r@YG JgJJJJ٤E&K YX~?y UAcE{7{7[9)BE[[¾[X~?[ͪ[[[[BZYY i) FIiO@[< )j>)))j>)j>1ŪY/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035503.343165 s, next control iter: 1743035503.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9002., header.stamp.nsec: 0.0 temperature: 13.568101.* salinity: 33.375168., density: 1025.000000.* values[0]: 0.576814.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035503.743165 s.WI~,y'AAףp= @AN1@AY~? AA2%"AA3|mNA"AZAbAjArAzAAA*@AY~?[Ъ[[[[BZYY i) %eVIic@p< a*>))a*>a*>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035503.763165 s, next control iter: 1743035504.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035504.163165 s.w}I~,q 'AJ"J*J2J:JBJnJvJA@@AE2@AY~? AA%"AAmNA"AZAbAjArAzAAA!E@AMz;tAZq@AHAC=A A@?A טɿA*A 9?2A!ս:A;L=BA 9?JA!սRA;L=YŽ@yg=N.IٓH}?y?Ͳ?61?d?`?)Ž@ I٘i)I9q@Y-G J9JAS<JJJޤE&Kt>  \9YbX~? \9y TAhEj7\9)BE[[!Q[Y~?[8Ӫ[[[[BZYY i) eIi@< >))@w>>K̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035504.183165 s, next control iter: 1743035504.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035504.583165 s.I~,R%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241910@ elevatorAngleAction: -0.075912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743035504.583309F (some fields omitted in printout)A)\u@A1h@AY~? A0 As%"AAmNA"AZAbAjArAzAAAсv@AS< >))߅>>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035504.603165 s, next control iter: 1743035504.983174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9003, header.stamp.nsec: 00 temperature: 13.568189* salinity: 33.375202, density: 1025.000000* values[0]: 0.576325F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035505.003165 s.y I~,P4@'AJ"J*J2J:JBJnJvJAR@A!y@AY~? A( AK%"AAmNA"AZAbAjArAzAAAjIYŨ@A==tAXp@A96<A=AsA?A`KſA*A9?2A<ӽ:A *=BA9?JA<ӽRA *=٘i)I9p@YG JJJJJE&K YZ Y~?yySAnE7772 \9)įB[[ϛ[?EY~?[ת[[[[BZYY i{) MIi @&T< %P>)) %P>%P>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035505.023165 s, next control iter: 1743035505.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035505.423165 s.uI~,['AA{G@A{)<ԕ@A_Y~? A A|&%"AAdnNA"AZAbAjArAzAAAE@Ar?tA YaY~?yRAR vEb77\9)ӯBE[[}|[yY~?[-ު[[[[BZYY i) MIiv@R< t ?))\ut ?t ?yتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035506.283165 s, next control iter: 1743035506.663183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 90052, header.stamp.nsec: 020 temperature: 13.5684602* salinity: 33.3752292, density: 1025.0000002* values[0]: 0.5751922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035506.683165 s.l*I~,Z'AJ"J*J2J:JBJnJvJA(\@A#J{u@A DZ~? AwA%"AAvnNA"AZAbAjArAzAAAd/?!@A$AtAn@A{A6=APA5?A%Aب*Aw9?2Aս:A =BAw9?JAսRA =٘i)I9n@Y1G JsJJJJE&K Y}Y~?yi]RAxE{7Z7\9)ׯBE[[h[.Y~?[ߪ[[[[BZYY i) :IiD?7s< ?))??9ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035506.683165 s, next control iter: 1743035507.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743035507.103165 s.1I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259879@ elevatorAngleAction: -0.085008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035507.103330F (some fields omitted in printout)AQ@AzF@A]Z~? AA%"AAqnNA"AZAbAjArAzAAA}!@A̋BtAn@AF>aA =A;A#J?A4A|Q*A9?2AiԽ:A8=BA9?JAiԽRA8=٘i)I9n@YG JFJJJJE&K YY~?yQA{E)7b7\9)ܯBE[[T[-Y~?[[[[[BZYY i) ׷Iij?jm< ?)) ??OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035507.143165 s, next control iter: 1743035507.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035507.523165 s.7I~,{'AJ"J*J2J:JBJnJvJAHz@A~;@AwZ~? AAs%"AAnNA"AZAbAjArAzAAA&bx"@A4{)CtA-pm@A2toA, =A<A}X?A`oA6*Aq9?2AԽ:A׾=BAq9?JAԽRA׾=٘i)I9pm@YG J+JJJJE&K Y/Y~?yQA~E{7{7\9)BE[[@[oY~?["[[[[BZYY i) 4Iie?< ?))??AY6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035507.543165 s, next control iter: 1743035507.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9006, header.stamp.nsec: 00 temperature: 13.568617* salinity: 33.375221, density: 1025.000000* values[0]: 0.574632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035507.943165 s.Zd>I~,J]'AAq= #@A"h@AZ~? AA%"AAnNA"AZAbAjArAzAAA0J#@AtҰCtAl@AA6=A?=A+d?A䱿A*AD9?2AԽ:AE=BAD9?JAԽRAE=٘i)I9l@Y'G JJJJJE&K YgY~?yK QAE777H"\9KB)BE[[,[Y~?[[[[[BZYY i) Ii3?E< ?))??{YqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035507.963165 s, next control iter: 1743035508.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035508.363165 s.NJEI~,>'AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035508.363342F (some fields omitted in printout)AY@A[L@AZ~? A2Ay%"AA%oNA"AZAbAjArAzAAA#@A$^DtA< YY~?yPA=E7{7%\9)B[[C[=Z~?[[[[[BZYY i) Ii?׍< "?))u"?"?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035508.403165 s, next control iter: 1743035508.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9007&, header.stamp.nsec: 0&0 temperature: 13.568791&* salinity: 33.375248&, density: 1025.000000&* values[0]: 0.574008&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035508.783165 s.[KI~,2'AA(\@A R@AZ~? AAm%"AA\LoNA"AZAbAjArAzAAA.}P$@AvnDtAKk@AUlM<AN=A,l=At?A HA'ʼ*A9?2A'Խ:A=BA9?JA'ԽRA=٘i)I9k@YbG JżC=JJJJE&K Y Z~?y!9PAE7)7r)\9)BE[[ [Z~?[[[[[BZYY i) HżIi?=< '?))P'?'?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035508.803165 s, next control iter: 1743035509.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035509.203165 s.SI~, M'AJ"J*J2J:J?BJ?nJ5vJAQŗ@Am@AZ~? AAd%"AAsoNA"AZAbAjArAzAAA37$@AI[ͨDtAj@Ay<Ab=A=Ai|?AeAϼ*A}9?2A+ӽ:A=BA}9?JA+ӽRA=٘i)I9j@YG J̼JJJJE&K Y&Z~?yOAE{7j7-\9)BE[[&[5Z~?[[[[[BZYY i) ɔ̼Ii?>+< ,?)) ,?,?3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035509.223165 s, next control iter: 1743035509.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035509.623165 s.WYI~,]g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035509.623285F (some fields omitted in printout)AG@At%@AZ~? APA^%"AA3oNA"AZAbAjArAzAAA1bl0%@A*}DtA:j@Ak"<AE`=A^>A]?A?eA Ѽ*A9?2Aӽ:A=BA9?JAӽRA=٘i)I9:j@YG JмJJJJE&K YCZ~?yROAE770\9)BE[[ַ[NZ~?[[[[[BZYY i) cӼIi?D}< 2?))2?2?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035509.643165 s, next control iter: 1743035510.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9008 , header.stamp.nsec: 0 0 temperature: 13.568964 * salinity: 33.375267 , density: 1025.000000 * values[0]: 0.573334 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035510.043165 s.`I~,Â'AJ"J*J2J:JBJnJvJA= ף0@A *#@A[~? A\A\%"AAoNA"AZAbAjArAzAAA=)&@A @DtAXi@A A=A>A`?A %(j?A_м*A9?2AԽ:A\=BA9?JAԽRA\=٘i)I9i@Y#G JмJJJJE&K Y)_Z~?y`NAEŧ7724\9)BE[[Ǝ[gZ~?[$[[[[BZYY i) +ۼIi?Gu< 67?))67?67?IY}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035510.063165 s, next control iter: 1743035510.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035510.463165 s.YgI~,'AAfffff@A>W[Y@A-[~? A@Av\%"AA oNA"AZAbAjArAzAAA"&@A7))DtAh@A2/A=Ai`+>A }?A@nr?AEϼ*AU9?2A|}ս:A&!=BAU9?JA|}սRA&!=Y`@i*>y=/ٓHo?,Rſ?`<?@??@l @慿 ?)`@ I٘i)I9h@Y G JϼJ<JJJE&Ks> YzZ~?yfNAi*>E{7j77\9HB)BE[[`L[Z~?[[[[[BZYY i) ]Ii?rh< IA@x?A@Ҡ?AYм*A9?2AUս:Ao==BA9?JAUսRAo==٘i)I9.h@YO G JϼJJJJ E&K YɖZ~?yw MAE];\9)BE[[[2Z~?[[[[[BZYY iS4) 4Ii=?]< gA?))gA?gA?wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035510.903165 s, next control iter: 1743035511.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035511.303165 s.WtI~,{g'AAј@A稣Ę@Aa[~? AAg%"AA9pNA"AZAbAjArAzAAAX6\(@ATn%1ODtA}g@A@A=AT>As?A γ?A'+ռ*A:?2AԽ:A.=BA:?JAԽRA.=٘i)I9}g@Y G JDҼB=JJJJ E&K YZ~?y uMAE77>\9GB) BE[[/[Z~?[[[[[ZZ¸BZYY i¸>=) sݼIiM?0S< ֐F?)) ֐F?֐F?[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035511.323165 s, next control iter: 1743035511.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9010., header.stamp.nsec: 0.0 temperature: 13.569386.* salinity: 33.375278., density: 1025.000000.* values[0]: 0.571857.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035511.723165 s.{I~,H'AJ"J*J2J:JBJnJvJAz@An@A{[~? AAq%"AAf`pNA"AZAbAjArAzAAAhBؠ(@ACtAf@Ag AFt=Ag>Aij?A?AȊټ*Ar9?2A!ӽ:A*=BAr9?JA!ӽRA*=٘i)I9f@Yv G JּC=JJJJE&K YmZ~?y LAEb77B\9)B[[,<[TZ~?[[[[[ZZBZYY i) ˂ѼIi8?J< K?))K?K?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035511.743165 s, next control iter: 1743035512.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035512.143165 s.Y/I~,* 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035512.143275F (some fields omitted in printout)A ףp=@A8d0@A[~? A+A+~%"AApNA"AZAbAjArAzAAA >)@A.zCtA'e@A' <A =A$E{>A [?A R?A*A:?2AԽ:A<BA:?JAԽRA<٘i)I9e@Y G JJJJJE&K Y=Z~?y LAEF\9)BE[[<[$Z~?[[[[[ZZBZYY i) }żIi?B< P?))P?P?y*=YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035512.163165 s, next control iter: 1743035512.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035512.563165 s.I~,J $'AJ"J*J2J:JBJnJvJA3333s@A 'f@Au[~? A@AP%"AApNA"AZAbAjArAzAAAK)@ABtAPe@A)q<A6=A{>AM?A:?AR*A:?2AlԽ:Ac<BA:?JAlԽRAcy=q<ٓH6?п }?Y??\av?,"??)@= I٘i)I9e@Yn G JJJJJE&KOs> Yz[~?yLAN>Ej7j7I\9MB)$BE[[Q=[[~?[[[[[ZZBZYY i) ѹIim?N6< *V?))Yu*V?*V?y =ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035512.603165 s, next control iter: 1743035512.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9011, header.stamp.nsec: 00 temperature: 13.569603* salinity: 33.375309, density: 1025.000000* values[0]: 0.571043F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035512.983165 s.I~,>'AA\@A.ꛙ@A@[~? A-A%"AApNA"AZAbAjArAzAAA7w*@A;BBtA;d@AhR<AKv=A9>A=?A?A*A:?2Aս:Acs<BA:?JAսRAcs<I٘i)I9;d@Y G J]JJJJE&K Y [~?yvKAE77{7HM\9LB)*B¹E[[J=[l[~?[[[[[ZZBZYY i) $Ii?m$+< d[?))Sd[?d[?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035513.023165 s, next control iter: 1743035513.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035513.403165 s.&I~,Y'AJ"J*J2J:J?BJ?nJ*5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259661> elevatorAngleAction: 0.082151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035513.403280F (some fields omitted in printout)AQޙ@AX%љ@A[~? AA %"AA&pNA"AZAbAjArAzAAAM4+@AU@AtAwc@AM};Ak0=Al>A%.?A`ھ?AҼ*Al;:?2Aӽ:A:;BAl;:?JAӽRA:;٘i)I9wc@Yp G JJJJJE&K Y;[~?y%NKAEP\9KB)0BŹE[[z=[U4[~?[l[[[[ZZBZYY i) yIi{?!< `?)) `?`?$yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035513.423165 s, next control iter: 1743035513.803174 s, wait time: 0.380009 s;[~?)%"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9012", header.stamp.nsec: 0"0 temperature: 13.569886"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.570110"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035513.823165 s.I~,Gt'AAGz@AWXp@A[~? AA%"AA$qNA"AZAbAjArAzAAA]+@A>n@tAsb@A9A<AĦ>A?A:?A*Aa>:?2Aӽ:A|;BAa>:?JAӽRA|;٘i)I9b@Y G JJJJJE&K Y3W[~?yJAE77sT\9)4BȹE[[0=[cN[~?[[[[[ZZBZYY i) ?͖Iim?!< e?))e?e?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035513.863165 s, next control iter: 1743035514.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035514.243165 s.I~,'AJ"J*J2J:J?BJ?nJ5vJAףp=J@A$P2=@A1\~? AAP%"AAJqNA"AZAbAjArAzAAAgteI,@AϨ;_?tAVb@A^$yA<A>A?AS ?A y*A#9:?2A,Խ:Akf$BA#9:?JA,ԽRAkf$٘i)I9Vb@Y G J蕼JJJJE&K Yor[~?yJAE77X\9JB)8B˹E[[>[h[~?[[[[[ZZBZYY i) !Ii}a?BP< `Lk?))`Lk?`Lk?hYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035514.283165 s, next control iter: 1743035514.643188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743035514.663165 s.I~,q'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082151< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035514.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9013, header.stamp.nsec: 00 temperature: 13.570051* salinity: 33.375347, density: 1025.000000* values[0]: 0.569465F (some fields omitted in printout)A@AVJr@A/\~? AE A%"AAqqNA"AZAbAjArAzAAA*y.,@A4ߧ>tA a@AjoyA:λA @>A`K?A??A.Z)*A/:?2AԽ:A"BA/:?JAԽRA"Y6>L>y3λpyٓH?ֿ/ ?V??sy?@-?)6> I٘i)I9a@Y G JsWJFJJJ"E&Kr> Y[~?y[JAL>Eŧ7b7[\9):B[[!>[k[~?[h[[[[ZZBZYY iv=) :IiN?t4< Hp?))vHp?Hp?](YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035514.683165 s, next control iter: 1743035515.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035515.083165 s.DI~,R'AJ"J*J2J:J?BJ?nJ5vJA)\µ@A%@AI\~? Ag A0%"AA qNA"AZAbAjArAzAAAމ{}-@A`w=tAa@Al1A%A>A?AE?A »*A#:?2ADս:AgBA#:?JADսRAg٘i)I9a@Yf G J JJJJ$E&K YQ[~?y2JAE77{73_\9);BιE[[E3>[r[~?[[[[[ZZBZYY i#o=) zpIif=?n; ,u?))х,u?,u?^)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035515.103165 s, next control iter: 1743035515.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035515.503165 s.I~,;4'AAR@A-xޚ@A=b\~? A^ AV%"AAwqNA"AZAbAjArAzAAAJ5.@A 4EA1?A?AR*A7:?2AԽ:A>ʼBA7:?JAԽRA>ʼ٘i)I9a@YV G JzJJJJ'E&K Y[~?y JAEb7b7b\9IB)[[~?[[[[[BZYY i) ]Ii.?T; 8S{?)) 8S{?8S{?2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035515.543165 s, next control iter: 1743035515.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9014, header.stamp.nsec: 00 temperature: 13.570058* salinity: 33.375351, density: 1025.000000* values[0]: 0.569197F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035515.923165 s.8I~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035515.923272F (some fields omitted in printout)A{G!@A)=@AV{\~? A-A%"AAqNA"AZAbAjArAzAAA.@A4h:tAa@ASpU<Ab1AT>A D?Al?A%;*Ak/:?2A5Խ:AoBAk/:?JA5ԽRAo⼙٘i)I9a@YW G J9JJJJ*E&K Y3[~?yJAE{7j7^f\9);BԹE[[^>[[~?[[[[[BZYY i) TJIic ?yL; (`?))(`?(`?y =Hn*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035515.943165 s, next control iter: 1743035516.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035516.343165 s.w<A[VA;>A@q?AE5?A?;*A5(:?2AY$ս:A9BA5(:?JAY$սRA9٘i)I9a@Yi G J`;JJJJ,E&K Y[~?yJAEb7b7i\9EB)7BֹE[[t>[[~?[ު[[[[BZYY i) 7Ii?=1; 1?))1?1?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035516.383165 s, next control iter: 1743035516.743185 s, wait time: 0.360020 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9015&, header.stamp.nsec: 0&0 temperature: 13.569941&* salinity: 33.375359&, density: 1025.000000&* values[0]: 0.569287&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035516.763165 s.9I~,'0'AJ"J*J2J:JBJnJvJǍ@AY@A\~? AUA4%"AAE0rNA"AZAbAjArAzAAAz܂/@Ab7tA0a@Aw<A7uA>A@wL?A`?AX^&<*A!:?2AQս:Az]BA!:?JAQսRAz]Yw|>v>yu_<ٓHX?`<ܿW X?6? I٘i)I9a@Y G J<JJJJ/E&K=t> Y\~?yJA>Ej7Z7m\9)5B[[+>[\~?[ܪ[[[[BZYY ic=) (Ii"?a; ͅ?))yͅ?ͅ?I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035516.783165 s, next control iter: 1743035517.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035517.183165 s.I~,NK'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243244> elevatorAngleAction: 0.055620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743035517.183252F (some fields omitted in printout)A(\›@A\@A\~? AAM %"AAUrNA"AZAbAjArAzAAA;% 90@Ao4\6tAVPb@A?@AA>A$?A?A a<*A:?2AQս:A[ BA:?JAQսRA[ ٘i)I9Pb@Y G JKA<JJJJ2E&K Y!)\~?yQKAE77j7q\9DB)2BٹE[[>[\~?[ڪ[[[[BZYY i) |Ii><; ?)) ??޷*YFFF]j:Waiting for Gazebo time sync: latest Gz time: 1743035517.203165 s, next control iter: 1743035517.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035517.603165 s.74I~,f'AJ"J*J2J:JBJnJvJAQ@AnE@A-\~? AAoB%"AAzrNA"AZAbAjArAzAAAz+ְ10@Aե4tA~b@A,4CA󸐽Ayb?A?A?A ;<*A3:?2Aӽ:A#BA3:?JAӽRA#٘i)I9b@Y G J|<JJJJ4E&K YbB\~?yKAE77t\9CB).BܹE[[>[8\~?[0ت[[[[BZYY i) .Ii/>`e|; _D?))_D?_D?Y*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035517.623165 s, next control iter: 1743035518.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9016 , header.stamp.nsec: 0 0 temperature: 13.569710 * salinity: 33.375381 , density: 1025.000000 * values[0]: 0.569671 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035518.023165 s.ZI~, |'AAHz.@Aʥ !@As\~? AAz%"AArNA"AZAbAjArAzAAA&t0@A߂2tA9c@AKAU╽Ab?A ?A?Ae<*Ay6:?2AԽ:A3BAy6:?JAԽRA3٘i)I99c@YJ G J<B=JJJJ7E&K Y[\~?yݪKAE77Ix\9BB))B߹E[[>[R\~?[ժ[[[[BZYY in=) Ii>Z; ?))??y[d=*Ye4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035518.043165 s, next control iter: 1743035518.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035518.443165 s.8I~,B]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743035518.443320F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= c@A+4V@A]~? AA%"AArNA"AZAbAjArAzAAA-.=1@A/0tAwc@AO9AA ?A^?A@a?Ay<*A::?2AԽ:A BA::?JAԽRA ٘i)I9c@Y G JϤ<C=JJJJ:E&K Yt\~?y٪HLAĤEb7b7{\9)#BE[[?>[l\~?[Ҫ[[[[BZYY i) лIi>H>; =ϐ?))=ϐ?=ϐ?y/d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035518.463165 s, next control iter: 1743035518.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9017, header.stamp.nsec: 00 temperature: 13.569339* salinity: 33.375404, density: 1025.000000* values[0]: 0.570327F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035518.863165 s.+I~,>'AA@AS@Ak&]~? AAk%"AArNA"AZAbAjArAzAAA88^1@Að$.tA}Qd@A夁AVKA?A^r?A@^?A<*A::?2A<ս:AS+ BA::?JA<սRAS+ Y> ?yQKٓH?,. ?@=?`?4P@[?)> I٘i)I9Qd@Y G J<B=J JJJ=E&Ku> Y\~?y3ժLA ?ƤEj7Z7t\9)B[[K>[ \~?[Ϫ[[[[BZYY i) rIia>ۀ; ?))J{??y=K=~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035518.883165 s, next control iter: 1743035519.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035519.283165 s.7RI~,'AJ"J*J2J:JBJnJvJA(\Ϝ@AOœ@A>]~? A)AH4%"AA sNA"AZAbAjArAzAAA˨1@ASx,tA+d@Ae1!<A㗽Ajt?A>?A >?A<*A9:?2Aaֽ:ABA9:?JAaֽRA٘i)I9d@YJ G J<C=JJJJ?E&K Y\~?yzЪMAɤE777 \9AB)BE[[5>[}\~?[̪[[[[BZYY i) 7Ii!>: OU?)) OU?OU?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035519.303165 s, next control iter: 1743035519.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9018., header.stamp.nsec: 0.0 temperature: 13.568967.* salinity: 33.375397., density: 1025.000000.* values[0]: 0.571062.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035519.703165 s.ԺI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743035519.703271F (some fields omitted in printout)AQ@A@AU]~? AA%x%"AA0sNA"AZAbAjArAzAAA81@A12*tA'ie@AkL~<AA?A?A1#?AϚ<*AO:?2APUս:ABAO:?JAPUսRA٘i)I9ie@Y G J_<B=JJJJBE&K Y^\~?y˪{MA̤Eb77\9=B)BE[[e>[\~?[Jɪ[[[[BZYY i) =kIiK=: N!?))N!?N!?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035519.723165 s, next control iter: 1743035520.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035520.123165 s.9I~,e 'AJ"J*J2J:JBJnJvJAG:@A-@Al]~? AA%"AATsNA"AZAbAjArAzAAA&.W32@A; M\t(tAe@AU<AA/ ?A`9?A ?A6<*AN:?2Aս:ABAN:?JAսRA٘i)I9e@Y G Jפ<C=JJJJEE&K Y-\~?yǪMAΤE7773\9[F\~?[Ū[[[[BZYY i) es/Ii\=T : ?))??*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035520.143165 s, next control iter: 1743035520.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035520.543165 s.II~," 'AA= ףp@Asdc@A]~? AAn%"AAwsNA"AZAbAjArAzAAA 䮒x2@A؍&tAf@At;AA%?A ?A?ADL<*A"N:?2A!ս:ARBA"N:?JA!սRAR٘i)I9f@YH G J <JJJJGE&K Y\~?yMªGNAѤEj7j7ɍ\9)B[[>[\~?[[[[[BZYY i) IiS<@9 fƞ?))fƞ?fƞ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035520.563165 s, next control iter: 1743035520.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9019, header.stamp.nsec: 00 temperature: 13.568605* salinity: 33.375435, density: 1025.000000* values[0]: 0.571801F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035520.963165 s.yI~,= 'AJ"J*J2J:Ja?BJa?nJ}5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035520.963283F (some fields omitted in printout)Affff@Ax[@Ab]~? AAT%"AAsNA"AZAbAjArAzAAA"1n*̽2@A\̛׬#tAT g@AUA둽A+*?A^?AX?A<*AFM:?2Aս:AI2BAFM:?JAսRAI2Y>y*?y|ꑽٓH`?`%`?`$?Y\9?~?)> I٘i)I9 g@Y G J3<J;JJJJE&Ku> Y/]~?yڼNA*?ԤE777^\9;B)BE[[k3>[G]~?[[[[[BZYY i) 3!WII?i]e ?))/??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035520.983165 s, next control iter: 1743035521.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035521.383165 s.I~,'X 'AA(ܝ@Arϝ@Aհ]~? AܫA%"AAsNA"AZAbAjArAzAAAt#3@AL\(!tAQg@A|sAsA /?AJ!?Apf?AI<*A4L:?2AQս:ABA4L:?JAQսRA٘i)I9g@Y G J <JJJJME&K Y]]~?yg OA֤E77j7\9:B)BE[[>[]~?[[[[[BZYY i) 8I I?i`齉\ B?)) B?B?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035521.403165 s, next control iter: 1743035521.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9020", header.stamp.nsec: 0"0 temperature: 13.568245"* salinity: 33.375431", density: 1025.000000"* values[0]: 0.572544"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035521.803165 s.{AI~,gs 'AJ"J*J2J:JBJnJvJA@A elevatorAngleAction: 0.064927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743035522.223291F (some fields omitted in printout)AzG@A3:@A]~? AGԫAJ%"AA(sNA"AZAbAjArAzAAA {3@AWctAh@AʻAKAyC:?A ?A?A<<*A[:?2Aս:ABA[:?JAսRA٘i)I9h@Y G JZ<JJJJRE&K YD]~?yOAܤEj7SI7\95B)BE[[3 ?[M]~?[A[[[[BZYY i) ;IWI?iXn ة?))ة?ة?@*Y"!YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035522.243165 s, next control iter: 1743035522.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035522.643165 s.x)I~,* 'AJ"J*J2J:J?BJ?nJ5vJA ףp}@AOep@A]~? AϫAM%"AA& tNA"AZAbAjArAzAAA)3@A tAL,i@A3l;AfA\??A@[?Ab?AΠ<*AIY:?2A/Hֽ:AvBAIY:?JA/HֽRAv٘i)I9,i@Y G J<JJJJUE&K YZ]~?y 1PAޤEŧ7b7\94B)BE[[?[-f]~?[[[[[BZYY i) 4>;II?iB# ?))?? *tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9021, header.stamp.nsec: 0Y0 temperature: 13.567835* salinity: 33.375435, density: 1025.000000* values[0]: 0.573271F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743035522.663165 s, next control iter: 1743035523.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035523.063165 s.0I~,R 'AA3333@A?p'@A^~? A˫A0%"AA@tNA"AZAbAjArAzAAA/ 4@Ao<tAi@APb<AAD?A?A?A v<*AW:?2A,ֽ:ABAW:?JA,ֽRAY ?>D?yQb<ٓH@|?NC ! Y2?\?[?I??) ? I٘i)I9i@Y3G J:<Jc<JJJWE&Kv> Y8o]~?yPAD?E77I\9)B[[]?[}]~?[ç[[[[BZYY i=) b};II?i'L |s?))-|s?|s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035523.083165 s, next control iter: 1743035523.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035523.483165 s.t_7I~, 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252302> elevatorAngleAction: 0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035523.483282F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A۞@A^~? A@ƫAW%"AA`tNA"AZAbAjArAzAAAiB;I4@AHMtA$j@Ay<A5AIO?A ?A"?Ab<*ATZ:?2A7ս:A5BATZ:?JA7սRA5٘i)I9j@YG Jv<JJJJ]E&K Yח]~?y?QAEŧ77t\92B)ޯBE[[jI"?[]~?[[[[[BZYY i) &;IH?iվ툻 ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035523.923165 s, next control iter: 1743035524.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035524.323165 s.wDI~,)!'AJ"J*J2J:J?BJ?nJ&5vJAGzT@A4OpG@AE^~? A<A|%"AAvtNA"AZAbAjArAzAAAG4@Aqk0 tA j@AD#A A=?T?A@4?A 2?A{p<*AS:?2Anս:A*NBAS:?JAnսRA*N٘i)I9j@YG JJJJJ`E&K Y(]~?yQAEb7 \9/B)ׯBE[[K#(?[]~?[[[[[BZYY i) d;IuH?i뾉{p ?))??y=**Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035524.343165 s, next control iter: 1743035524.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9023*, header.stamp.nsec: 0*0 temperature: 13.567164** salinity: 33.375481*, density: 1025.000000** values[0]: 0.574549*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035524.743165 s.WKI~,/!'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035524.743314F (some fields omitted in printout)Aףp=@A2}@AY^~? A A|%"AAtNA"AZAbAjArAzAAA!tI5@AG' tAmk@AuIAUAEY?A`?A@ۑ?A֋<*A?L:?2AKս:A(BA?L:?JAKսRA(٘i)I9mk@YIG J<JJJJbE&K Yy]~?ynQAE\9-B)үBE[[.?[]~?[[[[[BZYY i) ơ;IH?iBSr Tպ?))Tպ?Tպ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035524.783165 s, next control iter: 1743035525.143183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743035525.163165 s.u}RI~,qJ!'AJ"J*J2J:JBJnJvJA@A@Am^~? AA %"AA0tNA"AZAbAjArAzAAA0=5@A.CtAk@ARA ꇽAan^?A?AhG?AMč<*AD:?2A7ֽ:ABAD:?JA7ֽRAY&?^?y函]ٓHV?n$g?Ԩ?¤?1 ?)&? I٘i)I9k@YG J<JJJJeE&K w> Y]~?yNRA^?E7{74\9,B)ͯBE[["3?[]~?[ƌ[[[[BZYY i) _ elevatorAngleAction: 0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743035526.003305F (some fields omitted in printout)AR+@Atx@Aӓ^~? AA7%"AAuNA"AZAbAjArAzAAA?v 5@A=yqtAl@ADAA)i?A?AW?At<*A6:?2A/ֽ:ABA6:?JA/ֽRA٘i)I9l@Y!G J<JJJJjE&K Y]~?y=tSAEb77^\9(B)BE[[??[U^~?[[[[[BZYY i) 6,?A`?AN<*A0*:?2A׽:ABA0*:?JA׽RA٘i)I9m@YG J5<JJJJpE&K Y^~?yfSAE777\9#B)BE[[K?[F^~?[s[[[[BZYY i)  K?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035526.883165 s, next control iter: 1743035527.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035527.263165 s.tI~,#!'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035527.263293F (some fields omitted in printout)A̠@ASy;¿@Ap^~? AXA%"AAjuNA"AZAbAjArAzAAAqUW6@A@rsA2n@AL<AwAy?A5?AX?A"<*Au$:?2AV׽:ASBAu$:?JAV׽RASY@?x?yt3M<ٓH*?@r랿_]??j?E?`"?)@? I٘i)I92n@YG J<J&\JJJrE&Kx> Y{+^~?y_TAx?E7\9)B[[AQ?[Z^~?[Pm[[[[BZYY i) ZuNA"AZAbAjArAzAAABs6@Au,sAͰn@A |<;AA7~?A?A i?AY<*A:?2Aֽ:Ar BA:?JAֽRAr ٘i)I9n@YEG J5<JJJJuE&K Ye;^~?y:XTAE77\9"B)B E[[~W?[n^~?[f[[[[BZYY i) !j<e;^~?):XIH?i QQ ?))??+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035527.683165 s, next control iter: 1743035528.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743035528.103165 s.I~,"'AAQ8@AwF+@A^~? A3A%"AAauNA"AZAbAjArAzAAA6@A5WsAX6o@AyA&A揁?A k[?A ?A<*A":?2A/ֽ:A|BA":?JA/ֽRA|٘i)I96o@YG J<JJJJxE&K YPK^~?yPTAEZ7Z7I\9)B[[]]?[B^~?[_[[[[BZYY i=) ay elevatorAngleAction: 0.084488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035528.523301F (some fields omitted in printout)AHzn@A.oa@A^~? AAgj%"AAuNA"AZAbAjArAzAAATdYF6@A ;sAUo@AwAA?A?A D?Ag<*A:?2Aֽ:A`BA:?JAֽRA`٘i)I9o@YG J<B=JJJJzE&K Y<[^~?yIGUAEŧ7b7\9B)B E[[c?[Z^~?[cX[[[[BZYY i) GRW"'AJ"J*J2J:JBJnJvJA١@A ̡@A_~? A3vAa%"AAuNA"AZAbAjArAzAAAЎS7@A psAp@AƻAϜAn?A@"?A?AA<*A(:?2AJ׽:AYBA(:?JAJ׽RAYYbZ?|?ypΜzDٓHh?`N t* ?@k?]@申? qv?)bZ? I٘i)I9p@YG J<J2JJJE&Kx> Yx^~?y:VA|? Ej7Z7 \9B)BE[[o?[^~?[I[[[[BZYY i) q elevatorAngleAction: 0.084488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035529.783297F (some fields omitted in printout)A(\@A[;Q@A,_~? AoA%"AAvNA"AZAbAjArAzAAA:9"7@AY$ssAkq@AI;A)A'?A@O?A`T#?A<*A:9?2A"{׽:A@BA:9?JA"{׽RA@٘i)I9kq@YG J<JJJJE&K Y ^~?y2}VA E\9)B[[u?[`^~?[B[[[[BZYY i)  elevatorAngleAction: 0.084488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035531.043297F (some fields omitted in printout)A= ף@A>&R@AUX_~? A[Af%"AADvNA"AZAbAjArAzAAAY8@A^$sAs@A$<AbA?A?A?AR<*A9?2A$׽:AnCBA9?JA$׽RAnC٘i)I9s@YG JV<JJJJE&K Yi^~?yWAE7_\9)B[[ ?[^~?[R*[[[[BZYY i) cr YD^~?y+XA?E{7j7\9B)yBE[[?[ _~?[0"[[[[BZYY i) >¸ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035531.903165 s, next control iter: 1743035532.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035532.303165 s.TI~,og#'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743035532.303321F (some fields omitted in printout)AQ@A>D@A_~? AFA%"AA{vNA"AZAbAjArAzAAA8:}8@AJž,]sAu@A6~AjA?A@'p?A@٢?A]<*A99?2AM`ֽ:ABA99?JAM`ֽRA٘i)I9u@Y G J<JJJJE&K Y^~?yZYAE7 \9)kB[[*G?[(_~?[r[[[[BZYY i) -c?AB?A?A@<*A\9?2Azֽ:A,BA\9?JAzֽRA,٘i)I9u@YG J<JJJJE&K Y^~?y<YAE7\9B)dBE[[`?[6_~?[[[[[BZYY i) l elevatorAngleAction: 0.084488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035533.563282F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A4(@A_~? A0A%"AAvNA"AZAbAjArAzAAAq_z8@ANm(sA w@Aw2<AAA?A/?A@H?A%<*An9?2As׽:A6BAn9?JAs׽RA6Y׆?&?y8%3<ٓH1h?0㍿?@j?@{9?`N?@?)׆? I٘i)I9 w@Y[G Jg<J JJJE&Kx> Y^~?ymZA?$Eŧ7\9B)WBE[[d?[N_~?[n[[[[BZYY i) 9BZYY i¸> ) pEsAyy@A0AA]?AP?A@?AU"=*A9?2AVֽ:AɍBA9?JAVֽRAɍ٘i)I9y@YG J<JJJJE&K Ye _~?yɩK\A/E{75 ]9 B) Y_~?y^\A?1Ej7]9 B)3BE[[3?[o_~?[ʩ[[[[ZZZZBZYY i) &ĴJJJE&K$w> Y*_~?yE^A??E{7 ]9)B[[?[_~?[[[[[ZZZZBZYY iMy) Ry$'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071651< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035539.863285F (some fields omitted in printout)A@Aȑ @A`~? A#An&"AAxcwNA"AZAbAjArAzAAAux2:@A9yqsA}@AXA+Wv=A?A܏?A`F?At'*Aʹ9?2Aֽ:A=BAʹ9?JAֽRA=Y?E?yzTv=ٓHD;h?@i? Ů 낿 ?)? I٘i)I9}@YxG JB=Jx>JJJåE&Kw> Y4_~?yi]A?LE77{72]9B)E[[.?[_~?[j[[[[BZYY iwf) f Vz~m?oX? 8 P??)͎? I٘i)I9u{@Y G J*J=JJJХE&K'x> Y 0_~?y =\A?ZE77D]9)$B[[٧?[_~?[I9[[[[BZYY i) %g;I)TF?i\n z@))z@z@yyҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035542.003165 s, next control iter: 1743035542.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035542.383165 s.eI~,%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035542.383287F (some fields omitted in printout)A(\@APOO@A `~? AԌAW&"AAvwNA"AZAbAjArAzAAA|ET:@ASsAz@Ag$A ژ=A#O?Aղ{?Abz?Ax*A9?2A%׽:A9'=BA9?JA%׽RA9'=٘i)I9z@YG JJJJJӥE&K Y,_~?yJ4[A\E7777 H]9B)*BE[[e?[s_~?[/[[[[BZYY i) S5;I'@F?i׽:Ax0=BA#9?JA>׽RAx0=٘i)I9\z@Y`G JJJJJ֥E&K Y)_~?y+Q[A_E77K]9B)-BE[[?[:_~?[%[[[[BZYY i) D;I<,F?i/^ m ^@))^@^@VѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035542.823165 s, next control iter: 1743035543.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035543.223165 s.gsI~,H%'AAzǨ@AZ@A|`~? A|AX&"AAvwNA"AZAbAjArAzAAA5YR:@AB'.R JsAy@A ZAKז=A?ATїAw?Aw*A#9?2Ax׽:A&=BA#9?JAx׽RA&=٘i)I9y@Y G JJJJJإE&K Yq&_~?y"ZAbE{7{7KO]9)1B[[%?[A_~?[X[[[[BZYY i) &;IF?i0w{j 0. @))0. @0. @ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035543.243165 s, next control iter: 1743035543.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035543.643165 s.{yI~,*%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035543.643293F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@Aմi@Ai`~? AtAx&"AAuwNA"AZAbAjArAzAAAɖMO:@A3EsADy@A{yA>>=A?A <{A@ s?Am쨼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Dy@YG JsB=JJJJۥE&K Y=#_~?y ZAdE777R]9)6B[[K?[_~?[[[[[BZYY i) o:I,F?i"f !@))!@!@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035543.663165 s, next control iter: 1743035544.043181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9042, header.stamp.nsec: 00 temperature: 13.563110* salinity: 33.375580, density: 1025.000000* values[0]: 0.582975F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035544.063165 s.I~,[ &'AA33333@A)&@A`~? AlA&"AAswNA"AZAbAjArAzAAA]>J:@At#G@sAYx@A;A7=A?AA@k?A*A9?2A [ֽ:A =BA9?JA [ֽRA =Y?͢?y5=';ٓHcJ˿bCa -?J˿a?bp??)? I٘i)I9x@Y_G JC=JJJJJޥE&K@x> Y4_~?ys ZA?gE7)7vV]9):B[[s?[_~?[N [[[[BZYY i) 0%c9IE?idf TO#@))TO#@TO#@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035544.083165 s, next control iter: 1743035544.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035544.483165 s.x_I~,&'AJ"J*J2J:J'?BJ'?nJf5vJA\h@A[@A`~? A}dAa1&"AApwNA"AZAbAjArAzAAA+C:@A\;sA%x@A$[w<AƐ=A?AFGA"b?AL*A9?2Ac:ֽ:A=BA9?JAc:ֽRA=٘i)I9%x@YG JJJJJE&K Y+_~?yYAjE)7ŧ7 Z]9B)>BE[[g?[ԉ_~?[[[[[BZYY i) Oh;IxE?ie r$@))r$@r$@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035544.523165 s, next control iter: 1743035544.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9043, header.stamp.nsec: 00 temperature: 13.563372* salinity: 33.375576, density: 1025.000000* values[0]: 0.582328F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035544.903165 s.ȍI~,9&'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035544.903295F (some fields omitted in printout)AQ@A.py@A `~? As\A~&"AA^mwNA"AZAbAjArAzAAA;:@ANnu6sA!w@Azn<A=A}?AAV?A훥*AM9?2Abֽ:A=BAM9?JAbֽRA=I٘i)I9w@YG JJJJJE&K Y"_~?y?ZYAlE7{7]]9)BB[[?[ށ_~?[{[[[[BZYY i) |׺I^E?i$c :p&@)):p&@:p&@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035544.923165 s, next control iter: 1743035545.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035545.323165 s.wI~,)T&'AJ"J*J2J:JBJnJvJAGzԩ@A|rǩ@A`~? AnTAJk &"AAhwNA"AZAbAjArAzAAAru02:@A)$1sAw@A;Ad=Ag?A帿A eG?A(*A9?2A ֽ:A<BA9?JA ֽRA<٘i)I9w@Y^G J@B=JJJJE&K Y _~?yXAoE776a]9B)HBE[[3?[1y_~?[1[[[[BZYY i) (IE?iѮ _ y(@))y(@y(@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035545.343165 s, next control iter: 1743035545.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9044*, header.stamp.nsec: 0*0 temperature: 13.563667** salinity: 33.375591*, density: 1025.000000** values[0]: 0.581650*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035545.743165 s.$WI~,o&'AAףp= @AV 1@A. `~? AoLA &"AAcwNA"AZAbAjArAzAAAVpS&:@AW,sAЎv@AJAD=AT?AỼA6?Ay*A9?2A׽:A M<BA9?JA׽RA M<٘i)I9v@YG JC=JJJJE&K Y_~?y XArE77d]9B)LBE[[?[o_~?[[[[[BZYY i) :eI3E?iܪJZ f)@))f)@f)@켪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035545.763165 s, next control iter: 1743035546.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035546.163165 s.u}I~,q&'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035546.163319F (some fields omitted in printout)A@@Aӡ2@A`~? AvDA &"AA]wNA"AZAbAjArAzAAA^":@A7'sAv@AvfAA=A?A GA"?AZ:*A9?2AN׽:A<BA9?JAN׽RA<٘i)I9v@YG JJJJJE&K Y^~?yq2XAtEŧ7b7ah]9)PB[[8$?[e_~?[ڨ[[[[BZYY i) ~I]E?iݥNT "+@))"+@"+@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035546.183165 s, next control iter: 1743035546.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035546.583165 s.I~,R&'AA)\u@A4h@A0`~? A<A? &"AAWwNA"AZAbAjArAzAAA". :@A8O"sAu@A~A=Awh?A*¿A ?A‰*A)9?2A<׽:A 5<BA)9?JA<׽RA 5<٘i)I9u@Y~G JLJJJJE&K Y^~?yݨWAwE{7j7k]9)SB[[5ɨ[[[[BZYY i) λIrE?iȘC O@.@))O@.@O@.@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035547.043165 s, next control iter: 1743035547.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035547.423165 s.uI~,&'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035547.423277F (some fields omitted in printout)A{G@AE ;Ԫ@A_~? A,A3t &"AA GwNA"AZAbAjArAzAAA\}T 9@A%%9 l/@))l/@l/@жYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035547.443165 s, next control iter: 1743035547.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9046, header.stamp.nsec: 00 temperature: 13.384965* salinity: 33.391617, density: 1025.000000* values[0]: 0.703807F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035547.843165 s.ݼI~,&'AJ"J*J2J:J,4?BJ,4?nJ<5vJAp= @A @A_~? A$A &"AA>wNA"AZAbAjArAzAAAV-9@A!sACt@A:M<A-=AT?A ǿA)?AR*A9?2ApUֽ:A=BA9?JApUֽRA=٘i)I9Ct@YG JJJJJE&K Y^~?y ĨVAE)7b7v]9)`B[[@[7_~?[.[[[[BZYY i) ITE?in- fV1@))fV1@fV1@yԘhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035547.863165 s, next control iter: 1743035548.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035548.263165 s.I~,'''AAL@A^a?@A_~? AAr &"AA4wNA"AZAbAjArAzAAA/ה_9@AU!zsAs@AW<A) =A?A@ɿA"?A*A9?2ASVֽ:A:=BA9?JASVֽRA:=Y??y= ς<ٓH`ٿ = r+?Sٿ`v? P?k?)? I٘i)I9s@YcG JsJzJJJE&K>> Ya^~?yMVA?Eb77Kz]9)cB[[8@[m*_~?[[[[[BZYY i) eI,FE?iB+ M2@))M2@M2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035548.283165 s, next control iter: 1743035548.663179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9047., header.stamp.nsec: 0.0 temperature: 13.385189.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.702844.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035548.683165 s.lI~,c+''AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743035548.683291F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AJ/u@A_~? AUAX>&"AAo)wNA"AZAbAjArAzAAA/9@A# sAjXs@A<3<A*C=A!@A@`˿Apw?A劼*A9?2Aֽ:Al=BA9?JAֽRAl=٘i)I9Xs@YG JJJJFJE&K Y^~?yUAE{7{7}]9B)iBE[[@[_~?[B[[[[BZYY i) o%I7E?iу( f4@))f4@f4@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035548.683165 s, next control iter: 1743035549.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035549.103165 s.#I~,F''AAQ@AeQE@A_~? A AT&"AAwNA"AZAbAjArAzAAAY)s9@A`ܲWsAr@As9A߈=A@A`8ͿA`R?A ㇼ*A9?2A<ֽ:A=BA9?JA<ֽRA=٘i)I9r@YG JJJJJE&K Yc^~?y櫨UAE77v]9B)mBE[[I@[_~?[[[[[BZYY i) 4I3*E?i[fL$ A5@))A5@A5@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035549.123165 s, next control iter: 1743035549.503183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035549.523165 s.I~,{a''AJ"J*J2J:JBJnJvJAHz@A` @A_~? AAVk&"AAwNA"AZAbAjArAzAAAJ',{9@AwsAsr@A,A=A~O@AϿA@)?A1*A 9?2AJ׽:AID=BA 9?JAJ׽RAID=٘i)I9sr@YG J؆JJJJE&K Y^~?y٣?UAE{7{7 ]9)pB[[@[^~?[ߖ[[[[BZYY i) ''AJ"J*J2J:J3?BJ3?nJD<5vJAY@AL@AW_~? AA(&"AAvNA"AZAbAjArAzAAAKD9@AinrA YV^~?y*TA@E776]9)yB[[ @[6^~?[[[[[BZYY i) 1cIE?ith :@)):@:@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035550.383165 s, next control iter: 1743035550.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9049&, header.stamp.nsec: 0&0 temperature: 13.385644&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.700890&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035550.783165 s.ZI~,''AA(\@AZQ@A_~? AZA&&"AAvNA"AZAbAjArAzAAAz-8&9@A8farAq@A>Ac=A.@A@2ҿA?A*A9?2ALֽ:A =BA9?JALֽRA =٘i)I9q@YG JB=JJJJ E&K YF^~?y#TAEb7̏]9B)}BE[[b\ @[l^~?[K[[[[BZYY i) rI~D?ib  <@)) <@ <@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035550.803165 s, next control iter: 1743035551.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035551.203165 s.I~,''AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743035551.203273F (some fields omitted in printout)J"J*J2J:JBJnJvJAQŬ@A@A2_~? AAY&"AANvNA"AZAbAjArAzAAA6p9@A#VrAp@AL <A4?=AIn@AӿAt?Aq*A9?2AOֽ:A =BA9?JAOֽRA =٘i)I9p@YnG JC=JJJJ E&K Y9^~?yㄨSAE77{7a]9B)BE[[ @[!^~?[w[[[[BZYY i) ID?iY[ =@))=@=@ytΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035551.223165 s, next control iter: 1743035551.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035551.623165 s.WI~,]''AAG@A @Ah_~? AAH&"AA[vNA"AZAbAjArAzAAAN?8@A5E5rAp@A|<Ȃ=AI @A@ӿAA?A*A9?2A[&ֽ:A#=BA9?JA[&ֽRA#=٘i)I9p@YG JូJJJJE&K Y+u^~?y@}bSAE]9)B[[_@[[^~?[Op[[[[BZYY i) ID?i`O ?@))?@?@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035551.643165 s, next control iter: 1743035552.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9050 , header.stamp.nsec: 0 0 temperature: 13.385850 * salinity: 33.391678 , density: 1025.000000 * values[0]: 0.699875 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035552.043165 s.I~,('AJ"J*J2J:J+3?BJ+3?nJ;5vJA= ף0@A4#@A%_~? AO٩Aw&"AAvNA"AZAbAjArAzAAAC9R8@AShrAdo@A*i<AӶ=Ad @A ԿA`` ?Ai*A9?2AJOֽ:A=BA9?JAJOֽRA=٘i)I9o@YG J%JJJJE&K Yg^~?yuSAEj7]9 B)BE[[@[%^~?[i[[[[BZYY i) pJI(D?iC. @@))@@@@nתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035552.063165 s, next control iter: 1743035552.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035552.463165 s.WI~,('AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035552.463299F (some fields omitted in printout)Afffff@AQ [Y@Ah_~? AҩAd&"AAHvNA"AZAbAjArAzAAAGX8@AYrAn@A);A=A%[ @AtտA8?A\'*A9?2Aֽ:A=BA9?JAֽRA=Y?nb @yQ=;ٓH@`aD䤿`"?ܦ ?Ow??)? I٘i)I9n@YsG JkJ<JJJE&KAx> YV^~?ywnRAb @E77!]9 B)BE[[X^@[L^~?[a[[[[BZYY i) ID?iX={\ (B@))(B@(B@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035552.483165 s, next control iter: 1743035552.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9051, header.stamp.nsec: 00 temperature: 13.386114* salinity: 33.391678, density: 1025.000000* values[0]: 0.698750F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035552.883165 s.z I~,Y8('AJ"J*J2J:JBJnJvJA(@A@A2_~? AʩA&"AA)vNA"AZAbAjArAzAAA\ﱽz{8@Aw̨rAgln@AxA_¢=A @A:}ֿAo?A*A9?2A׽:A=BA9?JA׽RA=٘i)I9ln@YG JJJJJE&K Y0F^~?yQg+RAE77{7]9B)BE[[:@[r^~?[Z[[[[BZYY i) 6I6D?i5N C@))C@C@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035552.903165 s, next control iter: 1743035553.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035553.303165 s.WI~,{gS('AAѭ@Aĭ@Ar_~? AéAq{&"AARvNA"AZAbAjArAzAAAU8@A3.q[rAm@AiAۥ=A@AU׿As\?A򬬼*A9?2AoP׽:AF=BA9?JAoP׽RAF=٘i)I9m@YG JB=JJJJE&K Y5^~?y*`QAE)7ŧ7L]9)B[[zZ@[A_^~?[+T[[[[BZYY i)  ID?i,,ܻ E@))E@E@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743035553.343165 s, next control iter: 1743035553.703178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9052*, header.stamp.nsec: 0*0 temperature: 13.386375** salinity: 33.391689*, density: 1025.000000** values[0]: 0.697577*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035553.723165 s.I~J"J*J,Hn('A2J:J2?BJ2?nJA;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743035553.723325F (some fields omitted in printout)Az@A&@A]e_~? AAS&"AAnvNA"AZAbAjArAzAAAHV)-8@AirAIm@A]uxAE=A&_@AO(ؿA?A*Aş9?2Az0׽:Aif=BAş9?JAz0׽RAif=٘i)I9Im@YkG JC=JJJJE&K YB%^~?yYTQAEŧ7b7]9B)BE[[T@[%K^~?[M[[[[BZYY i) #IWD?ia Iͻ ŚF@))ŚF@ŚF@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035553.763165 s, next control iter: 1743035554.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035554.143165 s.W/"I~, *('AA ףp=@A#Ed0@AW_~? AA&"AAZvNA"AZAbAjArAzAAAVs8@Ah-vrA{l@A&AC=A@A`jؿA?Ac*A29?2Abֽ:A=BA29?JAbֽRA=٘i)I9l@Y G JWJJJJE&K Y^~?yQPAE77v]9)B[[M@[6^~?["G[[[[BZYY i) ǘItD?i廻 H@))H@H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035554.163165 s, next control iter: 1743035554.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035554.563165 s.(I~,J ('AJ"J*J2J:JBJnJvJA3333s@Aq&f@AI_~? AIA'&"AAEvNA"AZAbAjArAzAAA@R[7@A&SPrAVl@A&W;Aj=A@ACٿA`?A$Yż*A9?2A2Rֽ:A{f=BA9?JA2RֽRA{f=Yf@@y-=.pX;ٓH$!`pĉ`?@2ְ? j?a?)f@ I٘i)I9l@YG JѿJ<JJJ!E&Kw> Y^~?yHKtPA@E ]9B)BE[[8@[!^~?[@[[[[BZYY i) ݼID?i  ˈH))ˈHI@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035554.583165 s, next control iter: 1743035554.963174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9053, header.stamp.nsec: 00 temperature: 13.386654* salinity: 33.391689, density: 1025.000000* values[0]: 0.696366F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035554.983165 s./I~,('AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743035554.983305F (some fields omitted in printout)A\@A蛮@A@;_~? AA&"AA0vNA"AZAbAjArAzAAAx7@A VrA;fk@A.S<A̯=A@AڿAX?A ͼ*Aq9?2Aֽ:A=BAq9?JAֽRA=٘i)I9fk@YDG JKɼJJJJ$E&K Yg]~?yDOAEŧ77]9B)BE[[KA@[6 ^~?[:[[[[BZYY i) "ļID?i 򼧻  G)) GK@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035555.003165 s, next control iter: 1743035555.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035555.403165 s.&6I~,('AJ"J*J2J:J2?BJ2?nJ:5vJAQޮ@AӁѮ@AY,_~? AA&"AAvNA"AZAbAjArAzAAA%>H7@A4TrAij@A\d<A/=AOi@AMۿA?A'.Ҽ*A49?2Aֽ:Aa=BA49?JAֽRAa=٘i)I9j@YG J#мJJJJ&E&K Y]~?y>OAE77777]9)B[[K@[v]~?[4[[[[BZYY i) 4g˼IlD?ixn晻 E))E3L@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035555.423165 s, next control iter: 1743035555.803176 s, wait time: 0.380011 s]~?)>"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9054", header.stamp.nsec: 0"0 temperature: 13.386978"* salinity: 33.391705", density: 1025.000000"* values[0]: 0.695013"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035555.823165 s. Y]~?y*)NAh@Eŧ77]9B)ԯBE[[ @[D]~?[#[[[[BZYY i) &ID?iHY _!A))_!AVP@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035556.683165 s, next control iter: 1743035557.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035557.083165 s.DQI~,SE)'AJ"J*J2J:JBJnJvJA)\µ@Ap(|@Ay^~? AAm &"AAhuNA"AZAbAjArAzAAAut6@AیprA7g@AtAu=A@A5W޿A@?A˼*A9?2A/׽:Aa=BA9?JA/׽RAa=٘i)I9g@Y0 G J̼JJJJ1E&K YՍ]~?y%MAE{7{7]9B)ۯBE[[v!@["]~?[[[[[ZZ¸BZYY i¸"=) &ռID?iU@ ;?));?zvR@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035557.103165 s, next control iter: 1743035557.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035557.503165 s.WI~,H4`)'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083023< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035557.503282F (some fields omitted in printout)AR@AKyޯ@Ay^~? AjA&"AAuNA"AZAbAjArAzAAA/E$6@A5_rAOg@AHA))1>S@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035557.543165 s, next control iter: 1743035557.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9056, header.stamp.nsec: 00 temperature: 13.387630* salinity: 33.391712, density: 1025.000000* values[0]: 0.692243F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035557.923165 s.G^I~,{)'AJ"J*J2J:JBJnJvJA{G!@AW;@A^~? Al|A&"AAuNA"AZAbAjArAzAAAGYV6@A [ⶭrAf@AA=AmS@A I߿A>?Aޱ*A9?2Awֽ:A]<BA9?JAwֽRA]<٘i)I9f@YP G JJJJJ7E&K YYd]~?yLAE77]9B)BE[[e$@[/m]~?[[[[[ZZBZYY i) #IzD?iF \<))\<YdU@yB8=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035557.943165 s, next control iter: 1743035558.323193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743035558.343165 s. elevatorAngleAction: 0.083023< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035558.763311F (some fields omitted in printout)Ǎ@A`"@A-^~? ApA&"AA)QuNA"AZAbAjArAzAAAd-|5@A#rA)d@Au<AЩw=A@AAA ʖ?A*A9?2Aj,ֽ:AG|<BA9?JAj,ֽRAG| Y8]~?y KA@ťE77{7]9B)BݹE[[N@'@[$=]~?[ [[[[ZZBZYY i) ܥIvD?iȽ U 9))9MX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035558.783165 s, next control iter: 1743035559.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035559.183165 s.rI~,g)'AA(\°@AT@A^~? A kAHP&"AAh5uNA"AZAbAjArAzAAA CX5@AIm'rAd@AT<A2=A)!@A`MA@?AԼ*Ar9?2AGֽ:A;BAr9?JAGֽRA;٘i)I9d@Y G JJJJJ?E&K Y]"]~?yKAȥE{7j7w]9!B)BڹE[[(@[$]~?[I[[[[ZZBZYY i) IvD?idG ]8))]8Y@N{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035559.203165 s, next control iter: 1743035559.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035559.603165 s.54yI~,)'AJ"J*J2J:JBJnJvJAQ@AjG@Aƀ^~? AeA&"AAuNA"AZAbAjArAzAAAzAx5@AsּƟrAlc@A$x;A`<Az"@A6A?A냪*Aۮ9?2AQֽ:A(-BAۮ9?JAQֽRA(-٘i)I9lc@Yi G JļJJJJAE&K Y ]~?yHQKAʥE)7b7 ]9"B)B׹E[[*@[ ]~?[#[[[[ZZBZYY i) PIuD?iλJ 6))65[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035559.643165 s, next control iter: 1743035560.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9058 , header.stamp.nsec: 0 0 temperature: 13.388360 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.689058 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035560.023165 s.ZI~,{*'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083023< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035560.023314F (some fields omitted in printout)AHz.@A !@Am^~? A,`A(&"AA7tNA"AZAbAjArAzAAADI(=5@A:xrA7b@AΐA<A#@A9Aq ?Aڼz*A9?2Aj9ֽ:A BA9?JAj9ֽRA ٘i)I9b@Y G JB=JJJJDE&K Y\~?yJAͥEŧ7]9) B[[R+@[9\~?[/[[[[ZZBZYY i)  IvD?iN=t: qx5))qx5D\@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035560.063165 s, next control iter: 1743035560.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035560.443165 s.4ÆI~,1]*'AJ"J*J2J:J<0?BJ<0?nJ85vJAq= c@AdϞV@AY^~? AZAs&"AAtNA"AZAbAjArAzAAAG AN5@A>˛7*'AA@A/ꏌ@AE^~? AUA&"AAtNA"AZAbAjArAzAAAbt4@AlMrA][b@A@$|A YA\~?y*JAc&@ҥE7{7]9&B)BѹE[[3P.@[ \~?[[[[[ZZBZYY iĬp=) x_IXzD?i>d: 2))2_@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035560.883165 s, next control iter: 1743035561.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035561.283165 s.6RI~,R*'AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035561.283282F (some fields omitted in printout)A(\ϱ@A3O±@A1^~? APA[&"AAdtNA"AZAbAjArAzAAAIX4@AHrACb@AA Ap'@AIuA?AFe*A9?2AUֽ:At)׼BA9?JAUֽRAt)׼٘i)I9Cb@Y G JW`JJJJLE&K Y\~?yJAեEŧ7b7b]9)B)B͹E[[/@[\~?[g[[[[BZYY if=) pgMI}D?i5J>i; (1))(1&`@7*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035561.303165 s, next control iter: 1743035561.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9060., header.stamp.nsec: 0.0 temperature: 13.388761.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.687453.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035561.703165 s.ҺI~,m*'AAQ@AV`@A^~? AKA&"AAltNA"AZAbAjArAzAAAI4@ArAJb@A;A06AH)@AA,?Asb;*Ar9?2Aֽ:ABAr9?JAֽRA輙٘i)I9Jb@Y G Jz:B=JJJJOE&K Y\~?yKAإE]9)[[1@[ \~?[,[[[[BZYY i) lQ;ID?i>0#; ˹/))˹/eb@Du*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035561.723165 s, next control iter: 1743035562.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035562.123165 s.7I~,]*'AJ"J*J2J:JBJnJvJAG:@A2o-@A(^~? AFA&"AActNA"AZAbAjArAzAAAKДa 4@A}73rAmb@Ah[<AZAX*@A A@=f?A;*A`9?2Aֽ:AvBA`9?JAֽRAv٘i)I9mb@Y G Jգ;C=JJJJQE&K Y}\~?yKAڥE77{7]9*B)BʹE[[$2@[~t\~?[%[[[[BZYY i) A)IÄD?is>J; L.))L. c@yE=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035562.143165 s, next control iter: 1743035562.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035562.543165 s.II~,â*'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743035562.543323F (some fields omitted in printout)A= ףp@A c@A]~? ANBAx&"AADtNA"AZAbAjArAzAAA 3@Aϴ=rAb@A|<AyA+@A PA?A(<*A9?2Aֽ:ABBA9?JAֽRAB٘i)I9b@Y G J <JJJJTE&K Y=e\~?y:KAݥE77"]9,B)BǹE[[3@[Z\~?[O[[[[BZYY i) /ID?i> v; ,)),>e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035562.563165 s, next control iter: 1743035562.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9061, header.stamp.nsec: 00 temperature: 13.388776* salinity: 33.391743, density: 1025.000000* values[0]: 0.687509F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035562.963165 s.yI~,*'AJ"J*J2J:J0?BJ0?nJ85vJAffff@A-\@A]]~? A=A&"AA#tNA"AZAbAjArAzAAA>ƣ3@AJ|rAb@A<ASA,@AVA`?A`<*AG9?2Aֽ:AE BAG9?JAֽRAE Y@,@yVRR<ٓH@`2;ۿ?4?"'?r???)@ I٘i)I9b@Y# G J B<JJJJWE&Kw> YK\~?y5ާKA,@Ej7]9-B)BĹE[[A5@[@\~?[[[[[BZYY iOh=) CID?i!>Cg; v+))v+ f@/*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035562.983165 s, next control iter: 1743035563.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035563.383165 s.صI~,*'AA(ܲ@Aaϲ@A]~? Aj9A(&"AAtNA"AZAbAjArAzAAAb2qF3@A 9 ЄrA`c@AA A..@AzA@ ?Ae<*AȌ9?2AT+ֽ:AfBAȌ9?JAT+ֽRAf٘i)I9`c@Yb G Jw<JJJJYE&K Y2\~?ytڧKAEb77M]9)B[[36@['\~?["[[[[BZYY i) ADI D?iQ>K;  *)) *h@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035563.403165 s, next control iter: 1743035563.783174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9062&, header.stamp.nsec: 0&0 temperature: 13.388685&* salinity: 33.391792&, density: 1025.000000&* values[0]: 0.688018&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035563.803165 s.AI~,g*'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: 0.056717< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743035563.803325F (some fields omitted in printout)A@A1@Ak]~? A+5A|&"AAzsNA"AZAbAjArAzAAAAGf3@A;(9rAc@AA=GApAfo/@AA=?Aah<*Aڒ9?2Aս:A'BAڒ9?JAսRA'٘i)I9c@Y G J.<B=JJJJ\E&K Y\~?y֧NLAE77{7]9/B)BE[[37@[ \~?[[[[[BZYY i)  6ѻI-D?i?m; ]())](X{i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035563.823165 s, next control iter: 1743035564.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035564.223165 s.gI~,H+'AAzG@AcD:@A ]~? A1A&"AAȿsNA"AZAbAjArAzAAAgw߉2@ArAkd@AS傼ASAڷ0@ARA`m?Aj<*A=9?2AJս:ABA=9?JAJսRA٘i)I9kd@Y G J <C=JJJJ_E&K  ^9Y[~? ^9yҧLAEŧ7b7x^90B) BE[[VZ9@['[~?[[[[[BZYY i) ,I%D?iG?K̽; /='))/='j@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035564.243165 s, next control iter: 1743035564.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035564.643165 s.J "J *J 2J :J [0?BJ [0?nJ 85wI~vJ, *)+'AA ףp}@A%ep@Ac]~? A-Ay &"AAsNA"AZAbAjArAzAAAzz2@A L}rAJe@A ;AA# 2@AAט?A<*A9?2A}2ֽ:A BA9?JA}2ֽRA ٘i)I9e@Y` G J<JJJJbE&K Ys[~?y2ϧMAE77{7 ^93B) BE[[Ų:@[O[~?[ߧ[[[[BZYY i62=) fID?i%?.; U%))U%`Hl@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035564.663165 s, next control iter: 1743035565.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9063, header.stamp.nsec: 00 temperature: 13.388508* salinity: 33.391777, density: 1025.000000* values[0]: 0.688896F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035565.063165 s.I~,N D+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035565.063277F (some fields omitted in printout)A3333@A.'@A{m]~? AI)Ai &"AA*{sNA"AZAbAjArAzAAA8i52@A#zrA>e@A ^Af͚Ae3@AA`ӿ?A+<*AѬ9?2A:ֽ:AABAѬ9?JA:ֽRAAY`%@g3@yb͚Ӱ^ٓHB@տ)?`0?%/@h~T? K ?)`%@ I٘i)I9e@Y G J<J|JJJdE&Kw> Y[~?yF̧oMAg3@E{7 ^94B)BE[[g<@[[~?[ާ[[[[BZYY i) jID?im0?\; r$))r$4m@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035565.103165 s, next control iter: 1743035565.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035565.483165 s.x_I~,^+'AJ"J*J2J:J}0?BJ}0?nJ95vJA\@A۳@ARV]~? A%AͲ &"AADXsNA"AZAbAjArAzAAA^֓721@AxrA-.f@Ay&<APA4@A`uA`?A<*A9?2A׽:ABA9?JA׽RA٘i)I9.f@Y G J<JJJJgE&K Y0[~?yZɧMAE)7b78 ^9)B[[ h=@[[~?[kܧ[[[[BZYY i) $-ID?i]~? A"A' &"AA4sNA"AZAbAjArAzAAA?1@A>cvrAzf@A1<AhA6@A9A?A4<*A69?2AJ׽:A|BA69?JAJ׽RA|٘i)I9f@Yn G Jk<JJJJjE&K Y[~?ynƧ>NAE{7{7^95B)BE[[[>@[Պ[~?[ۧ[[[[BZYY i) 0ID?i K?K< 3!))3!tp@g*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035565.923165 s, next control iter: 1743035566.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035566.323165 s.vI~,%+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743035566.323280F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzT@AhoG@AJ']~? AA < -I ))-I q@yu/=L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035566.343165 s, next control iter: 1743035566.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9065*, header.stamp.nsec: 0*0 temperature: 13.388095** salinity: 33.391758*, density: 1025.000000** values[0]: 0.690972*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035566.743165 s.WI~,u+'AAףp=@A72}@Ar]~? A~A(}!&"AAhrNA"AZAbAjArAzAAAyO1@A3rrAg@A5p;AoA8@AAI?A.Ǥ<*A.9?2Aֽ:AkBA.9?JAֽRAk٘i)I9g@Y G Jk<JJJJoE&K YJ`[~?yOAE77^97B)BE[[1fA@[V[~?[ا[[[[BZYY i) pv8I"D?il?0< ))7s@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035566.763165 s, next control iter: 1743035567.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035567.163165 s.t}I~,q+'AJ"J*J2J:JBJnJvJA@Ac@@Ae\~? AkAϺ!&"AA!rNA"AZAbAjArAzAAA}ed0@A<¬prA2\h@AA)A29@AA`j?A|V<*AJ9?2A>ֽ:AeyBAJ9?JA>ֽRAeyY+@%9@y  ,ٓH2 aο c?x?VG߱? ?)+@ I٘i)I9\h@Yk G J<J^<JJJrE&K x> YD[~?ynOA9@E77^98B)BE[[ӻB@[<[~?[ק[[[[BZYY i) :IsD?iw?n< ))t@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035567.183165 s, next control iter: 1743035567.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035567.583165 s.I~,S+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035567.583283F (some fields omitted in printout)A)\@AI@A&\~? AA!&"AArNA"AZAbAjArAzAAA0@A6nrAh@A7xAZA&;@AA |?A<*A59?2A ֽ:A\BA59?JA ֽRA\٘i)I9h@Y G J٤<JJJJtE&K Ya)[~?ytOAEŧ7b7#^99B)BE[[XD@["[~?[ק[[[[BZYY i) /;IrE?i8?2&< ))))$u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035567.603165 s, next control iter: 1743035567.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9066, header.stamp.nsec: 00 temperature: 13.387906* salinity: 33.391743, density: 1025.000000* values[0]: 0.691950F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035568.003165 s.x I~,L4,'AJ"J*J2J:JBJnJvJAR+@A4y@A\~? AAL-"&"AArNA"AZAbAjArAzAAAÕC;0@A2mrA|ni@AmA^ A8u<@A"A@@I?A<*A9?2AJֽ:A$BA9?JAJֽRA$٘i)I9ni@YG J<JJJJwE&K Y [~?yd.PAEj7Z7"^9:B)BE[[`E@[[~?[֧[[[[BZYY i) K?;I9E?in?/< :)):{Tw@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035568.023165 s, next control iter: 1743035568.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035568.423165 s.uI~,,'AA{Ga@A<JJJJzE&K YvZ~?ySPAE77{7M&^9)B[[F@[Z~?[,֧[[[[BZYY i) K|;IE?i??:< n))nx@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035568.443165 s, next control iter: 1743035568.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9067", header.stamp.nsec: 0"0 temperature: 13.387689"* salinity: 33.391781", density: 1025.000000"* values[0]: 0.692913"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035568.843165 s. I~,5,'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035568.843279F (some fields omitted in printout)Ap= @AKi@AR\~? A A"&"AA5rNA"AZAbAjArAzAAA#nL/@A\jrA!lj@Aگ;ANAb&?@AOpAc?A<*A=9?2A׽:ABA=9?JA׽RA򼙘٘i)I9lj@YG J<JJJJ|E&K YZ~?yCPAE77)^9;B)BE[[G@[KZ~?[է[[[[BZYY i) 5!;Iy/E?ip?E< S))Sb z@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035568.883165 s, next control iter: 1743035569.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035569.263165 s.I~,P,'AA̵@Aſ@Aa|\~? AX AS"&"AAkrNA"AZAbAjArAzAAA\Y۴.@AhrAj@Avg<A7A'}@@A`ēA?ASH<*A9?2A4׽:ABA9?JA4׽RAYh2@#n@@yҨVg<ٓH @?,?`͵@u?"?`?@?)h2@ I٘i)I9j@YG J<B=JF<JJJE&K!x> YZ~?yHQAn@@Eb7x-^9 elevatorAngleAction: 0.077430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035570.103295F (some fields omitted in printout)AQ8@AkF+@AJ\~? A9A5#&"AAfqNA"AZAbAjArAzAAAŃ-@A M-frA2k@A<AO)AC@AA?A,<*AI9?2Aֽ:AgBBAI9?JAֽRAgB٘i)I9k@Y{G JH<JJJJE&K YZ~?yQA E{74^9=B)߯BE[[K@[Z~?[I֧[[[[BZYY i) ;I3eE?i?^< A))At~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035570.123165 s, next control iter: 1743035570.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035570.523165 s.'I~,{,'AJ"J*J2J:JBJnJvJAHzn@A؀a@A0\~? AfA;#&"AAqNA"AZAbAjArAzAAA1&,@A erA2.l@AbO0A"ARD@AAB)ݯBE[[O.M@[nZ~?[֧[[[[BZYY i) W) ,'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: 0.077430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743035571.363333F (some fields omitted in printout)Aٶ@ATގ̶@A[~? A:A|#&"AAOqNA"AZAbAjArAzAAA6/.+@Ar۔~!crAm@A˂A=A}F@A Ab?A'<*A$9?2A!6ֽ:ABA$9?JA!6ֽRAY8@F@ydٓH@{` ?}?`*[g0?@GY`w?)8@ I٘i)I9m@YLG Jd<JȼJJJE&Kw> Y.Z~?y  SAF@E7)7c?^9)ׯBE[[O@[9 elevatorAngleAction: 0.077430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035572.623291F (some fields omitted in printout)AGz@A@m@A[~? AA*#&"AA)pNA"AZAbAjArAzAAAr)@A.@O`rA|n@Ai.<AaA8GA`QA@2?A<*Ay9?2A3׽:ABAy9?JA3׽RA٘i)I9|n@Y&G Jo<JJJJE&K YY~?y,TAE)7ŧ7#J^9BB)ίBE[[S@[vY~?[2ۧ[[[[BZYY i) _Z2?BJ>2?nJ:5vJA= ף@A@A[~? AA#&"AApNA"AZAbAjArAzAAAjC)@Ab|s`rAVn@Aߢ<AmA(EA ]A?A3<*A9?2A@׽:AaBA9?JA@׽RAa٘i)I9n@YoG J<JJJJE&K Y׽Y~?yᮧzTA E7{7M^9)˯BE[[7T@[Y~?[ܧ[[[[BZYY i) (fj YY~?y|TAD#Ej7Z7NQ^9CB)ǯBE[[V@[}Y~?[ ާ[[[[BZYY i) y elevatorAngleAction: 0.077430< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035573.883302F (some fields omitted in printout)A(@A @Ab[~? AA#&"AAxepNA"AZAbAjArAzAAAgk@F (@Aw_rAo@A6;AAAZCAnA`"]?A<*A9?2Aֽ:A qBA9?JAֽRA q٘i)I9o@Y G JM<JJJJE&K YY~?yFUA%E77T^9BB)ïBE[[kYW@[(Y~?[ߧ[[[[BZYY i) +XpNA"AZAbAjArAzAAA`Fk'@AP~_rA|p@Aw AOABAsA?A۩<*AD9?2AT2ֽ:A1BAD9?JAT2ֽRA1٘i)I9|p@Y^G JӤ<JJJJE&K YViY~?yUA(ESI7SI7xX^9CB)B}E[[X@[Y~?[v[[[[BZYY i) 8 elevatorAngleAction: 0.086781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035575.143289F (some fields omitted in printout)A ףp@Ad@A[~? AAt$&"AAToNA"AZAbAjArAzAAA4h0&@A-RY_rAq@AdhA!>A?A@vA@'rA²<*A9?2A :ֽ:A3BA9?JA :ֽRA3٘i)I9q@YG J<JJJJE&K Y0Y~?y汧wVA.E{7_^9)B[[[@[`Y~?[k[[[[BZYY i) K%@Aq m_rA8r@A'ʴAqkA.>AtA 'A(P<*A9?2A~ֽ:AғBA9?JA~ֽRAғYE@'>yjXٓHpA?@?@Iſ@Ή??@=v?)E@ I٘i)I98r@YlG JY<J*JJJE&Kx> Y,Y~?ydVA'>0Eb779c^9)BwE[[ elevatorAngleAction: 0.086781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743035576.403284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^@A ګQ@AZ~? AAh#&"AA*yoNA"AZAbAjArAzAAAy elevatorAngleAction: 0.086781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035577.663291F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9076, header.stamp.nsec: 00 temperature: 13.386065* salinity: 33.391701, density: 1025.000000* values[0]: 0.701341F (some fields omitted in printout)A@At@A-yZ~? A\A#&"AAVoNA"AZAbAjArAzAAA)}`Հ"@ABA barA(u@Az)A8ĭA8ASA A_<*A>g:?2A ý:ABA>g:?JA ýRAYpK@$8yĭJ*ٓH@AW?@$?`Kпr?ֱ? S/e?)pK@ I٘i)I9(u@Y6G J<J;~JJJE&K|V> YX~?yYA8>E77{7$u^9)BhE[[xb@[6X~?[[[[[BZYY i) & elevatorAngleAction: 0.086781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035578.923324F (some fields omitted in printout)A{G@A<@A+Z~? AA#&"AAnNA"AZAbAjArAzAAA1H @A^:?2Aʽ:A* BA>^:?JAʽRA* ٘i)I93w@YtG J<C=JJJJE&K Y8X~?yZ§dZAFE777^9)BbE[[f@[ϕX~?[[[[[BZYY i) iBZYY i¸>˩)  x Y X~?yǧS[A2KEj7SI7^9)B\E[[h@[kX~?[[[[[ZZZZBZYY i) f\@A"3grA:z@AoW<A$Af/AAǿA}U=*AS:?2Axiӽ:A$BAS:?JAxiӽRA$٘i)I9:z@YLG J=JJJJȦE&K YW~?yͧI\APE77{79^9)rBVE[[.j@[WBX~?[ [[[[ZZZZBZYY i) D.X~?[v[[[[ZZZZBZYY i) O2]AVE77d^9CB)eBTE[[Cm@[X~?[J[[[[ZZZZBZYY i) g!w/'AA@A8 @AzY~? AA"&"AAmNA"AZAbAjArAzAAA.+@A&=krA|@AMeA޼A+AW^Ai ͿA<Գ<*AQ:?2A5ս:AcLG:BAQ:?JA5սRAcLG:YK?`R/ܿ ֺnKEF›?˶ /?)KJJJЦE&K}> YW~?yקd]A+XE{7{7^9)_BQE[[Dun@[X~?[I[[[[ZZZZBZYY i) Ɗ5vJAGẼ@ADbԭ@AL1Y~? AA!&"AAmNA"AZAbAjArAzAAAs_y@Ai2uprAˤ}@An;AHڢ<A'AAh6ѿA;*A;:?2AGֽ:A <BA;:?JAGֽRA <٘i)I9}@Y`G J <C=JJJJئE&K Y3W~?yS]A`E77{7^9)VB[[Sr@[vW~?[#[[[[ZZZZBZYY i) pnW5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079633< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200622 time: 1743035583.963351F (some fields omitted in printout)Affff&@A-]@A'Y~? AA}!&"AAlNA"AZAbAjArAzAAAGZ1@A{trAC}@A w<A 0=AT\%A*AVҿAR4k*A!:?2Afֽ:A"<BA!:?JAfֽRA"JJJݦE&KWy> Y%W~?y]AQ%fEŧ7b7^9)EE[[VXt@[֨W~?[,[[[[BZYY ij) 1O@AfX~? A^"A>!&"AAlNA"AZAbAjArAzAAA޺w@AsvrA}@A<A}W=A$ASAӿAi*A;:?2A8ֽ:ARR=BA;:?JA8ֽRARR=٘i)I9}@YSG JJJJJE&K Y)V~?y]AhEb77z^9)UBCE[[Vu@[W~?[61[[[[BZYY i끈)  !5vJ wA I~,{g30'AA둽@AX߄@AX~? A%A &"AAlNA"AZAbAjArAzAAA,@AtxrAR}@AU1A{v=A`"AAԿA/*A:?2Af1׽:A@r=BA:?JAf1׽RA@r=٘i)I9R}@Y.G JNJJJJE&K Y+V~?y;G]AkE{7{7^9)WB[[v@[[W~?[5[[[[BZYY i) 2׽:A.=BA:?JA>׽RA.=Y8Qe@]y֗=qw$ٓH2-?_ʪДx@@SOb?)8Qe@ I٘i)I9)|@YyG JZJ(=JJJE&Kx> YV~?yj\AsE7777ϼ^9@B)_B:E[[(z@[RW~?[GD[[[[BZYY i) ;;IiY@; = Og˿))Og˿6@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035586.083165 s, next control iter: 1743035586.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035586.483165 s.t_'I~,0'AJ"J*J2J:JH5?BJH5?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035586.483295F (some fields omitted in printout)A\h@A@x[@A?vX~? AE5A&"AAkNA"AZAbAjArAzAAA ʞY9 @AyJrA{@A#9A =A{A@1AؿA*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9{@Y*G J⛼JJJJE&K YuV~?yc \AvEb77e^9)cB[[;P{@[fBW~?[EI[[[[BZYY i) y;Ii\@ = ɿ))ɿʖ@dתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035586.523165 s, next control iter: 1743035586.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9085, header.stamp.nsec: 00 temperature: 13.384894* salinity: 33.391602, density: 1025.000000* values[0]: 0.707723F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035586.903165 s.-I~,͹0'AAQ@A6@A_X~? Az9A&"AA)kNA"AZAbAjArAzAAAL@AP!܄rAy{@Ag-<Af=A9AA@ؿAb*AF:?2Agֽ:As!=BAF:?JAgֽRAs!=٘i)I9{@YG JȫJJJJE&K YL_V~?y[AyE7777^9)gB7E[[v|@[v2W~?[SN[[[[BZYY i) 6;Ii^@Ĥ= ƿ))ƿt]@=۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035586.923165 s, next control iter: 1743035587.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035587.323165 s.v4I~,%0'AJ"J*J2J:JBJnJvJAGzԾ@A1znǾ@AJX~? A=A0&"AAkNA"AZAbAjArAzAAAQDՄ_ @A҃rA|z@A6y<AJ=AA@AаٿA%*A-:?2A{ֽ:A=BA-:?JA{ֽRA=٘i)I9|z@YtG J϶JJJJE&K YIV~?y08[A{E77^9?B)lB5E[[}@["W~?[qS[[[[BZYY i) G;Iib@= OĿ))OĿ@ܪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035587.343165 s, next control iter: 1743035587.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9086*, header.stamp.nsec: 0*0 temperature: 13.385129** salinity: 33.391586*, density: 1025.000000** values[0]: 0.706725*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035587.743165 s.W;I~,m0'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743035587.743315F (some fields omitted in printout)Aףp= @Ag}1@AW4X~? AOBA&"AAkNA"AZAbAjArAzAAA]!v@A]@rAqy@AC<A=AAlA.}ڿAm*Ar:?2Aֽ:A_=BAr:?JAֽRA_=٘i)I9y@YG JJJJJE&K Y2V~?yZA~Eŧ77%^9)pB[[~@[W~?[X[[[[BZYY i) [ ;Iie@ = /8¿))/8¿ρ@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035587.763165 s, next control iter: 1743035588.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035588.163165 s.y}BI~,q 1'AJ"J*J2J:J4?BJ4?nJ=5vJA@@A2@AX~? AFAā&"AAnkNA"AZAbAjArAzAAAd@AYrABy@Al;A7=A>DA%AHۿA޷*A :?2A]$׽:A1 =BA :?JA]$׽RA1 =Y@k@TAy{7=;ٓH`w@?b`7 `$qb??)@k@ I٘i)I9By@YG JsJ ;JJJE&Kx> YLV~?yhZAAE7{7^9)uB1E[[@[W~?[][[[[BZYY i) :Iig@'2= ?쿿))?쿿@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035588.183165 s, next control iter: 1743035588.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035588.583165 s.HI~,S%1'AA)\u@Ah@A X~? AKAH&&"AANkNA"AZAbAjArAzAAAȯLo?AArA+x@A A<=AgA`AܿA U*A :?2A |׽:Ah=BA :?JA |׽RAh=٘i)I9x@YXG JJJJJE&K Y V~?y%YAE)7b7O^9>B)yB.E[[J@[V~?[Ic[[[[BZYY i) T9Iii@ț= W))WE@"תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035588.623165 s, next control iter: 1743035588.983182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9087, header.stamp.nsec: 00 temperature: 13.385408* salinity: 33.391586, density: 1025.000000* values[0]: 0.705629F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035589.003165 s.{ PI~,Y4@1'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035589.003290F (some fields omitted in printout)AR@AW%}@A"W~? APA(&"AA.kNA"AZAbAjArAzAAA !?A\٭rAx@AsA;=AA A OܿAB*A :?2A9׽:A =BA :?JA9׽RA =٘i)I9x@YG J@B=JJJJE&K YyU~?y+YAEŧ7^9)~B[[:@[V~?[h[[[[BZYY i)  IiZl@C= Z))Z59@4ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035589.023165 s, next control iter: 1743035589.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035589.423165 s.uVI~,[1'AA{G@AUt<Կ@AW~? AUAsg&"AAkNA"AZAbAjArAzAAA"T?ArAw@A60\A=AFAGEA֗ݿA*A :?2Ak׽:AxW=BA :?JAk׽RAxW=٘i)I9w@YG JC=JJJJE&K YU~?y1*YAE77z^9)B,E[[j@[V~?[0n[[[[BZYY i) @ȺIiQo@)= ))eʚ@<ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035589.443165 s, next control iter: 1743035589.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9088, header.stamp.nsec: 00 temperature: 13.385675* salinity: 33.391560, density: 1025.000000* values[0]: 0.704546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035589.843165 s.\I~,u1'AJ"J*J2J:J]4?BJ]4?nJ =5vJAp= @A? @AW~? AZA9&"AA jNA"AZAbAjArAzAAAAuO?A(+~,rAv@ApAϯ=A"A`A`eS޿A﫼*Ab :?2AY׽:AT=BAb :?JAY׽RAT=٘i)I9v@YNG JJJJJE&K YU~?y7XAEŧ7b7^9=B)B)E[[8@[]V~?[s[[[[BZYY i) lIir@L= Ӷ))ӶZ@0ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035589.863165 s, next control iter: 1743035590.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035590.263165 s.dI~,ؐ1'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035590.263273F (some fields omitted in printout)AL@AV?@A߸W~? A`A&"AAjNA"AZAbAjArAzAAA #?A6bdrA,dv@A;AL=A]A|A ߿A􎬼*A :?2A!ֽ:A=BA :?JA!ֽRA=Yr^r@"yYK=;);ٓH@V?D]H#m [exy??)r^r@ I٘i)I9dv@YG J B=JOJJJE&KPx> YOU~?y>\XAE77^9)B[[ʂ@[ V~?[]y[[[[BZYY i) 6]Ii4t@J= ))@ʪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743035590.283165 s, next control iter: 1743035590.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9089., header.stamp.nsec: 0.0 temperature: 13.385927.* salinity: 33.391563., density: 1025.000000.* values[0]: 0.703548.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035590.683165 s.ljI~,Z1'AJ"J*J2J:JBJnJvJA(\@A\ u@AxW~? AmeAs6&"AA!jNA"AZAbAjArAzAAAK2?AXrAu@A}d<AE=AL}A wWA߿A:*A6:?2Aֽ:A=BA6:?JAֽRA=٘i)I9u@YG JPC=JJJJE&K YU~?ycEWAE{7j7:^9)B&E[[[@[V~?[[[[[BZYY i) Ii!v@= H))H}@kǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035590.683165 s, next control iter: 1743035591.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743035591.103165 s.qI~,1'AAQ@A{E@AlW~? AjA&"AAjNA"AZAbAjArAzAAAZh"?A1{rAGEu@Al<A=An/A A`/9A*Ap:?2A,ֽ:A%=BAp:?JA,ֽRA%=٘i)I9Eu@YGG JgJJJJ E&K YU~?yLWAEj777^9)B[[c@[V~?[τ[[[[BZYY i) X~Iiox@= ))^@êYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035591.123165 s, next control iter: 1743035591.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035591.523165 s.wI~J, |1'A"J*J2J:J3?BJ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066654< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035591.523296F (some fields omitted in printout)AHz@Ao @AW~? ApA$_&"AAY{jNA"AZAbAjArAzAAA=؈?APrA$t@AE;Aˋ=A A.A୑A*Ak:?2AHֽ:A|<BAk:?JAHֽRA|<٘i)I9t@YG J9JJJJE&K YWU~?yR4WAE77e^9)B$E[[|@[QV~?[[[[[BZYY iJ) ʻIi{@ = kŭ))kŭ@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035591.563165 s, next control iter: 1743035591.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9090, header.stamp.nsec: 00 temperature: 13.386163* salinity: 33.391541, density: 1025.000000* values[0]: 0.702521F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035591.943165 s.Xd~I~,B]1'AAq= #@AF@AomW~? AWvA&"AAM_jNA"AZAbAjArAzAAATM?A$~5rA:t@A1 sAsl=A~ AUA`Am䕼*A:?2A3U׽:A]<BA:?JA3U׽RA]<٘i)I9:t@YG JؚJJJJE&K YqU~?y|YVAEŧ7b7^9)B[[ @[V~?[p[[[[BZYY i) ]Ii*~@"= ߇))߇-@dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035591.983165 s, next control iter: 1743035592.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035592.363165 s.I~,>2'AJ"J*J2J:J3?BJ3?nJv<5vJAY@Ad~L@A[W~? A6|A~&"AACjNA"AZAbAjArAzAAAIHȿAҘrAs@AwPA=Q=A& A ߿A>A*A :?2A׽:A<BA :?JA׽RA Y`U~?y`uVA4 E{7j7^9 Y&U~?yrTAEŧ7b7{_9)B[[Di@[MV~?[[[[[BZYY i) hQIi@)= o))o?@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035594.503165 s, next control iter: 1743035594.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9093, header.stamp.nsec: 00 temperature: 13.386805* salinity: 33.391510, density: 1025.000000* values[0]: 0.700049F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035594.883165 s.yI~,@2'AJ"J*J2J:JBJnJvJA(@AH@AoV~? AA7&"AAiNA"AZAbAjArAzAAANHA zrAp@A;<Ax=A,oA`ۿA A+ϙ*AO9?2A(ֽ:A3 =BAO9?JA(ֽRA3 =٘i)I9p@YG JƙJJJJ#E&K YU~?y)GTAEb77_9-B)BE[[R@[%DV~?[[[[[BZYY i) t`Ii:@=*= 7֛))7֛M@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035594.923165 s, next control iter: 1743035595.283181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035595.303165 s.PI~,^g2'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075451< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743035595.303251F (some fields omitted in printout)A@Au@AcV~? AKAd)&"AAiNA"AZAbAjArAzAAA9bǾA} rAep@Ay:A=AA@^ڿASA]?*A9?2Al׽:A=BA9?JAl׽RA=٘i)I9ep@YOG JZJJJJ&E&K YT~?ySAE7 _9/B)BE[[@[;V~?[9[[[[BZYY i) }%pIi@ĝ+= ))@ɪYFFF]`:Waiting for Gazebo time sync: latest Gz time: 1743035595.323165 s, next control iter: 1743035595.703174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 90942, header.stamp.nsec: 020 temperature: 13.3870082* salinity: 33.3914992, density: 1025.0000002* values[0]: 0.6991282F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035595.723165 s. I~,I2'AJ"J*J2J:JBJnJvJAz@Ag'@AV~? AA&"AA~iNA"AZAbAjArAzAAAQ6 DA3rAto@AXAhݓ=AA@(ٿAmAݖ*AB9?2Ah׽:Ax=BAB9?JAh׽RAx=٘i)I9o@YG J}B=JJJJ(E&K YXT~?ySAE)7ŧ7;_9.B)BE[[a@[m2V~?[Ǩ[[[[BZYY i) (Ii@,= a))a\7@m˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035595.763165 s, next control iter: 1743035596.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035596.143165 s.U/I~,* 3'AA ףp=@A8d0@AV~? AƵA*$&"AA0hiNA"AZAbAjArAzAAAD1ArAho@A,uARC=ALA ٿAAQΕ*A9?2Ar|׽:A =BA9?JAr|׽RA =٘i)I9ho@YG JC=JJJJ+E&K YT~?yP(SAESI7SI7_9)B[["@[#*V~?[ͨ[[[[BZYY i) sIiS@.= *))*ţ@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035596.163165 s, next control iter: 1743035596.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035596.563165 s.I~,g $3'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035596.563307F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333s@AܷZ'f@AV~? AA&"AA SiNA"AZAbAjArAzAAA(XeA'3rAcn@A*TAl=A6A:MؿA`Ay~*Ac9?2A&F׽:A@ =BAc9?JA&F׽RA@ =YL@Uy =TٓH ؿ@y?gOb@ؿ /k+P?)L@ I٘i)I9n@YhG JRJJ<JJJ.E&Kbx> YT~?ylRAUE77j7e_9)B[[1@[*"V~?[6Ԩ[[[[BZYY i) PIi@.= G))G񒿩S@yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035596.603165 s, next control iter: 1743035596.963184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9095, header.stamp.nsec: 00 temperature: 13.387220* salinity: 33.391499, density: 1025.000000* values[0]: 0.698289F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035596.983165 s.I~,>3'AA\@A@AV~? AéA&"AA>iNA"AZAbAjArAzAAAǙA {,rAdn@A҅A=AfA@{׿AWAE *AV9?2Aֽ:A=BAV9?JAֽRA=٘i)I9dn@YG JݝJJJJ1E&K YT~?yZRAES77_9)BE[[ʿ@[V~?[ڨ[[[[BZYY i) AIi$@/= W))W@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035597.023165 s, next control iter: 1743035597.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035597.403165 s.'I~,Y3'AJ"J*J2J:J2?BJ2?nJT;5vJAQ@Aa@AV~? AʩAq&"AA*iNA"AZAbAjArAzAAA AZwrA6m@Aů;A=A2AֿA@-A*A9?2AGsֽ:A=BA9?JAGsֽRA=٘i)I9m@YG JWJJJJ3E&K YT~?yQAE777_9)B[[M@[SV~?[[[[[BZYY i) VIiӉ@\k0= ))o@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035597.423165 s, next control iter: 1743035597.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9096", header.stamp.nsec: 0"0 temperature: 13.387463"* salinity: 33.391476", density: 1025.000000"* values[0]: 0.697395"F (some fields omitted in printout)"T~?)" rAdjusting time to match Gazebo time: 1743035597.823165 s.I~,)t3'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035597.823291F (some fields omitted in printout)AGz@Ayn@AV~? AѩA_&"AAiNA"AZAbAjArAzAAAd>AwrACm@A8k<A滣=AͪAտA Ao*A9?2A?ֽ:AK=BA9?JA?ֽRAK=٘i)I9Cm@YgG J氼JJJJ6E&K YT~?yĨQAE77&!_9)įB[[Vی@[x V~?[[[[[BZYY i) ١Ii@ˆ1= 'J))'JQ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035597.843165 s, next control iter: 1743035598.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035598.243165 s.I~,3'AJ"J*J2J:Ji2?BJi2?nJ;5vJAףp=J@AV 1=@AV~? AةAy&"AA_iNA"AZAbAjArAzAAAQ!(A`l2rAl@Aqi<Au=AAԿA A狺*AK9?2Ac^ֽ:Ae=BAK9?JAc^ֽRAe=٘i)I9l@Y G J JJJJ9E&K YT~?y̨$QAEj7Z7$_9)ȯBE[[}h@[V~?[[[[[BZYY i) W-Ii@2= ))x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035598.263165 s, next control iter: 1743035598.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035598.663165 s.I~,q3'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9097, header.stamp.nsec: 00 temperature: 13.387687* salinity: 33.391464, density: 1025.000000* values[0]: 0.696370F (some fields omitted in printout)A@A+r@AFV~? A3A&"AAhNA"AZAbAjArAzAAAh8ty<A-lrAW l@Am;AAڨ=Ak^AԿA I7Ab*A?9?2Aֽ:A>=BA?9?JAֽRA>=Y9@TLyJ٨=q;ٓHdҿ`?@` zOҿ@ @`]{??)9@ I٘i)I9 l@YG JJ,<JJJ;E&KTx> YcT~?yAըPALĦEŧ7,8P(_9/B)ϯBE[[@[U~?[[[[[BZYY i) Ii@3= ߇))߇@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035598.683165 s, next control iter: 1743035599.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035599.083165 s.DI~,S3'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035599.083297F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\µ@A+l@A]vV~? AAY^&"AAhNA"AZAbAjArAzAAA5 EA{VrAlk@A|A=A\A8ӿA jAA¼*A9?2A'׽:AcB=BA9?JA'׽RAcB=٘i)I9lk@YHG JJJJJ>E&K YT~?yݨBPAƦE7)7+_9)ԯB[[@[U~?["[[[[BZYY i) ۻIi=@d3= ))@.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035599.103165 s, next control iter: 1743035599.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035599.503165 s.I~,L43'AAR@Ao{@AkV~? AA&"AAhNA"AZAbAjArAzAAA :AArAj@AvVAb=AATҿA`A+*A,9?2Ai`׽:A[ =BA,9?JAi`׽RA[ =٘i)I9j@YG J[JJJJAE&K YnjT~?yOAɦEj7Z7{/_9.B)دBE[[@[U~?[[[[[BZYY i) 1üIiŒ@+4= s))s2@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035599.523165 s, next control iter: 1743035599.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9098, header.stamp.nsec: 00 temperature: 13.387948* salinity: 33.391453, density: 1025.000000* values[0]: 0.695293F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035599.923165 s.:I~,3'AJ"J*J2J:J1?BJ1?nJ:5vJA{G!@A9[@@AbV~? AeAz=&"AA)hNA"AZAbAjArAzAAAK^2 A(.rA,j@AeStA8=APA pѿA@4Ath¼*A9?2AI׽:A6Z=BA9?JAI׽RA6Z=٘i)I9,j@YG JܿJJJJCE&K YyT~?y{_OA̦E773_9)ݯB[[@[U~?[R[[[[BZYY i) ͈ʼIiv@y5= ?))?@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035599.943165 s, next control iter: 1743035600.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035600.343165 s.<I~,4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084485< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035600.343303F (some fields omitted in printout)Ap= W@AJ@AXV~? AA0&"AAvhNA"AZAbAjArAzAAAWg A-9rAi@A"Aq=A&A пAA#ɼ*AW9?2Aֽ:AM=BAW9?JAֽRAM=٘i)I9i@Y G JrżJJJJFE&K Y+|T~?yNAΦE77776_90B)BE[[*@[U~?[[[[[BZYY i) eѼIiY@e56= ~))~L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035600.363165 s, next control iter: 1743035600.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9099*, header.stamp.nsec: 0*0 temperature: 13.388217** salinity: 33.391418*, density: 1025.000000** values[0]: 0.694169*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035600.763165 s.; I~,004'AJ"J*J2J:JBJnJvJǍ@A @AOV~? AA&"AAhNA"AZAbAjArAzAAACdj AqfsA;h@Av:AB=ACKAUϿAUAoҼ*A9?2Auֽ:A =BA9?JAuֽRA =YI{@FyB=~b:ٓH@ȿ`Va?\@Bɿڵa]??)I{@ I٘i)I9h@Y G JTͼJSF<JJJIE&Kx> YvT~?yuNAFѦEb77;:_9)B[[@[U~?[[[[[BZYY i) NټIiU@/6= y))y٩@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035600.783165 s, next control iter: 1743035601.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035601.183165 s.I~,RK4'AA(\@A˾+@A5GV~? A# AA&"AALhNA"AZAbAjArAzAAA@: AsA&h@A=<A ]=A~߿A`ͿADA1ټ*A9?2Ap!ֽ:A7=BA9?JAp!ֽRA7=٘i)I9&h@YJ G JռJJJJKE&K Y"qT~?y"MAԦE77=_9)B[[D@[U~?[?[[[[ZZ¸BZYY i¸E=) ͼIi@kf6= Ju))Juf@YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035601.203165 s, next control iter: 1743035601.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035601.603165 s.84I~,f4'AJ"J*J2J:Jf1?BJf1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035601.603280F (some fields omitted in printout)AQ@AfF@AB?V~? AA&"AAՌhNA"AZAbAjArAzAAADυ} A^ sAng@A"z<A=A;ݿA @˿A`tiAܼ*A^9?2A:ֽ:A6=BA^9?JA:ֽRA6=٘i)I9ng@Y G J?ۼJJJJNE&K YkT~?yMA֦E{7fA_91B)BE[[`ё@[?U~?["[[[[ZZBZYY i)  Iiَ@6= p))p[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035601.623165 s, next control iter: 1743035602.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9100 , header.stamp.nsec: 0 0 temperature: 13.388504 * salinity: 33.391438 , density: 1025.000000 * values[0]: 0.692964 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035602.023165 s.Z I~,1|4'AAHz.@A4.!@A7V~? AAFW&"AA#hNA"AZAbAjArAzAAAr] 2 AуyxsAf@A2<A =AڿAɿAyA*A9?2AFaֽ:A|<BA9?JAFaֽRA|<٘i)I9f@Y^ G JJJJJQE&K YfT~?yb MA٦Ej7Z7D_9)B[[^@[U~?[)[[[[ZZBZYY i) NIib@͈7= ~l))~l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035602.063165 s, next control iter: 1743035602.423192 s, wait time: 0.360027 s rAdjusting time to match Gazebo time: 1743035602.443165 s.6&I~,:]4'AJ"J*J2J:J;1?BJ;1?nJ95vJAq= c@AV@A0V~? AS$A &"AA7vhNA"AZAbAjArAzAAAXQ"" A.A7sAle@A7.:A0=A׿AG ȿA A*A9?2A6ֽ:AG<BA9?JA6ֽRAG<٘i)I9e@Y G JGJJJJSE&K Y`T~?y"LAܦE77{7H_9)B[[`@[DU~?[R0[[[[ZZBZYY i) iIi@7t8= h))h[ @y=BЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035602.483165 s, next control iter: 1743035602.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9101, header.stamp.nsec: 00 temperature: 13.388815* salinity: 33.391422, density: 1025.000000* values[0]: 0.691575F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035602.863165 s.+-I~,>4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035602.863314F (some fields omitted in printout)A@A磌@Aw*V~? A$,A' &"AAlhNA"AZAbAjArAzAAAS:uAKsA|d@AQ'Ao=A/տA`y.ƿA*A*Av9?2Aֽ:AV<BAv9?JAֽRAV Y]T~?y*DLACտަE77&L_9) B[[Cw@[U~?[7[[[[ZZBZYY i) ȝIi@$78= c))c>@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035602.883165 s, next control iter: 1743035603.263194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743035603.283165 s.DR4I~, 4'AJ"J*J2J:J0?BJ0?nJn95vJA(\@AmOT@A$V~? A3A &"AAbhNA"AZAbAjArAzAAA<AkfEsA elevatorAngleAction: 0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743035604.123330F (some fields omitted in printout)AG:@A)$-@AQV~? ACAZ &"AAQRhNA"AZAbAjArAzAAAZdAadp'sAg%c@AdA <AgͿAA`A2~*A]9?2Ajֽ:AD!BA]9?JAjֽRAD!٘i)I9%c@Y> G J]JJJJ^E&K YUT~?yERKAEj7j7V_9)B[[@[U~?[RK[[[[ZZBZYY i) 4@xIiw@8= -V))-V?@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035604.143165 s, next control iter: 1743035604.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035604.543165 s.IHI~,"5'AA= ףp@A6c@AV~? AKAu &"AAOKhNA"AZAbAjArAzAAA=4W3A K,sAb@A*;AA|ʿA@EYA+A6*A9?2Ahֽ:AѥBA9?JAhֽRAѥ٘i)I9b@Y G J`JJJJaE&K YST~?yMKAE77|Z_9)B[[q@[U~?[R[[[[ZZBZYY i) aIi@9= uR))uRl̮@S )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035604.563165 s, next control iter: 1743035604.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9103, header.stamp.nsec: 00 temperature: 13.572937* salinity: 33.374966, density: 1025.000000* values[0]: 0.567653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035604.963165 s.yNI~,=5'AJ"J*J2J:JQ?BJQ?nJ`5vJAffff@A#g]@A(V~? ASA# &"AAEhNA"AZAbAjArAzAAA0իaAb+1sAub@AtJg<Aw_A,ȿA@&A:>AW׻*A9?2Aֽ:A.ƫBA9?JAֽRA.ƫY @6ȿyZXg<ٓH${??@6@i|?Q? j??@8?) @ I٘i)I9b@Y G J?J DJJJdE&Kx> YOST~?yV KA6ȿE777^_95B) BE[[N7@[0U~?[X[[[[ZZBZYY is=) OIi@*9= M))MIY@Z)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035604.983165 s, next control iter: 1743035605.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035605.383165 s.UI~,+X5'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.059534< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035605.383271F (some fields omitted in printout)A(@A֎@AV~? A[A &"AA?hNA"AZAbAjArAzAAAlD`Ah6sAkhb@A% b<AAA2ſAPĵA`MA~>*A9?2A@ֽ:AӼBA9?JA@ֽRAӼ٘i)I9hb@Y G JؓJJJJfE&K YST~?y_>KAE77a_9)!B[[?Ė@[U~?[_[[[[BZYY iʏ=) =Ii|@$8= MI))MI:@7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035605.403165 s, next control iter: 1743035605.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9104&, header.stamp.nsec: 0&0 temperature: 13.573092&* salinity: 33.374973&, density: 1025.000000&* values[0]: 0.567326&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035605.803165 s.J "J *J 2J :J <?BJ <?nJ J5vJ A\I~,gs5'AA@A8@A V~? AcA-&"AA ;hNA"AZAbAjArAzAAAAA:sAnb@A;A`>AÿA AZA;*A\9?2A;ֽ:ABA\9?JA;ֽRA٘i)I9nb@Y G J.W:JJJJiE&K YST~?yXh\KAEj7SI7 elevatorAngleAction: 0.070210< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035606.643288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp}@Acp@A V~? AsA'&"AA'4hNA"AZAbAjArAzAAA[?AtNDsA b@AXaAKAOA`{AmAw:J<*A9?2Aս:A BA9?JAսRA ٘i)I9b@Y G J0(<JJJJnE&K YTT~?yyKAE77j7fl_9,B)B[[;¿[U~?[s[[[[BZYY i) @Ii@9= <))<<*YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9105, header.stamp.nsec: 00 temperature: 13.573087* salinity: 33.374973, density: 1025.000000* values[0]: 0.567357F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743035606.663165 s, next control iter: 1743035607.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035607.063165 s.pI~,V 5'AA3333@A4*@AV~? A{A&"AA1hNA"AZAbAjArAzAAA58`Aq޳IsA YWT~?yKA<E{7o_9)B[[a[U~?[z[[[[BZYY ij=) Ii@9= c7))c7c7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035607.103165 s, next control iter: 1743035607.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035607.483165 s.w_wI~,5'AJ"J*J2J:JBJnJvJA\@A/1@A>V~? AAGv&"AAo0hNA"AZAbAjArAzAAA,S@ A elevatorAngleAction: 0.057352< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743035607.903306F (some fields omitted in printout)AQ@AӁ@AV~? AA&"AA/hNA"AZAbAjArAzAAA+AN SsA*d@A=;A2AA.p?A vA<*AY9?2Azֽ:AܜBAY9?JAzֽRAܜ٘i)I9*d@Y G J<JJJJvE&K Y2]T~?yCLAEŧ7b7'w_9) BE[[{[U~?[3[[[[BZYY i) [Ii@d8= .))..*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035607.923165 s, next control iter: 1743035608.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035608.323165 s.vI~,%6'AJ"J*J2J:JBJnJvJAGzT@A(hrG@AV~? A*A ;&"AA/hNA"AZAbAjArAzAAA.];Avn{XsAVd@A3?D<AAKAֈ?A2uA<*A9?2A׽:Ac BA9?JA׽RAc ٘i)I9d@Y0 G J*<B=JJJJyE&K Y>`T~?yMAEb77z_9)B[[ǹ[U~?[[[[[BZYY i) ΓIi@rn8=  *)) * *y@?k=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035608.363165 s, next control iter: 1743035608.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9107*, header.stamp.nsec: 0*0 temperature: 13.572712** salinity: 33.374981*, density: 1025.000000** values[0]: 0.568303*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035608.743165 s.WI~,/6'AAףp=@A-?2}@AmV~? A;Ap&"AA0hNA"AZAbAjArAzAAAvNA_Q^+h]sA?e@A|<A2ޝAAmu?A.qA*<*A{9?2A׽:A޿BA{9?JA׽RA޿٘i)I9?e@Y G J<C=JJJJ|E&K YIcT~?yǥmMAEŧ7b7Q~_9)B[[/[U~?[[[[[BZYY iz=) iIiM@8= &))&&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035608.783165 s, next control iter: 1743035609.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035609.163165 s.t}I~,qJ6'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035609.163262F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A~s@AV~? AKA&"AA2hNA"AZAbAjArAzAAAR|JAR@SbsAe@Aۂ0<AWԜAA`?AjA,A<*AA9?2Aֽ:AXtBAA9?JAֽRAXtY@3yҜ1<ٓH@?kJ?F#@4?? Y?`???)@ II٘i)I9e@Y G J<JJJJ~E&K9x> Y+iT~?ycMA3E7{7_9)B[[Sc[U~?[U[[[[BZYY i) -Ii@R7= ˶!))˶!˶!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035609.183165 s, next control iter: 1743035609.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035609.583165 s.I~, Se6'AA)\@A+l@A V~? AXAb&"AAE5hNA"AZAbAjArAzAAA߹AwV=gsAshf@AL9AAAM?A`aAS<*A9?2Azֽ:ABA9?JAzֽRA٘i)I9hf@Y: G Jc<JJJJE&K Y oT~?y@NA E77|_9)BE[[o0[dU~?[[[[[BZYY i) Ii@X*7= Q))QQ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035609.603165 s, next control iter: 1743035609.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9108, header.stamp.nsec: 00 temperature: 13.572436* salinity: 33.374977, density: 1025.000000* values[0]: 0.569000F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035610.003165 s. I~,n46'AJ"J*J2J:J?BJ?nJ5vJAR+@ATN{@A` V~? AbA&"AA8hNA"AZAbAjArAzAAA NzAh%lsAf@A$AF=A\A?AAVAۜ<*A9?2A41ֽ:ABA9?JA41ֽRA٘i)I9f@Y G J<JJJJE&K YtT~?yNA Ej7_9-B)BE[[[FU~?[[[[[BZYY i) c(WIiŎ@6= s))ss*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035610.023165 s, next control iter: 1743035610.403185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035610.423165 s.uI~,6'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035610.423298F (some fields omitted in printout)A{Ga@A[ YZT~?y4٩OA+ES77ғ_9)B[[ka[U~?[[[[[BZYY i) X:Iiύ@ 5=  ))  4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035611.283165 s, next control iter: 1743035611.663179 s, wait time: 0.380014 s"ZT~?)"4٩2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91102, header.stamp.nsec: 020 temperature: 13.5718462* salinity: 33.3749852, density: 1025.0000002* values[0]: 0.5704052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035611.683165 s.lI~,V6'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035611.683279F (some fields omitted in printout)A(\@Aŋ@AV~? ATԪAT&"AANhNA"AZAbAjArAzAAA A%ťsA=i@As<AXA~Aޝ?AA<*A9?2A׽:AٙBA9?JA׽RAٙ٘i)I9=i@Y G J<JJJJE&K YT~?yѩ[[[[BZYY i)  ;IiT@Y3= ))غ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035612.543165 s, next control iter: 1743035612.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9111, header.stamp.nsec: 00 temperature: 13.571573* salinity: 33.374985, density: 1025.000000* values[0]: 0.571011F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035612.943165 s.XdI~,B]<7'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035612.943300F (some fields omitted in printout)Aq= ף@A}zl˖@A-V~? AA%"AAnfhNA"AZAbAjArAzAAAjT)A$"QsAj@A;AAֳA9?ADAW<*A9?2Aqֽ:AmcBA9?JAqֽRAmc٘i)I9j@YG JG<JJJJE&K YT~?y\QAEj7j7'_9)گB[[ۊ[ V~?[ש[[[[BZYY i=) mź;Ii4@v3=  ))  K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035612.963165 s, next control iter: 1743035613.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035613.363165 s.I~,}>W7'AJ"J*J2J:JBJnJvJA@Av[@AA4V~? AA%"AA phNA"AZAbAjArAzAAAGI|ч A >ْsAM*k@AcAA[1A@K ?A`NAے<*A9?2Amֽ:A*BA9?JAmֽRA*Ys@[%yH&ٓH?N?1㕿 =`]??hݰ?$v?)s@ I٘i)I9*k@Y G J}<B=J_<JJJE&Kw> YZT~?yQA%"E{7Z7_90B)ׯB E[[U[V~?[5ީ[[[[BZYY i) ;Ii-@[%2= 6))6뾩6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035613.403165 s, next control iter: 1743035613.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9112&, header.stamp.nsec: 0&0 temperature: 13.571324&* salinity: 33.374992&, density: 1025.000000&* values[0]: 0.571615&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035613.783165 s.WI~,r7'AA(\@A!Q@Ao;V~? AAT%"AAzhNA"AZAbAjArAzAAAD{˧ A58䖗sAk@AbAuyA姑A?AA:i<*A9?2AAֽ:ACBA9?JAAֽRAC٘i)I9k@YkG J<C=JJJJE&K YT~?y RA$E77R_9)ӯB[[[V~?[[[[[BZYY i)  ;IiU@1= ^))^⾩^!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035613.803165 s, next control iter: 1743035614.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035614.203165 s.I~,7'AJ"J*J2J:Jh?BJh?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743035614.203300F (some fields omitted in printout)AQE@AC8@ACV~? AEA%"AAυhNA"AZAbAjArAzAAAbHK ALsA8l@ANrAbA\A{?A[AG[<*AV9?2AWֽ:AHBAV9?JAWֽRAH٘i)I9l@YG Ju<JJJJE&K Y T~?ylRA'E77{7_91B)ЯB!E[[皿[F!V~?[ [[[[BZYY i) 2% elevatorAngleAction: 0.075488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035615.463278F (some fields omitted in printout)Affff@A"k^@A1]V~? AA%"AAhNA"AZAbAjArAzAAA WIɦ Atn=sAzm@A{J<A0A@A@?A9At<*A9?2AFA׽:A{sBA9?JAFA׽RA{sYE@yx_J<ٓH`v?@r? Ŕ??@Z?@QO??)E@ I٘i)I9zm@YG J<C=JCJJJE&KKx> YT~?y*SA/Eŧ7ŧ7_9)ǯB'E[[}>[:V~?[ [[[[BZYY i) :ھ))>ھ>ھ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035615.503165 s, next control iter: 1743035615.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9114, header.stamp.nsec: 00 temperature: 13.570809* salinity: 33.375011, density: 1025.000000* values[0]: 0.572794F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035615.883165 s.yI~,/7'AJ"J*J2J:J?BJ?nJ5vJA(@AK" @AfV~? A!Aj%"AAahNA"AZAbAjArAzAAA vAGͮЮsAm@Ajy<AtA^AQ?AA7<*A 9?2A9׽:A/BA 9?JA9׽RA/٘i)I9m@YG J<JJJJE&K YU~?ye2SA2E)7)7=_93B)įB(E[[[ CV~?[I[[[[BZYY i) JJ elevatorAngleAction: 0.075488< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035616.723296F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A z@A{V~? Ag0AH%"AA,hNA"AZAbAjArAzAAAJ A}˩ٷsA n@A۹AܵA~A i?AOAԖ<*AO9?2Aʈֽ:A" BAO9?JAʈֽRA" ٘i)I9n@Y_G J<JJJJE&K YlU~?yATA7E)7b7g_94B)B+E[[q[VV~?[[[[[BZYY i$=) U?iAa+%"AAhNA"AZAbAjArAzAAAR'A8sAgo@Aϰ{AeAxtAwd?A|Abۡ<*A9?2A/)ֽ:ABA9?JA/)ֽRAY@~.tyZ`|ٓHv?N?uŞ@k{?`'?۲?u@?)@ I٘i)I9o@YG J5<JeJJJE&Kw> Y:U~?yPZUA.tD))>D>D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035617.583165 s, next control iter: 1743035617.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9116, header.stamp.nsec: 00 temperature: 13.570250* salinity: 33.374989, density: 1025.000000* values[0]: 0.573955F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035617.983165 s.I~,~8'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084543< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035617.983301F (some fields omitted in printout)A\(@A,@AV~? AFA%"AA iNA"AZAbAjArAzAAAFI elevatorAngleAction: 0.084543< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743035619.243288F (some fields omitted in printout)Aףp=@A7+1@AV~? A [A%"AAFiNA"AZAbAjArAzAAAAZGA/ sAr@Ags<AȢA_A`?AA7<*AǞ9?2A@׽:A=eBAǞ9?JA@׽RA=e٘i)I9r@YNG J<JJJJE&K Y|U~?yImVAGE{7{7_9)B5E[[M[V~?[4[[[[BZYY i) A@/???M?N?)Ȧ@ I٘i)I9r@YG J<B=JȐJJJ§E&Kx> YU~?ys_WAZ DJEb77}_98B)B6E[[{[̣V~?[b:[[[[BZYY i) D elevatorAngleAction: 0.084543< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743035620.503272F (some fields omitted in printout)ARk@A[z^@AV~? A:oAu%"AAiNA"AZAbAjArAzAAAyg[A%2sA=s@AVλAc8AOA`?Al%A<*A9?2A1ֽ:AuBA9?JA1ֽRAu٘i)I9s@Y`G J<<JJJJǧE&K YƳU~?y'>XAOEj7_9:B)B elevatorAngleAction: 0.084543< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035621.763313F (some fields omitted in printout)A @A@AW~? AAX%"AAiNA"AZAbAjArAzAAAUVۮEApxsAu@AAA<@A`_?AHA<*A9?2Awֽ:A|BA9?JAwֽRA|Y[ @o@y| ٓHQ?@i?ŭd?^r?? }/?)[ @ I٘i)I9u@YG J<B=JNJJJϧE&Kx> YU~?yfYA@WEŧ77h_9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035621.803165 s, next control iter: 1743035622.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035622.183165 s.bI~,9'AA(\B@AM*5@A 0W~? ÄAd~%"AAiNA"AZAbAjArAzAAAqA5sA@wv@A&r;AA:A@?AAM<*A9?2A\ֽ:ABA9?JA\ֽRA٘i)I9wv@YG Jc<C=JJJJҧE&K Y5V~?yd ZAZE{7{7_9)BCE[[`[V~?[[[[[[BZYY i)  elevatorAngleAction: 0.084543< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035623.023283F (some fields omitted in printout)AHz@AM@A7RW~? AA%"AAjNA"AZAbAjArAzAAAjx{ӿA_zj9sAw@AGw<AA0A@?AVAa<*A9?2A1׽:AMxBA9?JA1׽RAMx٘i)I9w@YG JS<JJJJקE&K Yx+V~?ybZA_E(_9)B[[CW[W~?[wf[[[[BZYY i0x=) 2 G J<JJJJڧE&K Y@V~?ybo[AbE{7{7_9>B)zBIE[[GR[P W~?[k[[[[ZZZZ¸>BZYY i¸>) b9'AA@As` @AuW~? AA%"AAINjNA"AZAbAjArAzAAA~7h?A.p_sAi2y@A܍A\=A`&Aw?A`A<*A|9?2AIֽ:ABA|9?JAIֽRAYgK@ &yU=ElٓHf? 8U?B@A?@?@?@Q`?)gK@ I٘i)I92y@YG JT<JŻJJJݧE&Kw> YVV~?y[A &eEŧ7b7S_9@B)vBME[[kN[/W~?[p[[[[ZZZZBZYY i) CJJJE&Ksv> YV~?y˪]A( rE7ŧ7>`9)YB[[h7[W~?[5[[[[ZZZZBZYY i}) to))O>O>0YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9126, header.stamp.nsec: 00 temperature: 13.566533* salinity: 33.375107, density: 1025.000000* values[0]: 0.581927F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743035627.663165 s, next control iter: 1743035628.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035628.063165 s.I~,g ;'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077329< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035628.063285F (some fields omitted in printout)A33333@AD(&@A=X~? AӫA"%"AAPzkNA"AZAbAjArAzAAAQ6@A$tAF~@AylAR/=ANA ?A` ڿA'*A 9?2AZֽ:A]<BA 9?JAZֽRA]JJJE&KQx> YBW~?yL^A+E7)#`9EB)SBdE[[ [W~?[[[[[BZYY i<h) a?))#>#>oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035628.083165 s, next control iter: 1743035628.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035628.483165 s.|_I~,;'AJ"J*J2J:JBJnJvJA\h@A6v[@ASX~? AhثAtX%"AA kNA"AZAbAjArAzAAA15@AHTdtA-~@AOhAeW=AnپA?A%@ٿA6EŻ*AH9?2Aֽ:A<BAH9?JAֽRA<٘i)I9-~@YG JFuJJJJE&K Y^\W~?y^AE77&`9)TBgE[[_e[W~?[[[[[BZYY iq) +.))6>6>pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035628.503165 s, next control iter: 1743035628.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9127, header.stamp.nsec: 00 temperature: 13.566388* salinity: 33.375126, density: 1025.000000* values[0]: 0.582068F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035628.903165 s.I~,9;'AAQ@A q@AiX~? AܫAq%"AA7kNA"AZAbAjArAzAAA*l-6@A!p!tA}@AXͻAw=A:AϾA?AsؿAD/*A9?2A rֽ:A:=BA9?JA rֽRA:=٘i)I9}@YG JJJJJE&K YuW~?yP]AE77{7S*`9FB)VBjE[[[6X~?[Ƨ[[[[BZYY i) ))PI>PI>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035628.923165 s, next control iter: 1743035629.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035629.323165 s.xI~,-T;'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035629.323303F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A>!;o@AX~? AA%"AAkNA"AZAbAjArAzAAAjk% @AnvR#tAן}@A ;AZ=A:žA fB?A׿Absi*AĎ9?2Ajֽ:A =BAĎ9?JAjֽRA =٘i)I9}@Y]G JJJJJJE&K YjW~?y]AE77-`9)YB[[[X~?[ū[[[[BZYY i)  ))v\>v\>ygYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035629.363165 s, next control iter: 1743035629.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9128*, header.stamp.nsec: 0*0 temperature: 13.566376** salinity: 33.375126*, density: 1025.000000** values[0]: 0.581922*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035629.743165 s.WI~,o;'AAףp= @Am2@AsX~? AA|a%"AAkNA"AZAbAjArAzAAA:dI @Arf%tA4}@Aub<A`ɐ=Aw$A7~?A@?ֿA&*As9?2Aս:Aª=BAs9?JAսRAª=٘i)I94}@YG JFJJJJE&K YW~?ya]AE~1`9HB)^BnE[[/ [)X~?[[[[[BZYY i) (;Ii:@< @o>))@o>@o>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035629.763165 s, next control iter: 1743035630.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035630.163165 s.v}I~,q;'AJ"J*J2J:J?BJ?nJ%5vJA@@A/2@AHX~? AA%"AA1"lNA"AZAbAjArAzAAAzQr@AWQT(tA|@A|<Aۖ=AʰA p?AտAМ*A9?2Aս:A=BA9?JAսRA=Yk @5yז=|<ٓH ??f?տ?% ֲA?`?)k @ I٘i)I9|@YG JהJj=JJJE&K^w> YW~?y\A5Ej7SI75`9)bBqE[[?{[=X~?[g[[[[BZYY i) V;Iid6@u< 8)>))M8)>8)>iϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035630.183165 s, next control iter: 1743035630.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035630.583165 s.I~,R;'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249604@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743035630.583284F (some fields omitted in printout)A)\u@A裌h@A\X~? AfA%"AADlNA"AZAbAjArAzAAAjeLQ@A蝘*tA//|@AG<A=AAA'?A$տA2*A9?2AJֽ:Ah=BA9?JAJֽRAh=٘i)I9/|@Y}G JJJJJE&K YW~?y\AE7{78`9)gBtE[[[QX~?[ [[[[BZYY i) ;;Ii2@ލ< ࡊ>)) ࡊ>ࡊ>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035630.603165 s, next control iter: 1743035630.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9129, header.stamp.nsec: 00 temperature: 13.566502* salinity: 33.375137, density: 1025.000000* values[0]: 0.581447F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035631.003165 s.v I~,D4;'AJ"J*J2J:J?BJ?nJ5vJAR@Acx@AX~? AAb%"AA hlNA"AZAbAjArAzAAA"6l@A{e,tA{@AA=A$kA`*?ABԿAWZ*AB9?2A)ս:A =BAB9?JA)սRA =٘i)I9{@Y'G JJJJJ E&K YW~?y1\AEj7j7><`9IB)lBwE[[[lfX~?[[[[[BZYY i) ;Ii/@j&< )>)))>)>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035631.023165 s, next control iter: 1743035631.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035631.423165 s.uI~,;'AA{G@AUt<@AAX~? AaA?%"AAlNA"AZAbAjArAzAAAv@Aw@G<.tA{@AGA=AXϐA ^?A`UgӿAȪ*A9?2Aֽ:A+ =BA9?JAֽRA+ =٘i)I9{@YG JlJJJJ E&K YDX~?y[AE?`9)pBzE[[^[X{X~?[[[[[BZYY i) /};Ii,@L@< >))>>تY0YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035631.443165 s, next control iter: 1743035631.823181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9130", header.stamp.nsec: 0"0 temperature: 13.566657"* salinity: 33.375183", density: 1025.000000"* values[0]: 0.580880"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035631.843165 s.I~,;'AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035631.843282F (some fields omitted in printout)Ap= @A @A Y~? AA%"AAlNA"AZAbAjArAzAAApi@Aͽ0tAz@AA6=A[Av?A`ҿA*A@9?2A;ֽ:A=BA@9?JA;ֽRA=٘i)I9z@YxG JЫJJJJE&K Y-X~?yf[AEŧ7b7iC`9)uB[[[X~?[f[[[[BZYY i) ݄@;Iil)@< c>))c>c>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035631.883165 s, next control iter: 1743035632.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035632.263165 s.I~,0<'AAL@A+P?@A#Y~? AA=%"AAlNA"AZAbAjArAzAAAY]@AY'2tA0y@A3A=A[xAD?A$ѿA *A+9?2AE$ֽ:Ak=BA+9?JAE$ֽRAk=YC@A8yye=N4ٓHL?K?`۬?jο?`x?)C@ I٘i)I9y@YG J3J ;JJJE&Ku> Y@IX~?yZA8yE7777F`9)zB}E[[M3[ȥX~?[Ī[[[[BZYY i) ;Ii %@\A< i>))|i>i>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035632.283165 s, next control iter: 1743035632.663181 s, wait time: 0.380016 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91312, header.stamp.nsec: 020 temperature: 13.5668342* salinity: 33.3751602, density: 1025.0000002* values[0]: 0.5802712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035632.683165 s.l I~,+<'AJ"J*J2J:J?BJ?nJ5vJA(\@AP"u@A7;Y~? AA%"AA2lNA"AZAbAjArAzAAA1M@AdI4tAZy@AA:=AwadA?AпA7ij*A9?2Aս:A/X=BA9?JAսRA/X=٘i)I9Zy@YG JűJJJJE&K YdX~?yZAEZ7Z7J`9)~BE[[a׾[TX~?[Ǫ[[[[BZYY i) :Ii!@i&< U>)) U>U>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035632.683165 s, next control iter: 1743035633.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743035633.103165 s.I~,F<'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743035633.103279F (some fields omitted in printout)AQ@AMG@ASY~? AAK%"AAmNA"AZAbAjArAzAAAACl@A]H6tAx@A'<A=APA?A@xϿAS *A9?2AaԽ:AӨ=BA9?JAaԽRAӨ=٘i)I9x@YgG JJJJJE&K Y X~?y"*ZAE77j7)N`9JB)BE[[;[6X~?[ʪ[[[[BZYY i) HG9Iiv@< 2>))2>2>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035633.143165 s, next control iter: 1743035633.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035633.523165 s.I~,|a<'AJ"J*J2J:Jx?BJx?nJ5vJAHz@AP @A*lY~? A6Ab%"AABmNA"AZAbAjArAzAAA7xUD@A27tA*x@A_~<A ?=A+<A>?AοA|*A9?2AEԽ:AΫ=BA9?JAEԽRAΫ=٘i)I9*x@Y G JJJJJE&K YtX~?yAYAE)7)7Q`9SB)BE[[2ľ[fX~?[ͪ[[[[BZYY i) &>IiF@^x< >))>>ΪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035633.563165 s, next control iter: 1743035633.923180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9132, header.stamp.nsec: 00 temperature: 13.566979* salinity: 33.375179, density: 1025.000000* values[0]: 0.579661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035633.943165 s.`dI~,d]|<'AAq= #@A @AY~? AA%"AAkgmNA"AZAbAjArAzAAA\Ep@AeJq9tAOw@A$O<A7$=A'A d?A I̿A򡮼*A59?2AYս:A)=BA59?JAYսRA)=٘i)I9w@YG JXJJJJE&K YضX~?y` XYAE77TU`9)BE[[j[X~?[CЪ[[[[BZYY i) ׺Ii}@< >))>>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035633.983165 s, next control iter: 1743035634.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035634.363165 s.%I~,}><'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035634.363288F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@A+L@AʝY~? AA%"AAmNA"AZAbAjArAzAAA7&@AFD:tAw@AJ;A=AA ڈ?AxʿA*A9?2A-ս:Az<BA9?JA-սRAz?.¿`8?@Ɋ)Zi??)=z@ I٘i)I9w@YWG JܪB=JqJJJ E&Kt> YX~?y XAQE777X`9)BE[[[LY~?[Ҫ[[[[BZYY i) :(Ii@!< d>))Szd>d>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035634.403165 s, next control iter: 1743035634.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9133&, header.stamp.nsec: 0&0 temperature: 13.567143&* salinity: 33.375183&, density: 1025.000000&* values[0]: 0.579043&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035634.783165 s.a+I~,<'AA(\@AްmQ@AնY~? AI A<%"AAزmNA"AZAbAjArAzAAAi@A?#J:ֽ:AP<BA9?JAt>ֽRAP<٘i)I9}v@YG JC=JJJJ"E&K YX~?y XAEŧ77\`9)B[[[+Y~?[Sժ[[[[BZYY i) LfIi@߶< $>)) $>$>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035634.803165 s, next control iter: 1743035635.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035635.203165 s.3I~, <'AJ"J*J2J:JBJnJvJAQ@AX@AY~? AS A\%"AAmNA"AZAbAjArAzAAA+d@Aūx=tAfu@AvA&=AнA?A ;ƿA*A9?2A ս:A/<BA9?JA սRA/<٘i)I9u@YG J)JJJJ%E&K Y Y~?y#6XAE7``9RB)BE[[1([BY~?[ת[[[[BZYY i) ӑIi* @f!< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035635.223165 s, next control iter: 1743035635.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035635.623165 s.W9I~,]<'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743035635.623292F (some fields omitted in printout)AG@A@AZY~? A5 AL6%"AA0mNA"AZAbAjArAzAAAzhC2@AV֞>tAJu@AgA/t=A*A?AgĿAMY*A9?2A}6ս:AG<BA9?JA}6սRAG<٘i)I9u@YkG JJJJJ(E&K Y&Y~?ydWAE777c`9)BE[[D[kYY~?[٪[[[[BZYY i ) `Ii@><  >)) > >aYd.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035635.643165 s, next control iter: 1743035636.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9134 , header.stamp.nsec: 0 0 temperature: 13.567277 * salinity: 33.375210 , density: 1025.000000 * values[0]: 0.578487 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035636.043165 s.@I~,='AJ"J*J2J:J?BJ?nJI5vJA= ף0@AAJ#@AZ~? AA%"AA%nNA"AZAbAjArAzAAAt -g@Aw?tAu@A[<A_=A]A@A?AÿA*A9?2A;ս:A(A<BA9?JA;սRA(A<٘i)I9u@Y G JJJJJ+E&K YBY~?ytWAE{7j7?g`9TB)BE[[R[qY~?[ܪ[[[[BZYY i) 3ϻIi@5< pf?))pf?pf?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035636.063165 s, next control iter: 1743035636.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035636.463165 s.]GI~,='AAfffff@A[Y@AWZ~? AA%"AAHLnNA"AZAbAjArAzAAA}فtN @A"@tAt@A7u;A]O=A\/A ,?AIA)*A9?2AZ6ս:AE<BA9?JAZ6սRAE Y^Y~?yWA-E77j`9SB)BE[[~[Y~?[ݪ[[[[BZYY i) \Ii_@Q< Q ?))xQ ?Q ?\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035636.503165 s, next control iter: 1743035636.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9135, header.stamp.nsec: 00 temperature: 13.567394* salinity: 33.375229, density: 1025.000000* values[0]: 0.578018F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035636.883165 s.yMI~,<8='AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242815@ elevatorAngleAction: -0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743035636.883285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@A.2@A5Z~? AAA%"AAsnNA"AZAbAjArAzAAA& @A^=~AtA_t@A1f<AW=AA-?A/㾿A*A9?2AOս:A]=BA9?JAOսRA]=٘i)I9t@YG JJJJJ0E&K Y{Y~?ydVAE7ŧ7in`9)BE[[!k[LY~?[ߪ[[[[BZYY i) Ii[?< lG?)) lG?lG?y0_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035636.903165 s, next control iter: 1743035637.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035637.303165 s.UTI~,sgS='AA@Awf@AOZ~? A)A%%"AAnNA"AZAbAjArAzAAA'!@AWABtAĕs@Aw<A =A+SAOC?A A\*A :?2Aӽ:AY=BA :?JAӽRAY=٘i)I9s@Y@G JJJJJ3E&K YOY~?ydVAE)7q`9)BE[[%W[_Y~?[n[[[[BZYY i) WIi?< hF?))hF?hF?OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035637.323165 s, next control iter: 1743035637.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9136., header.stamp.nsec: 0.0 temperature: 13.567493.* salinity: 33.375229., density: 1025.000000.* values[0]: 0.577532.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035637.723165 s.[I~,Hn='AJ"J*J2J:JBJnJvJAz@Aaۢ@AiZ~? A@A+%"AA nNA"AZAbAjArAzAAA0""@AB}QBtAs@A<A߈=AQj<AAS?A@K]AG*AA :?2ApԽ:Aj=BAA :?JApԽRAj=٘i)I9s@YG JJJJJ5E&K YY~?y$ VAE777u`9)BE[[C[Y~?[[[[[BZYY i) H%Ii ?1ɕ< M?))M?M?hY<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035637.743165 s, next control iter: 1743035638.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035638.143165 s.U/bI~,*='AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035638.143291F (some fields omitted in printout)A ףp=@Ad0@AiZ~? A.AM%"AA7nNA"AZAbAjArAzAAA,o"@A, e|CtAr@AJHEAb=A=A`?A`YA ϊ*A::?2AUս:A=BA::?JAUսRA=٘i)I9r@YG JB=JJJJ8E&K YY~?yUAE77*y`9)B[[.[HY~?[^[[[[BZYY i) 5Ii!?< "]?))"]?"]?sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035638.183165 s, next control iter: 1743035638.543176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035638.563165 s.hI~,_ ='AJ"J*J2J:J?BJ?nJ5vJA3333s@AH'f@AXZ~? AA%"AAyoNA"AZAbAjArAzAAA.&\#@ASyCtA2r@AMAl=Ap=A Gl?AiAL*A:?2A?ս:A5.=BA:?JA?սRA5.=Y%@.m=yi=]NٓH ? R?ɏ? 6?@?@?)%@ I٘i)I92r@YhG JꉼC=J;JJJ;E&Kt> YY~?yPUA.m=§E7777|`9)BE[[[Z~?[[[[[BZYY i) DIi? < d]"?))swd]"?d]"?3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035638.583165 s, next control iter: 1743035638.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9137, header.stamp.nsec: 00 temperature: 13.567598* salinity: 33.375252, density: 1025.000000* values[0]: 0.577060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035638.983165 s.oI~,='AA\@Ay>@ARZ~? AAr%"AA6oNA"AZAbAjArAzAAAc<4#@A.ERDtAq@Aã}Aڎ=Ao=At?A Ay*A 9?2ABֽ:AQ=BA 9?JABֽRAQ=٘i)I9q@Y"G J艼JJJJ=E&K Y)Z~?yTAŧEZ7Z7T`9RB)įBE[[[OZ~?[[[[[BZYY i) `TIiS?䛆< h'?))_h'?h'?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035639.023165 s, next control iter: 1743035639.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035639.403165 s.&vI~,='AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261683@ elevatorAngleAction: -0.075068< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035639.403321F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A @AVZ~? AAg%"AA5^oNA"AZAbAjArAzAAAX!$@A*[DtAGq@A&(Ae=Ac=A}?A 6Am呼*A:?2A{Խ:A-8=BA:?JA{ԽRA-8=٘i)I9Gq@YG JJJJJ@E&K Y\$Z~?yTAȧEj7`9)ȯBE[[6[83Z~?[[[[[BZYY i|) cIi?+< },?)) },?},?>ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035639.423165 s, next control iter: 1743035639.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9138", header.stamp.nsec: 0"0 temperature: 13.567694"* salinity: 33.375267", density: 1025.000000"* values[0]: 0.576594"F (some fields omitted in printout)"\$Z~?)" rAdjusting time to match Gazebo time: 1743035639.823165 s.|I~,>='AAGz@A%vmo@A`Z~? ABA`%"AAoNA"AZAbAjArAzAAA<5%@AVBDtA:p@A穿9AǓ=A;=A6?AA;"*A:?2A lԽ:A =BA:?JA lԽRA =٘i)I9p@YG J^JJJJCE&K Y@Z~?yz5TAʧE77`9)˯BE[[F[\LZ~?[r[[[[BZYY i) CsIi?ǰz< қ1?))қ1?қ1?D˪Y" YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035639.843165 s, next control iter: 1743035640.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035640.243165 s.I~,>'AJ"J*J2J:JBJnJvJAףp=J@Ag}1=@An[~? A`A\%"AA oNA"AZAbAjArAzAAAɚ%@AdlDtAFp@A1<Ar6=A_ >AC?AFjAXϟ*A :?2A;}Խ:A5=BA :?JA;}ԽRA5=٘i)I9Fp@Y=G JJJJJEE&K Y\Z~?ySAͧE{7{7`9OB)ͯBE[[p[eZ~?[[[[[BZYY i) .ZIi?.s< 6?))6?6?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035640.263165 s, next control iter: 1743035640.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035640.663165 s.I~,q*>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084031< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035640.663284F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9139, header.stamp.nsec: 00 temperature: 13.567792* salinity: 33.375298, density: 1025.000000* values[0]: 0.576116F (some fields omitted in printout)A@AEr@A{[~? AVA[%"AAoNA"AZAbAjArAzAAAq&@A KDtAo@A-<A7=At >A ?A C?A+ݤ*AW:?2AԽ:A=BAW:?JAԽRA=YR@R!>yj=><ٓH:?ĿV}?6?I?|n?+?)R@ II٘i)I9o@YG J J YxZ~?ypSA!>ЧEb7b7`9)ѯBE[[mS[~Z~?[[[[[BZYY i) 舼Ii?g< ;?))iiw;?;?y%?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035640.683165 s, next control iter: 1743035641.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035641.083165 s.DI~, SE>'AJ"J*J2J:JBJnJvJA)\µ@A=ඨ@A9[~? A"A]%"AAoNA"AZAbAjArAzAAA"U''@A~X:DtA 3o@AH<A7=A5>A^}?A`!Ě?AB*A9?2Acս:A=BA9?JAcսRA=٘i)I93o@YG JJJJJKE&K YZ~?y1  SAҧE7)7?`9NB)կBE[[O[Z~?[[[[[BZYY i) tIi?2\< @?))h@?@?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035641.103165 s, next control iter: 1743035641.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035641.503165 s.I~,;4`>'AAR@Agy@AS[~? AAbc%"AA#pNA"AZAbAjArAzAAAce/'@A~sDtAADy?AW?A}*AY:?2AKԽ:A=BAY:?JAKԽRA=٘i)I9n@Y?G JJJJJME&K YiZ~?y RAէE77Օ`9)ٯBE[[:[Z~?[[[[[BZYY i) Ii]?fcR< t'F?)) t'F?t'F?EڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035641.523165 s, next control iter: 1743035641.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9140, header.stamp.nsec: 00 temperature: 13.567930* salinity: 33.375290, density: 1025.000000* values[0]: 0.575539F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035641.923165 s.8I~,{>'AJ"J*J2J:JV?BJV?nJ~5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084031< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035641.923294F (some fields omitted in printout)A{G!@A$;@Am[~? A;Al%"AAJpNA"AZAbAjArAzAAAz'K(@A wW DtAn@A< Au=A `>A@p?AEƬ?Aͨ*Aq:?2Aս:A6&=BAq:?JAսRA6&=٘i)I9n@YG JXJJJJPE&K YJZ~?yl 'AAp= W@AOI@A[~? AAw%"AAVrpNA"AZAbAjArAzAAA(@A@|!CtAm@A wA4=A6u>A e?A "?A7*A:?2A ս:Ao=BA:?JA սRAo=٘i)I9m@YG J JJJJSE&K Y-Z~?y QAۧE77`9MB)BE[[^<['AJ"J*J2J:JBJnJvJǍ@AILP@Ah[~? AA%"AApNA"AZAbAjArAzAAA)@A"-CtAl@A^Aq:=A >ARX?A6ߵ?A`*Al9?2Aս:A]=BAl9?JAսRA]=Y !=RU>yr6=է_ٓH1?mпi?M?? ~?`@܋`?) != I٘i)I9l@Y8G JծJ<JJJVE&Kt> Yv[~?ydQAU>ݧEj7Z7`9)BE[[K=[Z~?[[[[[BZYY i) wIiP?(6< U?))wwU?U?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035642.803165 s, next control iter: 1743035643.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035643.183165 s.˲I~,s>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242052@ elevatorAngleAction: -0.084031< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743035643.183268F (some fields omitted in printout)A(\@Aׁ@A?[~? AA%"AApNA"AZAbAjArAzAAAL"*@A"#BtAY]l@AA58=A>A^H?A?A*A9?2Aս:A=BA9?JAսRA=٘i)I9]l@YG JJJJJXE&K Y[~?yPAEb77*`9LB)B¹E[[=[[~?[![[[[BZYY i) 2ϵIi܅?W+< 2[?)) 2[?2[?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035643.203165 s, next control iter: 1743035643.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035643.603165 s.94I~,>'AJ"J*J2J:JBJnJvJAQ@ABF@A[~? A|AO%"AApNA"AZAbAjArAzAAAh8*@A:0AtAk@A_;A﷭=AP>A7?A@k?AƼ*A:?2Aӽ:A =BA:?JAӽRA =٘i)I9k@YxG J%JJJJ[E&K Y:[~?yJPAEj7j7`9KB)BŹE[[=[}2[~?[z[[[[BZYY i) (Ii|?!< G`?))G`?G`?YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035643.623165 s, next control iter: 1743035644.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9142 , header.stamp.nsec: 0 0 temperature: 13.568219 * salinity: 33.375336 , density: 1025.000000 * values[0]: 0.574370 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035644.023165 s.ZI~,{?'AAHz.@AH!@A[~? A%A%"AAqNA"AZAbAjArAzAAA[UZ+@AzAtAk@Aj<A=Arj>A@#?A`n~?Aμ*A:?2Aӽ:A/@=BA:?JAӽRA/@=٘i)I9k@YG JʼJJJJ^E&K YLU[~?y PAE77U`9)BȹE[[1=[L[~?[[[[[BZYY i) FļIio?< e?))e?e?GYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035644.043165 s, next control iter: 1743035644.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035644.443165 s.A` ?AP?AZLҼ*Am9?2A8uԽ:AK`=BAm9?JA8uԽRAK`=٘i)I9aj@YG JмJJJJ`E&K Yp[~?yOAE77`9JB)B˹E[[s>[f[~?[[[[[BZYY i) |˼Iikc?3< j?))j?j? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035644.463165 s, next control iter: 1743035644.843182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9143, header.stamp.nsec: 00 temperature: 13.568423* salinity: 33.375317, density: 1025.000000* values[0]: 0.573670F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035644.863165 s.+I~,>7?'AA@AX@A!\~? AA%"AA\qNA"AZAbAjArAzAAA3V,,@AV?tAi@A};A=ARd>A ^?Aw*?A@Ҽ*A9?2A=ս:A=BA9?JA=սRA=Y>¹>yԴ=w;ٓHZ?oֿr?5d???`x/<~??)> I٘i)I9i@Y:G JҼJ4<JJJcE&Kt> Y[~?y)OA>E)7ŧ7`9)B[[>[[~?[[[[[BZYY i) ӼIiQ?< T4p?)) yT4p?T4p?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035644.883165 s, next control iter: 1743035645.263182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035645.283165 s.J @RI~"J*J2J,R?'A:J?BJ?nJ5vJA(\@AS@A/;\~? A1 AM"%"AA"qNA"AZAbAjArAzAAA^m*-@Ad=tAi@A qAYl=AR>A`?A?AAм*A9?2A ֽ:A}=BA9?JA ֽRA}=٘i)I9i@Y G JѼJJJJfE&K Yh[~?yNAE77`9IB)BιE[[1>[w[~?[*[[[[BZYY i) ~KڼIia@??; ևu?)) ևu?ևu?8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035645.303165 s, next control iter: 1743035645.683182 s, wait time: 0.380017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91442, header.stamp.nsec: 020 temperature: 13.5686182* salinity: 33.3753432, density: 1025.0000002* values[0]: 0.5729402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035645.703165 s.ֺI~,m?'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084031< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199362 time: 1743035645.703267F (some fields omitted in printout)AQ@AQ@AqT\~? A8 A-G%"AAqNA"AZAbAjArAzAAA,r<-@A~Aº?A?ADϼ*Au:?2AԽ:AL=BAu:?JAԽRAL=٘i)I9Rh@Ye G JϼB=JJJJhE&K YԿ[~?y;NAEb7b7`9)BѹE[[ZG>[[~?[[[[[BZYY i) :Ii{1?-; z?))z?z?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035645.723165 s, next control iter: 1743035646.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035646.123165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 7I~,]?'AAG:@Ak^-@Am\~? AA*o%"AAqNA"AZAbAjArAzAAA [.@A[σ'};tAg@AMC|A =A8>A?AE?Aм*A:?2ANYս:Ag=BA:?JANYսRAg=٘i)I9g@Y G JϼC=JJJJkE&K Y9[~?ypMAE77@`9HB) BԹE[[\>[[~?[[[[[ZZ¸BZYY i¸5ĩ=) ռIia$?g; &?))&?&?aY%2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035646.163165 s, next control iter: 1743035646.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035646.543165 s.II~,â?'AA= ףp@AEИc@A\~? AA*%"AAqNA"AZAbAjArAzAAAh{Hp.@Aqm:tAf@AA|P=AD>A`>x?A s?A+Ӽ*A9?2Aeս:A=BA9?JAeսRA=٘i)I9f@Y G JHѼB=JJJJnE&K Y[~?yYLMAEb77`9EB) BֹE[[Ur>[[~?[ߪ[[[[ZZBZYY i) ɼIi?a; ނ?))ނ?ނ? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035646.563165 s, next control iter: 1743035646.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9145, header.stamp.nsec: 00 temperature: 13.568810* salinity: 33.375343, density: 1025.000000* values[0]: 0.572212F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035646.963165 s.I~,?'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035646.963297F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@Ag\@A_\~? A[A!%"AAnrNA"AZAbAjArAzAAAdU/@Amd8tA-f@A:A=A*>AQ?AiG?A*A09?2A5Xս:A<BA09?JA5XսRAj6>y=j:ٓH?_ܿ@?mF?`?ۢ? εyP?9?)_ v> I٘i)I9-f@Y G JC=JhJJJpE&K7u> Y \~?yrLA6>Eŧ7b7j`9?B)B[[O >[\~?[ ݪ[[[[ZZBZYY i) uIi ?٬; ?))z??y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035647.003165 s, next control iter: 1743035647.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035647.383165 s.I~,+?'AA(@AW@A\~? AA%"AA@rNA"AZAbAjArAzAAAs0@A7tANe@Ak6<Aژ=A1>A~)?A ?A*A} :?2Aqս:AWݾ<BA} :?JAqսRAWݾ<٘i)I9Ne@Y G JJJJJsE&K Y5'\~?ybLAE7{7`9)BٹE[[w>[n\~?[ڪ[[[[ZZBZYY i) Ii> ;  G?))  G? G?ys-=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035647.403165 s, next control iter: 1743035647.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9146&, header.stamp.nsec: 0&0 temperature: 13.569042&* salinity: 33.375370&, density: 1025.000000&* values[0]: 0.571402&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035647.803165 s.AI~,g?'AJ"J*J2J:JG?BJG?nJb5vJA@A^@A\~? AA -%"AA*frNA"AZAbAjArAzAAAGY0@AoqX5tAtd@Axw<Anpu=AO>A@?Aq?A4.*A&:?2A^:Խ:A"w<BA&:?JA^:ԽRA"w<٘i)I9td@Y G JJJJJvE&K Y@\~?yKAE77`9>B)BܹE[[>[T6\~?[kت[[[[ZZBZYY i) ~Ii>+; ?))??,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035647.823165 s, next control iter: 1743035648.203182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035648.223165 s.gI~,H@'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082894< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743035648.223285F (some fields omitted in printout)AzG@AqTn:@A\~? AAd%"AA%rNA"AZAbAjArAzAAA4&g0@AxKl3tA]c@A#1<A}0=Ag?A?AON?AӼ*AD+:?2AwԽ:A;BAD+:?JAwԽRA;٘i)I9c@Y G J>JJJJxE&K YY\~?yުxKAEj7Z7*`9=B) B߹E[[>[9P\~?[ժ[[[[ZZBZYY i) Iig>j; č?))č?č?wYWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035648.243165 s, next control iter: 1743035648.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035648.643165 s.w I~, *)@'AJ"J*J2J:JBJnJvJA ףp}@AuHgp@A]~? AA%"AAۯrNA"AZAbAjArAzAAAم0@A%/1tA{ c@Ag:A<Ag ?A௫?A+?AZ⨼*A*:?2A> ս:A~BA*:?JA> սRA~٘i)I9 c@Y. G JüJJJJ{E&K Ys\~?yڪKAEŧ7b7`9[j\~?[Ӫ[[[[ZZBZYY i) ÿIiʡ>O; ?))??tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9147, header.stamp.nsec: 00 temperature: 13.569339* salinity: 33.375378, density: 1025.000000* values[0]: 0.570467F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035648.663165 s, next control iter: 1743035649.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035649.063165 s.I~,V D@'AA3333@Aa'@A]~? AA%"AAHrNA"AZAbAjArAzAAA7y: 51@A-s/tAb@Ay*AGF<A7?A$}?A?Ax*A6$:?2A3Iս:AD BA6$:?JA3IսRAD Y1>1?yDD<0*ٓHC? `oO`???T?x(UQ I٘i)I9b@Y G JJP:JJJ~E&Ks> Y\~?y*֪JA1?Eb7U`9)(B[[>[\~?[Ъ[[[[ZZBZYY i=) x惼Ii}>zR"; K?))~K?K?G_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035649.083165 s, next control iter: 1743035649.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035649.483165 s.y_I~,^@'AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248149> elevatorAngleAction: 0.064284< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035649.483309F (some fields omitted in printout)A\@AuV @A0]~? AAk%"AAerNA"AZAbAjArAzAAA՚|1@A2-tA3b@ABAMTAc?A`K?A@N?A)1#*A:?2A>}ս:A +BA:?JA>}սRA +٘i)I93b@Y G J]TJJJJE&K Y\~?yzѪJAE77{7`9)*BE[[->["\~?[̪[[[[ZZBZYY iԿ=) ~tIi>>n: W?)) W?W?c)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035649.503165 s, next control iter: 1743035649.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9148, header.stamp.nsec: 00 temperature: 13.569503* salinity: 33.375401, density: 1025.000000* values[0]: 0.569905F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035649.903165 s.I~,y@'AAQ@A̷>@A H]~? A A]%"AA0sNA"AZAbAjArAzAAARjF,1@AŖ+tAa@A_AAˀ?A?A?Ap蛻*AP&:?2AԽ:ABAP&:?JAԽRA٘i)I9a@Y G J JJJJE&K Y\~?y̪JA E{7`98B)(BE[[`>[\~?[ɪ[[[[ZZBZYY i) d`Ii>": ?))?? )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035649.923165 s, next control iter: 1743035650.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035650.323165 s.x$I~,-@'AJ"J*J2J:JBJnJvJAGzT@AnG@AP_]~? AeA%"AA?sNA"AZAbAjArAzAAAs 2@A k])tAAa@A׆AA?A?Aٞ?Add*A:?2Ag*ս:AoͼBA:?JAg*սRAoͼ٘i)I9a@Y~ G JlFJJJJE&K Y\~?yȪJA Ej7Z7`97B)E[[>[ \~?[ƪ[[[[BZYY i) LIiů=W`: ?))??yW=W2*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035650.343165 s, next control iter: 1743035650.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9149*, header.stamp.nsec: 0*0 temperature: 13.569467** salinity: 33.375412*, density: 1025.000000** values[0]: 0.569703*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035650.743165 s. W+I~,@'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035650.743293F (some fields omitted in printout)Aףp=@A-?2}@AWv]~? AA%"AAbsNA"AZAbAjArAzAAAL؇P2@Aq 'tA_a@A`;AL1A#?A@?Au?Au5;*A:?2ABս:A BA:?JABսRA 弙٘i)I9a@Y G JB:JJJJE&K Y\~?ymêJAEŧ7b7`9)[[K>[X\~?[Tª[[[[BZYY i) R8Iip>=9 ?))??#n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035650.763165 s, next control iter: 1743035651.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035651.163165 s.J "J *J 2J :J ?BJ ?nJ 5vJ |}2I~,q@'AA@A =b@A]~? AAU6%"AAxsNA"AZAbAjArAzAAAĔT2@A2"$tA- b@Aao<AMWAA)?A@em?AJ?A l;*A :?2A<ֽ:ABA :?JA<ֽRAY>+)?y HWo<ٓH I٘i)I9 b@Y G J;JJJJE&KVv> Yc]~?yKA)?E77@`96B)&BE[[O7>[]~?[v[[[[BZYY i;g=) ש(II?iNF iO?))liO?iO?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035651.183165 s, next control iter: 1743035651.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743035651.583165 s.8I~,R@'AA)\@As@A]~? AޫA^%"AAΧsNA"AZAbAjArAzAAA?2@Al*"tACb@A h<AxA!x.?A/?A\?Ac"<*A&:?2AIaֽ:ABA&:?JAIaֽRA٘i)I9Cb@Y G Ji<JJJJE&K Y]~?yVKAEb77`95B)#BE[[>[]~?[e[[[[BZYY i) WII?i elevatorAngleAction: 0.056520< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035652.003291F (some fields omitted in printout)J"J*J2J:JBJnJvJAR+@A&|@A߹]~? AcګA0%"AAsNA"AZAbAjArAzAAAeB3@A;ŗtAb@Ae';ALjAV}3?A@F?A@ ?Acue<*A :?2AQս:A BA :?JAQսRA ٘i)I9b@Y G JMA<B=JJJJE&K Y .]~?y4KAEŧ7b7k`9)!B[[?[h3]~?[[[[[BZYY iMφ=) I I?iWʧ 0ئ?))0ئ?0ئ?[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035652.023165 s, next control iter: 1743035652.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035652.423165 s.uFI~,A'AA{Ga@A;T@A]~? A֫A(%"AABsNA"AZAbAjArAzAAAwz6_3@AյtAb@AwfAYMA5k8?A?A@?A.<*A:?2A=,ս:ABA:?JA=,սRA٘i)I9b@Y' G J^<C=JJJJE&K Y`D]~?y̭KAE777`91B)BE[[i ?[K]~?[[[[[BZYY i) dIi I?i/ղ ?))??yg=e*Y$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035652.443165 s, next control iter: 1743035652.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9151", header.stamp.nsec: 0"0 temperature: 13.569076"* salinity: 33.375454", density: 1025.000000"* values[0]: 0.570277"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035652.843165 s.LI~,5A'AJ"J*J2J:J?BJ?nJ5vJAp= @A/n@A]~? AѫA~%"AA] tNA"AZAbAjArAzAAA3=3@A^2tA~c@AYcA–A^o=?A`n?A`{?A*ɞ<*A:?2A8ս:ABA:?JA8սRA٘i)I9~c@Yt G J<B=JJJJE&K YZ]~?yc/LAE7)7`90B)BE[[x?[d]~?[[[[[BZYY i) λII?i]T {?)){?{?yvB= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035652.863165 s, next control iter: 1743035653.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035653.263165 s.TI~,0PA'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035653.263322F (some fields omitted in printout)A@A@A]~? A̫A%"AA-tNA"AZAbAjArAzAAA=[w3@A `tATd@AzAAB?A`F)?AA?A+<*A:?2Aս:ABA:?JAսRAY ?JB?y x{ٓHV? H @@?`/?ڤ Y%o]~?yQLAB? E{7Z7+`9)B[[-?[{]~?[5[[[[BZYY i) II?iቾ|0 r@?))r@?r@?*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035653.283165 s, next control iter: 1743035653.663177 s, wait time: 0.380012 s%o]~?)Q2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91522, header.stamp.nsec: 020 temperature: 13.5687482* salinity: 33.3754502, density: 1025.0000002* values[0]: 0.5709512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035653.683165 s.lZI~,ckA'AJ"J*J2J:J)?BJ)?nJC5vJA(\@AD;@A^~? A-ȫA2%"AA?MtNA"AZAbAjArAzAAAg)bg"4@A4LztAd@AA6AHG?A=?A?A<*A:?2A%ֽ:A7BA:?JA%ֽRA7٘i)I9d@Y G JK<B=JJJJE&K Y]~?y=LA#EZ7`9/B) BE[[k?[4]~?[8[[[[BZYY i) zoIeH?iϥ4=T J ?))J ?J ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035653.683165 s, next control iter: 1743035654.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035654.103165 s.aI~,A'AAQ8@APoF+@A$^~? AKëA%"AAltNA"AZAbAjArAzAAA4[`a4@A~tAn+e@A0;A|⛽APkM?A z?A`K?AY<*As:?2Aֽ:Am BAs:?JAֽRAm ٘i)I9+e@Yy G JA<C=JJJJE&K  a9Y]~? a9y+eMA&E)7ŧ7Va9.B)BE[[̺!?[{]~?[[[[[BZYY i) hIKH?i罾s ?))??b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035654.123165 s, next control iter: 1743035654.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035654.523165 s.gI~,{A'AJ"J*J2J:JB?BJB?nJ\5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035654.523320F (some fields omitted in printout)AHzn@AVc a@A89^~? AFA%"AA׽:A kBA4:?JAz>׽RA k٘i)I9Lf@Y) G JM<JJJJE&K Y]~?y4NA+E7a9*B)BE[[k-?[C]~?[[[[[BZYY i) ߺIH?i{⾉ ᛺?))᛺?᛺?j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035654.963165 s, next control iter: 1743035655.343183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035655.363165 s.uI~,>A'AJ"J*J2J:JBJnJvJA@A-@Aa^~? A۳AI%"AA7tNA"AZAbAjArAzAAAC*95@ACtA|f@A2<A!A!B]?A`!?AW?A(7<*A:?2A ׽:ABA:?JA ׽RAY:$? ]?y[2<ٓHN?`V] oA??T`-?@?`?):$? I٘i)I9f@Y G JY<B=J :JJJE&Kx> Y@]~?yTNA ]?.E{7j7 a9)B)BE[[;3?[n]~?[c[[[[BZYY i) G7NIH?i' m?))m?m?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035655.383165 s, next control iter: 1743035655.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9154&, header.stamp.nsec: 0&0 temperature: 13.567992&* salinity: 33.375458&, density: 1025.000000&* values[0]: 0.572458&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035655.783165 s.V{I~,A'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035655.783292F (some fields omitted in printout)A(\@AGR@At^~? AvAU"%"AAtNA"AZAbAjArAzAAA#S5@A ۻtAng@Aۭ9A9AgGb?A@'Z?A?A<*A:?2Aֽ:A[BA:?JAֽRA[٘i)I9ng@Y G JP<C=JJJJE&K Y]~?y|OA0E7)7a9)B[[9?[V^~?[[[[[BZYY i) | 9IH?i"  ,G?)),G?,G?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035655.803165 s, next control iter: 1743035656.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035656.203165 s.I~, B'AJ"J*J2J:JBJnJvJAQE@AH8@A^~? AA%"AAuNA"AZAbAjArAzAAA%ߌ5@AYitAZh@A.)AȔAMg?A?A`O6?A;د<*A{:?2Azֽ:ABA{:?JAzֽRA٘i)I9h@Y3 G Jf<JJJJE&K Y]~?yuhOA3E{7j7@a9(B)BE[[|>?[^~?[k[[[[BZYY i) :IH?i)» m'?))m'?m'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035656.223165 s, next control iter: 1743035656.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035656.623165 s.XI~,a'B'AAGz@A"0m@AD^~? APA}%"AA uNA"AZAbAjArAzAAA5@A0sAh@AAQAtol?A?A?A\ȭ<*A#:?2AZvֽ:AAKBA#:?JAZvֽRAAK٘i)I9h@Y G J9<JJJJE&K YJ ^~?yBoOA6E77a9$B)BE[[sD?[4/^~?[%{[[[[BZYY i) ;I elevatorAngleAction: 0.065825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035657.043319F (some fields omitted in printout)A= ף@A:̗@A^~? AAh%"AA;I0H?iO(no׻ ?))??9*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035657.063165 s, next control iter: 1743035657.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035657.463165 s.YI~,]B'AAffff@A>W[@A^~? AA%"AAYXuNA"AZAbAjArAzAAA6hDc36@A'؅sAYi@A@A!oA!w?A?A?9?A<*A:?2AA׽:Av8BA:?JAA׽RAv8Y??Z+w?yn@ٓH@N*?`O@b3@?@6?@Y?h`?)?? I٘i)I9i@Y9G J<Jn<JJJE&Kx> Y,^~?yRaPA+w?;Eb7b7a9)֯B[[P?[[X^~?["n[[[[BZYY i=) {;IeH?i6 ?))??s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035657.503165 s, next control iter: 1743035657.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9156, header.stamp.nsec: 00 temperature: 13.567238* salinity: 33.375477, density: 1025.000000* values[0]: 0.573980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035657.883165 s.yI~,DxB'AJ"J*J2J:JBJnJvJA(@AI@A^~? AAnM%"AAEsuNA"AZAbAjArAzAAA<\h6@Arf5/E777!a9"B)ЯB E[[V?[Dl^~?[bg[[[[BZYY i)  ќ;IH?iA=  ?)) ? ?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035657.903165 s, next control iter: 1743035658.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035658.303165 s.WI~,{gB'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743035658.303272F (some fields omitted in printout)AQ@Ak&D@A>^~? AA2%"AAuNA"AZAbAjArAzAAAR6@A>Od{sAj@Aw<AȈAz?Ae?A R?AGY<*A:?2A׽:A[BA:?JA׽RA[󼙘٘i)I9j@YG J<JJJJE&K YL^~?yRPQA@E7)7+%a9)ͯB[[\?[^~?[s`[[[[BZYY i) ;IH?iKk *?))*?*?W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035658.323165 s, next control iter: 1743035658.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9157*, header.stamp.nsec: 0*0 temperature: 13.566922** salinity: 33.375507*, density: 1025.000000** values[0]: 0.574661*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035658.723165 s.J I~"J*J2J,HB'A:J?BJ?nJB5vJAz@Arz@A^~? AnA;%"AALuNA"AZAbAjArAzAAAe6@ÁsA k@Auf<AUňA~?Ad?A,?A:<*AA :?2Af׽:ABAA :?JAf׽RA٘i)I9 k@YG J<JJJJE&K Y\^~?yKQACE77j7(a9B)įB E[[b?[ߒ^~?[VY[[[[BZYY i) ;IH?iS4p `?))`?`?y=?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035658.763165 s, next control iter: 1743035659.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035659.143165 s.W/I~, *B'AA ףp@Ah8e@AR_~? A!A %"AAduNA"AZAbAjArAzAAA*y 7@A-{5sA(k@Aw;AA?A?Ax?Ax^<*A:?2A׽:ABA:?JA׽RA٘i)I9k@YaG Jw<JJJJE&K Ym^~?yZD RA DFE777V,a9)B[[h?[|^~?[R[[[[BZYY i) w;IH?irYr* ?))??N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035659.163165 s, next control iter: 1743035659.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035659.563165 s.I~,N B'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743035659.563264F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A(@A>_~? AxA0%"AAuNA"AZAbAjArAzAAAM17@AkksAe l@AHAH̊A;?A`U?A G?A<*A7:?2Aֽ:ANBA7:?JAֽRANY'Y?7?yˊsٓH`? YB?`f?쬿`V?w?)'Y? I٘i)I9 l@YG J!<J:JJJE&Kdx> Yz^~?y<jRA?HEj7j7/a9B)BE[[On?[o^~?[J[[[[BZYY i) 8 elevatorAngleAction: 0.074695< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4203662 time: 1743035660.823652F (some fields omitted in printout)Ap= @Ar„@A$@_~? AdAw%"AAvNA"AZAbAjArAzAAAHs7@A (sAm@Ab]A܎A?A@?A?AP<*A 9?2Aֽ:ABA 9?JAֽRA٘i)I9m@YG J><B=JJJJɨE&K Y^~?y{%SAQEŧ77:a9) B[[ ?[ v^~?[ 3[[[[BZYY i) :JJJ̨E&K> Y#^~?ySASE777A>a9B)BE[[̖?[]^~?[+[[[[BZYY i) s)JP<ٓH? wr|@a?? =?} ??)Bs? I٘i)I9n@Y(G JQ<J Q>JJJΨE&Kx>> Y-^~?yATA?VE7)7Aa9)B[[ݢ?[ _~?[v#[[[[BZYY i) tY elevatorAngleAction: 0.074695*J2J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.419992nJvJ2 time: 1743035662.083286F (some fields omitted in printout)A)\5@AX歺(@Ah_~? AVPA?%"AA]vNA"AZAbAjArAzAAA~VG78@ABKXSsAn@A ~<AAm?A P?A DX?At<*A9?2A_y׽:ABA9?JA_y׽RA٘i)I9n@YtG J<JJJJѨE&K Y6^~?y TAYE77lEa9B)BE[[I?[J_~?[6[[[[BZYY iN=) h^~?yvUA[Eb77Ia9B)BE[[nj?[g&_~?[[[[[BZYY i) P x elevatorAngleAction: 0.083646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743035663.343320F (some fields omitted in printout)Ap= @A@A_~? A:A%"AAKvNA"AZAbAjArAzAAAUqg8@A LsAՈp@A_4AҏA9?A?A?AqN<*A9?2AMgֽ:AQBA9?JAMgֽRAQ٘i)I9p@YeG J3<JJJJ٨E&K YQ^~?y@UAaE777,Pa9)B[[?[@_~?[[[[[BZYY i) #O Y^~?y3VA?cE77Sa9B)BE[[ ?[L_~?[[[[[BZYY i) IΒqcsALq@AEGAvA13?AH?A ij?A<*A9?2A}ֽ:AĎBA9?JA}ֽRAĎ٘i)I9q@YG J<JJJJߨE&K Y^~?ynVAfE777WWa9)B[[K#?[tX_~?[![[[[BZYY i) M elevatorAngleAction: 0.083646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035664.603319F (some fields omitted in printout)AQx@A'Gk@A_~? A%AZ%"AA5vNA"AZAbAjArAzAAA>ܖ 9@A'2߰sAC?[Tc_~?[/[[[[BZYY i) ̡<*A9?2AX׽:AJBA9?JAX׽RAJ٘i)I9r@YG J<JJJJE&K Y _~?yөoWAkE7777^a9)wB[[W\?[m_~?["ީ[[[[BZYY i) VL]\D'AJ"J*J2J:J6?BJ6?nJi5vJAq= @AJ$@A_~? AA%"AApvNA"AZAbAjArAzAAA E9@Af7ڸsAbs@Ay<A(APN?A.?A?A<*Aܿ9?2Ar׽:AtBAܿ9?JAr׽RAt٘i)I9bs@Y!G J<JJJJE&K Y_~?y4˩WAnE{7j7ba9 B)nBE[[z?[w_~?[թ[[[[BZYY i) `˰wD'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743035665.863264F (some fields omitted in printout)A@A^ @A_~? AmA5@%"AAlvNA"AZAbAjArAzAAAa9@A8sA,s@A^<AکA?Ac?A_ ?A><*A69?2A9׽:A? BA69?JA9׽RA? Y?ӿ?y֩_<ٓH`? iag D??z`4? Fۋ??)? I٘i)I9s@Y}G J<JsJJJE&KOx> Y_~?y©JXA?qE77ea9)jB[[ܖ?[_~?[˩[[[[BZYY i) ' elevatorAngleAction: 0.083646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035667.123300F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A[֭@A_~? A^A%"AAwNA"AZAbAjArAzAAAׅ}9@AxsAu@AJlAAyg?A ?A@+?AH_<*A9?2Aֽ:A{3BA9?JAֽRA{3٘i)I9u@YG J<C=JJJJE&K Y'(_~?yYAyE777lpa9B)XBE[[?[ڕ_~?[ů[[[[BZYY i) Y {@)){@{@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035667.143165 s, next control iter: 1743035667.523181 s, wait time: 0.380016 s2'(_~?)2 rAdjusting time to match Gazebo time: 1743035667.543165 s.I8I~,D'AA= ף@AqR@A_~? AAK%"AA&wNA"AZAbAjArAzAAA8΢9@AǎDsA"v@AI~,D'AJ"J*J2J:JBJnJvJAffff&@A]@A1_~? AA0%"AA1wNA"AZAbAjArAzAAA`0X+9@AY~sAJw@A2A !A'?A DI?A?Am<*A9?2Amֽ:A#BA9?JAmֽRA#Yٻ?'ȼ?y;ٓHLn?`ٻ?e? &Ե ?AF~ (?)ٻ? I٘i)I9Jw@YG JB<B=J JJJE&K(x> Yf0_~?yQZAȼ?~Ej7Z7wa9B)KBE[[ elevatorAngleAction: 0.092587< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743035668.383332F (some fields omitted in printout)A(\@AyO@A_~? AߪA%"AAn:wNA"AZAbAjArAzAAAsѽ"9@ATrsAw@A,};AAo?AZe?A!?A<*AƢ9?2A׽:AWBAƢ9?JA׽RAW٘i)I9w@YG JP<C=JJJJE&K Y3_~?y[AE777-{a9B)CBE[[_?[K_~?[;[[[[ZZZZ¸>BZYY i¸>P֪) B[[?[_~?[[[[[ZZZZBZYY i) ` Y ;_~?y}k\A?E77a9B))BE[[I?[^_~?[l[[[[ZZZZBZYY i) nonsA{@Ar-A3Aa?A@?AH?A<*A9?2Aֽ:ABA9?JAֽRA⻙٘i)I9{@YAG J<B=JJJJE&K Y:_~?yb ]AE{7{7a9)#B[[u?[_~?[b[[[[ZZZZBZYY i) (Z}@AZAn;A0?A`&?Ak?A.<*A9?2Ajֽ:A|<BA9?JAjֽRA|<٘i)I9Z}@Y3G J:d<JJJJE&K YY:_~?y>H^AE777חa9B)BE[[?[<_~?[E[[[[ZZZZBZYY i) h:@AJгZsAƓ}@A"<Aj<A?A1?Aq?Aԫ;*A9?2AC.ֽ:Aa[<BA9?JAC.ֽRAa[JJJE&Kcv> YQ7_~?yw?]A?ESI787ma9)B[[I?[ɪ_~?[.<[[[[ZZZZBZYY ir) V+ֽ:AT<BAˠ9?JA>+ֽRAT<I٘i)I9}@YZG JrJJJJE&K YC1_~?y-]AE777a9B)BE[[z?[_~?[([[[[BZYY i) 02 YW%_~?y]A?Ej7j7Xa9)B[[s?[0_~?[O [[[[BZYY iоj) m;I$F?i%Z "@))"@"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035674.303165 s, next control iter: 1743035674.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91732, header.stamp.nsec: 020 temperature: 13.5625242* salinity: 33.3755992, density: 1025.0000002* values[0]: 0.5845112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035674.683165 s.lI~,oF'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057311< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035674.683302F (some fields omitted in printout)A(\@Ahu@A`~? AgA&"AAMhwNA"AZAbAjArAzAAAjSs2:@AC=sAx|@A!bA=A ?AU1A_?A=d*A9?2Aiֽ:A =BA9?JAiֽRA =٘i)I9x|@YG JoJJJJ"E&K Yz_~?y" \AEb77a9B)BE[[?[<_~?[[[[[BZYY i) ;IiF?iY v$@))v$@v$@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035674.683165 s, next control iter: 1743035675.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743035675.103165 s.I~,F'AAQ@ASF@A `~? A_A&"AAdwNA"AZAbAjArAzAAAP+:@Ayq[8sA=|@AVǻA=A?AAIT?A˚*At9?2Aֽ:AU=BAt9?JAֽRAU=٘i)I9|@YaG JJJJJ$E&K Y_~?y\\AE)7ŧ7a9)B[[̹?[_~?[[[[[BZYY i) ٿ;ISF?i8RW &@))&@&@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035675.143165 s, next control iter: 1743035675.503175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743035675.523165 s.I~,{F'AJ"J*J2J:JBJnJvJAHz@A8 @A `~? AWA. &"AA`wNA"AZAbAjArAzAAA@.":@A߹v3sAw{@A&˟;A\=A?AdAF?Aҗ*A9?2AB1ֽ:Ac:=BA9?JAB1ֽRAc:=٘i)I9w{@Y G JJJJJ'E&K Y_~?y\AE77a9)#B[[?[*|_~?[H[[[[BZYY i) Π;IE?ibS '@))'@'@ykتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035675.543165 s, next control iter: 1743035675.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9174, header.stamp.nsec: 00 temperature: 13.562743* salinity: 33.375591, density: 1025.000000* values[0]: 0.584001F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035675.943165 s.WdI~,>]F'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057311< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035675.943274F (some fields omitted in printout)Aq= #@AUQ@A`~? AOA6 &"AA[wNA"AZAbAjArAzAAA{:@A:v.sAz@AY<A=A'?A pA6?A緼*A9?2AJս:AC=BA9?JAJսRAC=٘i)I9z@YG JJJJJ*E&K Y _~?yI[AEb7a9B)*BE[[.?[s_~?[[[[[BZYY i*G) "Á;I/E?iN )$)@)))$)@)$)@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035675.983165 s, next control iter: 1743035676.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035676.363165 s.I~,>G'AJ"J*J2J:Jk?BJk?nJ5vJAY@A>L@A`~? AGA3g &"AA5VwNA"AZAbAjArAzAAA4 :@AwѶ)sADz@Ay q<A=A?A2A@>$?As*A[9?2AHֽ:A =BA[9?JAHֽRA =Y??y=5q<ٓHӿya?l~ӿ`3ij?'!?`0?)? I٘i)I9Dz@YRG JJ<JJJ-E&Kw> YB_~?y:[A?ESI7SI7Ca9B).BE[[3?[Hi_~?[ި[[[[BZYY i) rzG;IE?iM *@))*@*@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035676.383165 s, next control iter: 1743035676.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9175&, header.stamp.nsec: 0&0 temperature: 13.563004&* salinity: 33.375587&, density: 1025.000000&* values[0]: 0.583296&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035676.783165 s.VI~,2G'AA(\@AP@At_~? A?A &"AAOwNA"AZAbAjArAzAAAU/X9@AU$sAy@ADT <A-ޙ=AsZ?A R}A ?A@͵*AR9?2Asֽ:A =BAR9?JAsֽRA =٘i)I9y@YG JJJJFJ/E&K Y^~?yZAE7777a9)3B[[ 4?[^_~?[Ԩ[[[[BZYY i) u ;IE?iR^K <,@))<,@<,@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035676.803165 s, next control iter: 1743035677.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035677.203165 s.I~,CMG'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035677.203288F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A!!@A\_~? A7A &"AAkHwNA"AZAbAjArAzAAA$B)9@A8v sAy@AA=A1?A bÿAT?A*AA9?2AAֽ:A]=BAA9?JAAֽRA]=٘i)I9y@YG JB=JJJJ2E&K Y^~?y$بhZAEb77na9)8B[[QP?[S_~?[̨[[[[BZYY i) 9О:IE?iH -@))-@-@#ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035677.223165 s, next control iter: 1743035677.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035677.623165 s.WI~,]gG'AAG@A{j@A_~? A/A7 &"AAT@wNA"AZAbAjArAzAAAi`9@AHCe7sAx@A@CA)j=A?A@FſA?A@*A9?2A׽:A<BA9?JA׽RA<٘i)I9x@YAG JC=JJJJ5E&K Y^^~?yϨYAEb7a9B)>B E[[(i?[G_~?[Gè[[[[BZYY i) 9ItE?i\C #W/@))#W/@#W/@yM>y̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035677.643165 s, next control iter: 1743035678.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9176 , header.stamp.nsec: 0 0 temperature: 13.384214 * salinity: 33.391605 , density: 1025.000000 * values[0]: 0.707192 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035678.043165 s.I~,ÂG'AJ"J*J2J:JBJnJvJA= ף0@Axܙ#@A_~? A'A &"AAq7wNA"AZAbAjArAzAAA(n;9@Aw5msA!w@AxA=AGd?A%ǿA?A,*A9?2A3!׽:Ap<BA9?JA3!׽RAp<٘i)I9w@YG JãJJJJ7E&K Y^~?ybǨYAE77a9)BB[[J?@[T;_~?[[[[[BZYY i) "IE?i@= 0@))0@0@:ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035678.063165 s, next control iter: 1743035678.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035678.463165 s.XI~,G'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743035678.463280F (some fields omitted in printout)Afffff@A$[Y@A_~? A+ Aj &"AA-wNA"AZAbAjArAzAAAJ 9@AZ!sAsw@AHN,A'=A?AȿA?A?n*A9?2Aֽ:A*<BA9?JAֽRA*??y=},ٓH ٿ@!N\q>?@ٿ`{Ǯ?உP?)>? I٘i)I9sw@YG JJoJJJ:E&K4x> Yk^~?yQ5YA?Eb77-a9)FB[[@[)._~?[[[[[BZYY i)  ̺IyE?iْ ; n2@))n2@n2@]ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035678.483165 s, next control iter: 1743035678.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9177, header.stamp.nsec: 00 temperature: 13.384486* salinity: 33.391621, density: 1025.000000* values[0]: 0.706020F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035678.883165 s.yI~,/G'AJ"J*J2J:JBJnJvJA(@A۞ @A_~? AgA&"AAW#wNA"AZAbAjArAzAAAA~S9@A sAv@A⫹AX=A;@AʿA?Aܟ*Ac9?2Aֽ:AI]<BAc9?JAֽRAI]<٘i)I9v@YIG J`JJJJ=E&K Y^~?y?XAĨE777a9B)LBE[[9W@[\ _~?[[[[[BZYY i) k#I2jE?ih8 3@))3@3@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035678.903165 s, next control iter: 1743035679.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035679.303165 s.[I~,gG'AA@AyZ~@A_~? AA֙&"AA$wNA"AZAbAjArAzAAA$9@AS_5sA]gv@AL$<A =Ai}@A̿A`[\?A*A9?2AGֽ:AD<BA9?JAGֽRAD<٘i)I9gv@YG JJJJJ?E&K Y^~?y.tXAƨE{7j7Xa9B)PBE[[L@[_~?[,[[[[BZYY i) `I [E?i*g4 5@))5@5@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035679.323165 s, next control iter: 1743035679.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9178., header.stamp.nsec: 0.0 temperature: 13.384721.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.704910.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035679.723165 s. I~,HG'AJ"J*J2J:Ju4?BJu4?nJ9=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: 0.4200092 time: 1743035679.723329F (some fields omitted in printout)Az@AD@A_~? A A!0&"AA. wNA"AZAbAjArAzAAARp9@A&9tsAu@Av<A=A@AjοA6?AS*Av9?2AI=ֽ:A<BAv9?JAI=ֽRA<٘i)I9u@YG JUJJJJBE&K Ys^~?yXAɨEa9)UB[[i@[_~?[[[[[BZYY i) I_LE?iqԥ. @7@))@7@@7@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035679.743165 s, next control iter: 1743035680.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035680.143165 s.V/I~,* H'AA ףp=@A"d0@AH_~? AfAn&"AAvvNA"AZAbAjArAzAAAcL5 V9@AsHrA^u@AyG<A =A@A`пA?A+*A<9?2AKtֽ:AJ<BA<9?JAKtֽRAJ<٘i)I9^u@YVG J᛼JJJJEE&K Y!^~?y WĄE77a9B)ZBE[[@[x^~?[퐨[[[[BZYY i) ǭIL>E?is' 8@))8@8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035680.163165 s, next control iter: 1743035680.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035680.563165 s.I~,V $H'AJ"J*J2J:JBJnJvJA3333s@Aj+f@A_~? AAY&"AAvNA"AZAbAjArAzAAA\~C:9@ACrA t@A*;;AW=An@AѿA ?A%*A9?2A!ֽ:A<BA9?JA!ֽRA Y:^~?y`XWAq@ϨEZ7SI7a9)^B[[cx @[A^~?[[[[[BZYY i.) ̻Is0E?iD$ :@)):@:@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035680.583165 s, next control iter: 1743035680.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9179, header.stamp.nsec: 00 temperature: 13.384991* salinity: 33.391640, density: 1025.000000* values[0]: 0.703803F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035680.983165 s.I~,>H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035680.983310F (some fields omitted in printout)A\@A`5@At_~? AVA&"AAvNA"AZAbAjArAzAAAq9@AatѯrAit@A_A=A@AѿA ?Ayʼn*A9?2A[ ׽:A<BA9?JA[ ׽RA<٘i)I9it@YG JҍC=JJJJJE&K YU^~?yVAѨE77{7a9B)dBE[[W @[^~?[#[[[[BZYY i) 2I"E?i{( d;@))d;@d;@sYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035681.003165 s, next control iter: 1743035681.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035681.403165 s.&I~,YH'AJ"J*J2J:JBJnJvJAQ@A"@AK_~? AA~&"AAvNA"AZAbAjArAzAAAXb'8@Ai%rAxs@A*oA%=Aj@AҿA?A*i*A9?2A<׽:A[T<BA9?JA<׽RA[T<٘i)I9s@Y}G J܅B=JJJJME&K Yn^~?y VAԨEb77Ca9)hB[[ @[5^~?[xy[[[[BZYY i) AIE?iriF */=@))*/=@*/=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035681.423165 s, next control iter: 1743035681.803178 s, wait time: 0.380013 sn^~?) "tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9180", header.stamp.nsec: 0"0 temperature: 13.385194"* salinity: 33.391647", density: 1025.000000"* values[0]: 0.702771"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035681.823165 s.I~,ѯtH'AAGz@A*mq@A_~? AAQ&"AAvNA"AZAbAjArAzAAAxF8@AP;rAˌs@A^AvT=Ah @AeӿAR?At́*A9?2A׽:A3<BA9?JA׽RA3<٘i)I9s@Y;G JeC=JJJJPE&K Yr^~?y^JVAרEa9)kB[[K@[q^~?[q[[[[BZYY i) JPIn E?i$h4 >@))>@>@y=帪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035681.843165 s, next control iter: 1743035682.223214 s, wait time: 0.380049 s rAdjusting time to match Gazebo time: 1743035682.243165 s.#I~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077683< massPositionAction: 0.0000004 buoyancyAction: 0.000500J"J*J dt: 0.4199302J:J2 time: 1743035682.243283F (some fields omitted in printout)BJnJvJAףp=J@A5=@A_~? A:ܩA&"AAvNA"AZAbAjArAzAAAS8#!8@A0rAs@A.Ap=Aج @A`qԿA?A*A9?2Aֽ:An=BA9?JAֽRAn=٘i)I9s@YG J JJJJRE&K Yd^~?yxUA٨E77na9 B)pBE[[[@[9^~?[j[[[[BZYY i) i$ID?i[ .<@@)).<@@.<@@滪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035682.263165 s, next control iter: 1743035682.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035682.663165 s.*I~,qH'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9181, header.stamp.nsec: 00 temperature: 13.385427* salinity: 33.391659, density: 1025.000000* values[0]: 0.701868F (some fields omitted in printout)A@Ay"r@A_~? AԩA,&"AA[vNA"AZAbAjArAzAAAJ8@AˀrAЫr@AF¹;A+=A @A _տAt?Aꌼ*A9?2Acdֽ:A =BA9?JAcdֽRA =Y?0 @y*=H0;ٓHr  ?`\z N?`a@8w?@?)? I٘i)I9r@YG J͈J;JJJUE&Kx> YQT^~?yqUA @ܨEŧ7b7a9)tB[[u @[[^~?[rc[[[[BZYY i) d4I D?iU2 !A@))!A@!A@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035682.683165 s, next control iter: 1743035683.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035683.083165 s.D1I~, SH'AJ"J*J2J:JBJnJvJA)\µ@A@A|_~? AͩA!&"AAvvNA"AZAbAjArAzAAA]udt8@AJ hrA3r@Aa<A+ڍ=A*2 @A@4ֿA ?AMD*A/9?2A1ֽ:AA =BA/9?JA1ֽRAA =٘i)I93r@YhG JJJJJXE&K YD^~?yRj5UAߨE7777a9 B)zBE[[@[w^~?[e\[[[[BZYY i) OCI D?iNK DC@))DC@DC@'êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035683.123165 s, next control iter: 1743035683.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035683.503165 s.7I~,@4H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035683.503277F (some fields omitted in printout)AR@AWy@AUp_~? AƩA0D&"AA~vNA"AZAbAjArAzAAAH,jN8@A;rAٵq@AkLo<Af=A~@A) ׿A@"t?A*Aۺ9?2ACGֽ:Ak =BAۺ9?JACGֽRAk =٘i)I9q@YG JJJJJZE&K Y3^~?y"cTAEj7.a9)~B[[ @[Ac^~?[U[[[[BZYY i) WSID?i-D2 D@))D@D@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035683.523165 s, next control iter: 1743035683.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9182, header.stamp.nsec: 00 temperature: 13.385666* salinity: 33.391685, density: 1025.000000* values[0]: 0.700863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035683.923165 s.?>I~,H'AJ"J*J2J:Jk3?BJk3?nJ"<5vJA{G!@ARy;@AYc_~? AĿA&"AAkvNA"AZAbAjArAzAAA4w '8@AxOrAg6q@A<AkՒ=A@A׿A`~6?A*Aз9?2Aֽ:A =BAз9?JAֽRA =٘i)I96q@YG JJJJJ]E&K Y[#^~?y[zTAEb77a9B)BE[[@[O^~?[N[[[[BZYY i) bID?iZ8 9JF@))9JF@9JF@ɪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035683.943165 s, next control iter: 1743035684.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035684.343165 s. Yv^~?y NSAy@Eb7b9B)BE[[ۃ@[y%^~?[A[[[[BZYY i) ID?iw#B<ѻ PH))PHeKI@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035684.783165 s, next control iter: 1743035685.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035685.183165 s.RI~,cKI'AA(\@A @A9_~? AJAB`&"AA|-vNA"AZAbAjArAzAAA7@A,D#RrAo@A7vAj=A@A@PڿAso?A6p*A 9?2A3׽:A =BA 9?JA3׽RA =٘i)I9o@YG JJJJJeE&K Y]~?y~GQSAE77j7 b9B)BE[[u@[^~?[;[[[[BZYY i) GIVD?icŻ TG))TGJ@VԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035685.203165 s, next control iter: 1743035685.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035685.603165 s.:4YI~,fI'AJ"J*J2J:J2?BJ2?nJ;5vJAQ@A0E@A*_~? AA&"AAnvNA"AZAbAjArAzAAA]u {7@A\e=DrA/o@Ack!AJۜ=A{@A ۿA)?Adg*A9?2A+ֽ:A =BA9?JA+ֽRA =٘i)I9/o@YG JSJJJJhE&K YR]~?y@RAEb77b9)B[[y@[)]~?[5[[[[BZYY i) sُID?iX{ DE))DEqIL@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035685.623165 s, next control iter: 1743035686.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9184 , header.stamp.nsec: 0 0 temperature: 13.386142 * salinity: 33.391682 , density: 1025.000000 * values[0]: 0.698750 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035686.023165 s.Z`I~,{I'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077683< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198282 time: 1743035686.023283F (some fields omitted in printout)AHz.@A<!@A_~? AAc&"AAvNA"AZAbAjArAzAAAW/M7@AErABn@A :Av=A~_@A ۿA?A *AA9?2Azֽ:A=BAA9?JAzֽRA=٘i)I9n@Y=G J*JJJJjE&K Y]~?y;:RAE77b9B)BE[[/@[ ]~?[/[[[[BZYY i() jID?iYV٦ XD))XD*M@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035686.043165 s, next control iter: 1743035686.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035686.443165 s.3fI~,-]I'AJ"J*J2J:J2?BJ2?nJm;5vJAq= c@A/V@A _~? AA&"AAauNA"AZAbAjArAzAAAW<7@AMB UrAn@A4.<A7x=Aן@AHܿA?Af*A9?2A'ֽ:A=BA9?JA'ֽRA=٘i)I9n@YG JJJJJmE&K Y+]~?y3RAEb7Db9)B[[d@[]~?[J*[[[[BZYY i) IjD?i澉 B))BCO@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035686.463165 s, next control iter: 1743035686.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9185, header.stamp.nsec: 00 temperature: 13.386407* salinity: 33.391697, density: 1025.000000* values[0]: 0.697650F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035686.863165 s.+mI~,>I'AA@A͎@A^~? ALA_&"AAguNA"AZAbAjArAzAAA.16@AbEztrAwm@Ax<A=A@A ZݿAN?A쵼*A9?2Aֽ:A=BA9?JAֽRA=Y @<@yޡ=AIy<ٓHEPG9`?[0?x6@?z?) @ I٘i)I9wm@YG JɴJ|?<JJJpE&Kw> Y]~?y-QA@E{7j7b9B)BE[[@[]~?[$[[[[BZYY i) ?kID?if־M7 m>))>m>wS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035687.723165 s, next control iter: 1743035688.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035688.123165 s.8I~,aJ'AJ"J*J2J:J 2?BJ 2?nJ:5vJAG:@Af-@A^^~? A~A&"AAuNA"AZAbAjArAzAAA.T6@A. /Z5rANk@AxX AT=A?@A߿A]?AG*AE9?2Al׽:A=BAE9?JAl׽RA=٘i)I9k@YpG J_C=JJJJxE&K Yc]~?ylPAEb7b7#b9B)BE[[P4$@[_p]~?[w[[[[BZYY i) ID?iٍݐ5 <))<*U@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035688.163165 s, next control iter: 1743035688.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035688.543165 s.II~,"J'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743035688.543280F (some fields omitted in printout)A= ףp@AeNc@A^~? AxA?&"AAGkuNA"AZAbAjArAzAAAQZ6@Ah2rAUk@A&pA,=AF@AA`) ?A*AU9?2A6׽:A6=BAU9?JA6׽RA6=٘i)I9k@YG J'JJJJ{E&K YO]~?yOAEŧ7ŧ7.'b9B)ůB޹E[[%@[X]~?[[[[[BZYY i) m&ļID?i\_ };))};ˡV@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035688.583165 s, next control iter: 1743035688.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9187, header.stamp.nsec: 00 temperature: 13.386978* salinity: 33.391758, density: 1025.000000* values[0]: 0.695185F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035688.963165 s.{I~,=J'AJ"J*J2J:JBJnJvJAffff@Ao^@A^~? A%sA|&"AA=PuNA"AZAbAjArAzAAA߹5@Ax rAwj@AD WAB(=A @A@5wA?A`ս*A9?2A׽:Aj!=BA9?JA׽RAj!=Yx@~@yh$=WٓHd RPZ`cH??ֽ኿?)x@ II٘i)I9wj@YG JB=Ji<JJJ}E&Kx> Y8]~?y?OA~@E{7j7*b9)ʯB[[G'@[4@]~?[0 [[[[BZYY i) +k˼ID?io78 :)):X@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035688.983165 s, next control iter: 1743035689.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035689.383165 s.ؕI~,4XJ'AA(@A@A;^~? AtmA"&"AA4uNA"AZAbAjArAzAAA( 5@A^rANi@AAf=A3 @A@A k]?ApƼ*Ab9?2Aֽ:A{e=BAb9?JAֽRA{e=٘i)I9i@YPG JC=JJJJE&K Y"]~?y OAE)7)7Y.b9!B)үBڹE[[(@[']~?[[[[[BZYY i) ҼIÈD?i'  (8))(8Y@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035689.403165 s, next control iter: 1743035689.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9188", header.stamp.nsec: 0"0 temperature: 13.387280"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.693954"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035689.803165 s.AI~,gsJ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035689.803313F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AWv@Ar^~? AgA&"AAwuNA"AZAbAjArAzAAAÒw5@A T,rA*i@Ar;A'|=A"@A`xA@?Aм*A9?2A#ֽ:A=BA9?JA#ֽRA=٘i)I9*i@Y G J2˼JJJJE&K Y ]~?yNA E{7Z71b9"B)ٯB׹E[[)@[]~?[[[[[BZYY i) ټID?i\y_ 7))7[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035689.823165 s, next control iter: 1743035690.203186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743035690.223165 s.gI~,HJ'AAzG@A:@ANm^~? AlbA&"AAtNA"AZAbAjArAzAAA&l=5@A2g ؝rA^xh@Aœd<AUm=AQ#@A`oAY?Ah$ؼ*A%9?2A+ս:A!=BA%9?JA+սRA!=٘i)I9xh@Y| G J-ԼJJJJE&K Y(\~?yI,NA E7775b9)߯B[[]V+@[0\~?[[[[[BZYY i) J8I7D?io߼ 5))5s\@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035690.243165 s, next control iter: 1743035690.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035690.643165 s.wЩI~, *J'AJ"J*J2J:JM1?BJM1?nJ95vJA ףp}@AqQep@AY^~? A]A=f&"AAtNA"AZAbAjArAzAAA~5@A7urAg@AE(j<AIն=A$@A A?Aܼ*A)}9?2Aֽ:AV!=BA)}9?JAֽRAV!=٘i)I9g@Y G JTڼJJJJE&K Y\~?yMAE779b9$B)BԹE[[ܼ,@[S\~?[[[[[ZZ¸BZYY i¸J=) JFռID?iD=b9 :4)):4]@:YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9189Waiting for Gazebo time sync: latest Gz time: 1743035690.663165 s, next control iter: 1743035691.043178 s, wait time: 0.380013 s, header.stamp.nsec: 00 temperature: 13.387580* salinity: 33.391750, density: 1025.000000* values[0]: 0.692582F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035691.063165 s.I~,V J'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082490< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035691.063296F (some fields omitted in printout)A3333@Aq0'@AE^~? AWAL&"AAtNA"AZAbAjArAzAAA驜4@A>YhrAg@A_;A=A,%@A@AR?AXFܼ*Axz9?2Ajֽ:A)=BAxz9?JAjֽRA)=Y@&@y߷=;ٓH`5p ޘ?N@> ?@}??)@ I٘i)I9g@Y G JܼJ\9<JJJE&Kx> Y\~?yd': /))/3b@yJ=p֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035691.923165 s, next control iter: 1743035692.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035692.323165 s.xI~,-K'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082490< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743035692.323293F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzT@AoG@A^~? AIA^&"AAbdtNA"AZAbAjArAzAAA(u 4@A-]tXrAPd@A=|AEnz=A )@AA?AF7*AP9?2Awֽ:A1Ma<BAP9?JAwֽRA1Ma<٘i)I9d@Y G JHC=JJJJE&K Ye~\~?yKAEb77oGb9*B)BʹE[[V2@[vw\~?[|[[[[ZZBZYY i) HI+D?i`r>; ~.))~.c@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035692.343165 s, next control iter: 1743035692.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9191*, header.stamp.nsec: 0*0 temperature: 13.388321** salinity: 33.391735*, density: 1025.000000** values[0]: 0.689472*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035692.743165 s.WI~,y/K'AAףp=@A&L1}@Ab]~? AXDAHP&"AADtNA"AZAbAjArAzAAAfIe3@AyS{rAQc@AN&Ab7=AC+@A6At?AUм*AH9?2ALֽ:A;BAH9?JALֽRA;٘i)I9c@Y G JbJJJJE&K YRf\~?yNKAEŧ7b7Kb9,B) BǹE[[ĵ3@[]\~?[[[[[ZZBZYY i) I[D?i̛>plG; -))- e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035692.763165 s, next control iter: 1743035693.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035693.163165 s.z}I~,qJK'AJ"J*J2J:JBJnJvJA@A@@A]~? A?A&"AAa$tNA"AZAbAjArAzAAA@f3@A 4rA`*c@A¬8Ae<A,@A@{|A ?A*A9?2A7ֽ:A筺BA9?JA7ֽRA筺Yf@,@ye<Ӭ8ٓH@ۿ\Q? @v?p X??)f@ I٘i)I9*c@YA G JXļJ*JJJE&Kx> YL\~?yF(KA,@Eb77Nb9-B)BĹE[[)5@[C\~?[[[[[ZZBZYY iq3=) fID?i>hb; +))+ yf@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035693.183165 s, next control iter: 1743035693.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035693.583165 s.I~,SeK'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069434< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035693.583297F (some fields omitted in printout)A)\@A닄@A6]~? A`;AH&"AAtNA"AZAbAjArAzAAA\t}vH3@A2rAb@A{#<A4<A?-@AjA@@?A *A9?2A¤ֽ:AzBA9?JA¤ֽRAz٘i)I9b@Y G JJJJJE&K Y>3\~?yxܧKA"E7777/Rb9)B[[s|6@[)\~?[b[[[[ZZBZYY i) !ID?i>; ;*));*g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035693.603165 s, next control iter: 1743035693.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9192, header.stamp.nsec: 00 temperature: 13.388659* salinity: 33.391739, density: 1025.000000* values[0]: 0.688064F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035694.003165 s.y I~,P4K'AJ"J*J2J:JBJnJvJAR+@AWy@A/]~? A7ALW&"AAsNA"AZAbAjArAzAAA#QIH3@AfrA7C; ())(/Oi@}(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035694.023165 s, next control iter: 1743035694.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035694.423165 s.uI~,K'AA{Ga@A&:T@A]~? A2A&"AAsNA"AZAbAjArAzAAAkh2@A%C߀rAa@Aw0<A#Ao0@ABA+?AIֻ*A9?2Aݑֽ:AG8BA9?JAݑֽRAG8٘i)I9a@Y G JJJJJE&K Y*\~?yԧJA'E77ZYb90B) BE[[99@[[~?[[[[[ZZBZYY i) f^IëD?i?Nȧ; Ag'))Ag'tj@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035694.443165 s, next control iter: 1743035694.823173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9193, header.stamp.nsec: 00 temperature: 13.388906* salinity: 33.391769, density: 1025.000000* values[0]: 0.687147F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035694.843165 s.I~,K'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079347< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035694.843278F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A|y@AM]~? A.A9&"AAsNA"AZAbAjArAzAAAC }2@AV'_n~rAa@AD:AA*1@AO~Ag?A ܺ*Az9?2AIQֽ:A0ǼBAz9?JAIQֽRA0Ǽ٘i)I9a@Yv G J3B=JJJJE&K Y[~?yѧJA*Eŧ7ŧ7\b91B)"BE[[:@[[~?[ߧ[[[[BZYY i) JIųD?i?f; y%))y%< l@y<ͣ=**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035694.863165 s, next control iter: 1743035695.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035695.263165 s.I~,K'AA@AҨ@Axn]~? A+AF &"AA|sNA"AZAbAjArAzAAA#Bj82@A|rAa@AGAy.A2@A@A?AH;*A9?2AOֽ:A?BA9?JAOֽRA?Y$@3@yw.jٓH տ@7??WtIͥ?∂ Y[~?yΧJA3@,E777`b94B)%BE[[x;@[I[~?[&ާ[[[[BZYY i6i=) s(9I]D?i?; ɘ$))ɘ$m@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035695.283165 s, next control iter: 1743035695.663177 s, wait time: 0.380012 s[~?)Χ2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 91942, header.stamp.nsec: 020 temperature: 13.3889692* salinity: 33.3917772, density: 1025.0000002* values[0]: 0.6868682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035695.683165 s.lI~,cK'AJ"J*J2J:JBJnJvJA(\@AT@AdW]~? Ab'A' &"AAYsNA"AZAbAjArAzAAA6r1@A4yrAb@A^sAhVAD4@AA&?A;*A9?2Aս:ABA9?JAսRA٘i)I9b@Y G J;JJJJE&K Y`[~?y˧KA/E7)7db9)$B[[L=@[[~?[ܧ[[[[BZYY i=) hI(ID?i,?-; 2#))2#n@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035695.683165 s, next control iter: 1743035696.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035696.103165 s.I~,L'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035696.103293F (some fields omitted in printout)AQ8@A |E+@A@]~? A#Af &"AA6sNA"AZAbAjArAzAAAH}ë1@AwrA?b@A/-UA]TuAՒ5@A%A kK?A8`9<*A9?2A ֽ:AT. BA9?JA ֽRAT. ٘i)I9?b@Y G Jb<JJJJE&K Y[~?yȧ?KA2E{7j7gb95B)#BE[[>@[[~?[ۧ[[[[BZYY i) iID?iq;?; !))!Qp@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035696.123165 s, next control iter: 1743035696.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035696.523165 s.I~,|!L'AJ"J*J2J:JBJnJvJAHzn@A!A a@A(]~? Ae A!&"AA*sNA"AZAbAjArAzAAA[6gad1@A"+urA0b@A A 3A6@AYAVl?Aa<*A^9?2Akֽ:A/ BA^9?JAkֽRA/ ٘i)I9b@Y G J^M<JJJJE&K Y|[~?y%ŧyKA4E7777Ekb96B)"BE[[?@[r[~?[٧[[[[BZYY i) ID?iK?x< i ))i q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035696.543165 s, next control iter: 1743035696.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9195, header.stamp.nsec: 00 temperature: 13.388941* salinity: 33.391769, density: 1025.000000* values[0]: 0.687182F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035696.943165 s.[dI~,O]WL'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419998J2 time: 1743035697.363282F (some fields omitted in printout)"J*J2J:JBJnJvJA@Ag_y@A\~? AA!&"AA(rNA"AZAbAjArAzAAAZ0@A=`qrAcmc@A-`<AEAr9@AA@m?Al<*A9?2Aֽ:ABo BA9?JAֽRABo Y؁+@9@yꕽ#a<ٓH``9ο?ج?@4@Wq ? ?@J?)؁+@ I٘i)I9mc@Yj G Jj<J<JJJE&K7x> YF[~?y LA9@:Ej7j7orb99B)BE[[B@[f>[~?[ק[[[[BZYY i) v̻I,D?iUi?pU< զ))զxt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035697.383165 s, next control iter: 1743035697.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9196&, header.stamp.nsec: 0&0 temperature: 13.388800&* salinity: 33.391769&, density: 1025.000000&* values[0]: 0.687859&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035697.783165 s.ZI~,rL'AA(\@A4O@A\~? A A#!&"AArNA"AZAbAjArAzAAAWO0@AUorA=c@AYb<AŚA:@AA?AK<*A9?2Aֽ:A[ BA9?JAֽRA[ ٘i)I9c@Y G J<JJJJE&K Y*[~?yァ}LA$[~?[$ק[[[[BZYY i) 6IkE?iev?< F))Fu@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035697.803165 s, next control iter: 1743035698.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035698.203165 s.#I~,L'AJ"J*J2J:JBJnJvJAQE@A28@A=\~? A<A"&"AArNA"AZAbAjArAzAAAm@0@A1nrAqd@A+;AT؝A*<@A A໾?A?<*Aژ9?2A6ֽ:ABAژ9?JA6ֽRA٘i)I9qd@Y G J<JJJJE&K YD[~?yѻLA?E77{7yb9;B)BE[[LME@[7 [~?[֧[[[[BZYY i) q9IuE?i?N-'< ))8w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035698.223165 s, next control iter: 1743035698.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035698.623165 s.W)I~,]L'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743035698.623288F (some fields omitted in printout)AGz@Amm@A\~? AA0E"&"AA\rNA"AZAbAjArAzAAA$l/@A`ŸlrAe@AABAi=@A`:A`?A<*A 9?2A3ֽ:AVBA 9?JA3ֽRAV٘i)I9e@Ya G J<JJJJE&K YZ~?yGMA DBEŧ7b7/}b9)B[[F@[[Z~?[0֧[[[[BZYY i) kcIdE?i?]1< ))x@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035698.643165 s, next control iter: 1743035699.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9197 , header.stamp.nsec: 0 0 temperature: 13.388628 * salinity: 33.391762 , density: 1025.000000 * values[0]: 0.688770 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035699.043165 s.J "J *J 2J :J S0?BJ S0?nJ 85vJ 0I~,L'AA= ף@A9Z@A\~? AAw"&"AA7rNA"AZAbAjArAzAAA0W'V/@A}bMjrA8e@ANA)A >@An`A`-?A<*Aʡ9?2Avս:AatBAʡ9?JAvսRAat٘i)I9e@Y G J<JJJJE&K YpZ~?yMAEE777ŀb9=B)BE[[G@[Z~?[է[[[[BZYY i) S&IO-E?i?v=< 2-))2-y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035699.063165 s, next control iter: 1743035699.443182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035699.463165 s.T7I~,ߤL'AAffff@A%9`@A~\~? A AJ"&"AArNA"AZAbAjArAzAAAY6U.@AKe낉irA:f@A'nAϝA`?@A 'A@i\?AZ<*A9?2A9ֽ:Aƞ BA9?JA9ֽRAƞ Y2@ @@y˝TnٓH ¿?:?`ۙ t?č?)2@ I٘i)I9:f@Y G J2<B=JJJJE&Kw> YzZ~?yYNA @@GEj7Z7[b9>B) BE[[:I@[Z~?[է[[[[BZYY i)  ֺI=E?i?D< d))dQN{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035699.483165 s, next control iter: 1743035699.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9198, header.stamp.nsec: 00 temperature: 13.388416* salinity: 33.391773, density: 1025.000000* values[0]: 0.689817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035699.883165 s.y=I~,/L'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: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035699.883286F (some fields omitted in printout)A(@Ay@Ae\~? A A"&"AA)qNA"AZAbAjArAzAAAM'.@A}62hrAf@AF"AlAaLA@AA?Aq<*A_9?2Aeֽ:A BA_9?JAeֽRA ٘i)I9f@Y~ G J^<C=JJJJéE&K YZ~?yNAJE)7ŧ7b9?B)BE[[9J@[Z~?[֧[[[[BZYY i)  elevatorAngleAction: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035701.143285F (some fields omitted in printout)A ףp@A?d@A4\~? AAzF#&"AAzyqNA"AZAbAjArAzAAA:0R{[,@A!drA h@Aws<AAQE@A A?ACq<*A9?2A4׽:A{BA9?JA4׽RA{٘i)I9h@Y G J<JJJJ˩E&K YLZ~?ygOAREb77b9)BE[[dN@[VZ~?[Dק[[[[BZYY i) ;IE?i?l< +w))+wET@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035701.183165 s, next control iter: 1743035701.543177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035701.563165 s.XI~,[ dM'AJ"J*J2J:JBJnJvJA3333@Aj@+@A[~? A_Akf#&"AARqNA"AZAbAjArAzAAAՌ<+@AcrA>i@A0<AÑAF@A@A`?A<*AϺ9?2Aֽ:AzBAϺ9?JAֽRAzY!8@CF@yWq1<ٓHA@4L? i?ws? ;4??`?)!8@ I٘i)I9i@Y G JI<B=JEe<JJJΩE&Kx> Yw0Z~?yPAF@UEj7j7Eb9)B[[+O@[p=Z~?[ا[[[[BZYY i) 6A;IqE?iɾ?5t< ,)),@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035701.583165 s, next control iter: 1743035701.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9200, header.stamp.nsec: 00 temperature: 13.387987* salinity: 33.391754, density: 1025.000000* values[0]: 0.691997F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035701.983165 s._I~,~M'AA\(@Ah$@A[~? AA;#&"AA,qNA"AZAbAjArAzAAAQS%+@A ?,brAi@A !:AAG@A)AyO?A<*AŽ9?2Aֽ:A{BAŽ9?JAֽRA{٘i)I9i@Y/G Jq<C=JJJJѩE&K Y@Z~?yPAWE{7ڙb9@B)BE[[P@[A$Z~?[ا[[[[BZYY i) l~;IE?iO?K|<  )) ՝@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035702.003165 s, next control iter: 1743035702.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035702.403165 s.&fI~,͙M'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035702.403298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^@AN`:Q@AX[~? AA#&"AA;qNA"AZAbAjArAzAAA6,An*@Al;brAU'j@A!AoA*IAD<A ?AQ<*A9?2A@ֽ:A)BA9?JA@ֽRA)٘i)I9'j@YG J<JJJJөE&K YY~?y^PAZE77pb9AB)BE[[(>R@[K Z~?[٧[[[[BZYY i) ;IE?i?<  )) A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035702.443165 s, next control iter: 1743035702.803177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9201, header.stamp.nsec: 00 temperature: 13.387800* salinity: 33.391747, density: 1025.000000* values[0]: 0.692974F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035702.823165 s.lI~,6M'AAGz@AWA t@A[~? AAy#&"AA7pNA"AZAbAjArAzAAA^K)@AQ̔arAXj@A*joA1AGALA@uӶ?A<*A9?2A2ֽ:AP$BA9?JA2ֽRAP$٘i)I9j@YG Jݡ<B=JJJJ֩E&K YY~?yDQA]E77j7b9)BE[[\S@[Y~?[$ۧ[[[[BZYY i$=) {;IE?i?VA< cY ))cY )@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035702.843165 s, next control iter: 1743035703.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035703.243165 s.sI~,M'AJ"J*J2J:JBJnJvJAףp=@Ae1@A[~? AA#&"AApNA"AZAbAjArAzAAAkTP)@A2warAX4k@AtIAAjFAZA ?A<*Ai9?2Avdֽ:AhVBAi9?JAvdֽRAhV٘i)I94k@Y&G Jf<C=JJJJ٩E&K YY~?yQA_E7S7b9CB)BE[[T@[(Y~?[xܧ[[[[BZYY i) B;IkE?i? <  )) ҃@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035703.263165 s, next control iter: 1743035703.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035703.663165 s.zI~,qM'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743035703.663262F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9202, header.stamp.nsec: 00 temperature: 13.387603* salinity: 33.391739, density: 1025.000000* values[0]: 0.693951F (some fields omitted in printout)A@A࠽@A~[~? A A#&"AAߏpNA"AZAbAjArAzAAA-t>(@Aݓ`rAk@AfAgwAEA`eAe?A_J<*A9?2Aֽ:A2BA9?JAֽRA2Y ?@Ey0wzgٓH??x zC??l?) ?@ I٘i)I9k@YsG J<B=JC<JJJ۩E&Kx> Y`Y~?y:RAEbEŧ7b70b9BB)BE[[V@[Y~?[ݧ[[[[BZYY i) l;IF?i?<  )) p&@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035703.683165 s, next control iter: 1743035704.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035704.083165 s.DI~, SN'AJ"J*J2J:JBJnJvJA)\5@AI(@Ad[~? AxA#&"AAhpNA"AZAbAjArAzAAA"h*{(@AIе:`rA)l@Adb;Ax<ACA nA`A?A<*A9?2A׽:A'BA9?JA׽RA'٘i)I9)l@YG J<C=JJJJީE&K Y2Y~?yǰ\RAeE)7ŧ7ūb9)BE[[LW@[*Y~?[ߧ[[[[BZYY i)  elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035704.923316F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AfF?@A0[~? AA?#&"AApNA"AZAbAjArAzAAA#a&@A+7_rA m@A]<A󺉽AAA3xA:?A ن<*A9?2An׽:A}BA9?JAn׽RA}I٘i)I9 m@YEG J<C=JJJJE&K YNY~?yᱧSAjE7777b9)ۯBzE[[6Y@[7yY~?[L[[[[BZYY i) u+A |wAMA<*A9?2A^ֽ:ABA9?JA^ֽRAYьE@Ì>yo ٓH Q~? K?"Ŀz?u? s5?)ьE@ I٘i)I9m@YG Jَ<B=J-JJJE&Kw> YY~?y߳SA>oEb9)ԯBwE[[jH\@[JY~?[[[[[BZYY i) iJ elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743035706.183324F (some fields omitted in printout)A(\B@A5@AZ~? AA#&"AAoNA"AZAbAjArAzAAA"%@ACխ?_rAtn@AUAAXN=AsA`A<*A9?2A)ֽ:A7 BA9?JA)ֽRA7 ٘i)I9tn@Y!G Jȕ<C=JJJJE&K YX~?yO,TArEb77b9DB)ЯBtE[[k]@[2Y~?[[[[[BZYY i) KZ elevatorAngleAction: 0.084192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743035707.443285F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= @A=@AZ~? AAN#&"AA-oNA"AZAbAjArAzAAA)#@A,arAo@A;AB9A*S9AXA*A<*Am9?2Aֽ:AP BAm9?JAֽRAP ٘i)I9o@YG J<B=JJJJE&K YDX~?yJUAzE{7qb9)įBkE[[Y4a@[gX~?[[[[[BZYY i) l?N'AA@A*s @A){Z~? AA#&"AARoNA"AZAbAjArAzAAAAe݌"@A+gݛarA|p@AC<AtA7\8A`DRA䰸A <*AD}:?2A2:AL BAD}:?JA2RAL YʮK@j8ysD<ٓH@?W? iпd?>? ??)ʮK@ I٘i)I9|p@Y]G J-<C=J=JJJE&Ki> YX~?y廧UAj8}E777b9)BhE[[nb@[X~?[w[[[[BZYY i) ϋ elevatorAngleAction: 0.084192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743035708.703328F (some fields omitted in printout)AQ@A x@AGZ~? A A#&"AAnNA"AZAbAjArAzAAA( S!@A,pcrAq@AD.<A9A6A@AiA)<*A:?2AfĽ:ABA:?JAfĽRA٘i)I9q@YG Jy<B=JJJJE&K YeUX~?yl|VAEb771b9)BeE[[d@[X~?[[[[[BZYY i) ts֭@A-Z~? A\AՅ#&"AAnNA"AZAbAjArAzAAA&ҵ @A5crA2r@AK.Aa A5A1A`3+A}<*A:?2AJ`ǽ:AӜBA:?JAJ`ǽRAӜ٘i)I9r@YTG J<C=JJJJE&K Y!:X~?y§VAEŧ7ŧ7b9)BbE[[f@[_X~?[[[[[BZYY i)  elevatorAngleAction: 0.084192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035709.963291F (some fields omitted in printout)Affff&@At ^@AY~? AhAM#&"AA CnNA"AZAbAjArAzAAA)G@AwerA YFX~?yǧWA2Eb77b9)B\E[[{h@[lX~?[s[[[[BZYY i) i elevatorAngleAction: 0.084192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035711.223284F (some fields omitted in printout)Az@A(G@AqY~? A A"&"AAmmNA"AZAbAjArAzAAA4 g@A/'irA6u@AS <ANA.A׵AȿA|0<*AT:?2Aiӽ:ACBAT:?JAiӽRAC٘i)I96u@Y>G Jk<JJJJ E&K YW~?yЧYAEj7j7b9)BWE[[cl@[.X~?[_[[[[BZYY i) g))>忩8@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035711.663165 s, next control iter: 1743035712.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9210, header.stamp.nsec: 00 temperature: 13.386036* salinity: 33.391666, density: 1025.000000* values[0]: 0.701974F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035712.063165 s.I~,V P'AA33333@AH,&@Ae|Y~? AA"&"AAWmNA"AZAbAjArAzAAArc@ApkrABv@Ai<AײAKH,AXoA@Dt̿A|<*AQ@:?2AM_ս:ABAQ@:?JAM_սRAYּW@\,yӲ@yj<ٓH?膲?@Fۿ _? S?Q2??)ּW@ I٘i)I9v@Y G J<C=J5JJJE&K|> YW~?yקYA\,E77j7b9CB)BQE[[ln@[EX~?[,[[[[BZYY i)  elevatorAngleAction: 0.084192< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743035712.483318F (some fields omitted in printout)J"J*J2J:JBJnJvJA\h@A/1[@AcY~? A0A]^"&"AA]mNA"AZAbAjArAzAAA9@AdP|mrA2w@AF;ALOA$+AHA@=οA<*AW7:?2Auս:ABAW7:?JAuսRA٘i)I92w@YsG J<JJJJE&K Y9gW~?ypۧpZAE777qb9)BNE[[}o@[W~?[>[[[[BZYY i) q%@AJY~? AA+"&"AA38mNA"AZAbAjArAzAAAl0 @AP][VorAw@AĻAVYA)A`A8пA}<*A.:?2Aս:A=VBA.:?JAսRA=V٘i)I9w@YG JF<B=JJJJE&K YMW~?y@ߧZAEb9)BKE[[p@[W~?[f[[[[ZZZZ¸>BZYY i¸> %) !W~?[#[[[[ZZZZBZYY i)   c9YW~? c9y}>\A%Eŧ7b7c91B)^BEE[[uIt@[W~?[k,[[[[ZZZZBZYY i) x&{@A~;A6pAw$AaA!ӿA<*A_::?2A?ֽ:A\BA_::?JA?ֽRA\٘i)I9&{@YG J<JJJJ!E&K YV~?y\AE{7j7[c9)XBCE[[vtu@[ܗW~?[0[[[[ZZZZBZYY i) סJJJ,E&Ky> Y5V~?yL]A;E77c9)EB:E[[z@[SW~?[C[[[[ZZZZBZYY i{) lkQ'AJ"J*J2J:J5?BJ5?nJV>5vJAY@AkGqL@A@X~? A,FA&"AA]okNA"AZAbAjArAzAAAK}@AprA+H}@A<A3|=A A`$?AۿA9>*A9?2ADxֽ:A =BA9?JADxֽRA =Y^k@{yN|=99<ٓHA@ ?L+P`Yˌ]??)^k@ I٘i)I9H}@Y(G JB=J>JJJ9E&Kww> YV~?yL]AEZ7SI7%c9/B)EB1E[[@[W~?[][[[[BZYY iSg) XC=JJJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743035720.043284F (some fields omitted in printout)A= ף0@AQ#@AoW~? AYA&"AAjNA"AZAbAjArAzAAAU-F?A3rA-u{@ApۻAi=AtyA`Av ޿A*AJ9?2AZ׽:An' =BAJ9?JAZ׽RAn' =٘i)I9u{@Y G JB=JJJJDE&K YhU~?y6[A˩Eb73c9)SB)E[[(/@[CV~?[Ws[[[[BZYY i) W;Iit@¾= ))#Q@y,hԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035720.063165 s, next control iter: 1743035720.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035720.463165 s.ZI~,R'AAfffff@A[Y@AW~? A_A9&"AAhjNA"AZAbAjArAzAAA~$?AڂǛrAz@AvA<̚=A!A vA޿A*A9?2A7׽:A=BA9?JA7׽RA=Yq@3yǚ= wٓH 6?9s } $`@T 4ߎ?)q@ I٘i)I9z@YG JC=J=JJJGE&Kx> YU~?y=[A3ͩE77{77c9)WB[[]@[V~?[x[[[[BZYY i) <;Iiv@=  )) X@yCuժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035720.483165 s, next control iter: 1743035720.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9219, header.stamp.nsec: 00 temperature: 13.385063* salinity: 33.391567, density: 1025.000000* values[0]: 0.707363F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035720.883165 s.yI~,M8R'AJ"J*J2J:JBJnJvJA(@AϚ@A W~? AadAJ&"AAjNA"AZAbAjArAzAAAQ?AÅ}s rA^z@A~AҚ=AAqA߿A*A29?2Aq׽:As=BA29?JAq׽RAs=٘i)I9^z@YbG JwJJJJIE&K YrU~?yFD)[AЩE7)7;c9.B)[B&E[[*Q@[V~?[~[[[[BZYY i) ?J;Iix@"= r))r%s@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035720.903165 s, next control iter: 1743035721.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035721.303165 s.YI~,gSR'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035721.303300F (some fields omitted in printout)A@AVC@AW~? AiAG&"AA5jNA"AZAbAjArAzAAAY?AtydrAy@AN\A=AAAAoK*Ae:?2A+׽:A=BAe:?JA+׽RA=I٘i)I9y@Y G JJJJJLE&K YU~?yJZAөE777>c9)`B[[k@[wV~?[_[[[[BZYY i) ;Ii{@0 = 1))1f@)ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035721.323165 s, next control iter: 1743035721.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9220., header.stamp.nsec: 0.0 temperature: 13.385291.* salinity: 33.391537., density: 1025.000000.* values[0]: 0.706410.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035721.723165 s.I~,HnR'AJ"J*J2J:J4?BJ4?nJ=5vJAz@A7@AW~? AtoABu&"AAizjNA"AZAbAjArAzAAAft ?A3] ϥrA=y@A=<;A=A0OAAArA\*A:?2A2ֽ:A~=BA:?JA2ֽRA~=٘i)I9=y@YG J[JJJJOE&K Y}U~?yQYZAթES77GBc9/B)eB$E[[q@[GV~?[$[[[[BZYY i) :Ii}@|"= c))c󭿩@@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035721.743165 s, next control iter: 1743035722.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035722.143165 s.T/I~,)R'AA ףp=@Af0@AlW~? A*uA&"AA*^jNA"AZAbAjArAzAAAmX6?A KrAlx@A`<A=A A uA`A.*A0:?2AItֽ:A=BA0:?JAItֽRA=٘i)I9x@YWG JJJJJRE&K YoU~?y=XYAةEb7b7Ec9.B)iB!E[[@[yV~?[[[[[BZYY i) V9Ii@$= ))!@cϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035722.163165 s, next control iter: 1743035722.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035722.563165 s.I~,[ R'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: -0.065962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743035722.563294F (some fields omitted in printout)A3333s@A_`V(f@AZW~? AzAa&"AAzBjNA"AZAbAjArAzAAAjaʿA_=XڬrAZx@A+<A=Ab A@ARAQ*A:?2A{ֽ:A?=BA:?JA{ֽRA?=YQkx@C y=~<ٓH-T!,?@!g{zx@3??)Qkx@ I٘i)I9x@YG JxJ-JJJTE&Kqx> Y^U~?yr_YA ۩E777rIc9)nB[[@[V~?[ݕ[[[[BZYY i) Ii8@g%= w))w챞@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035722.583165 s, next control iter: 1743035722.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9221, header.stamp.nsec: 00 temperature: 13.385551* salinity: 33.391529, density: 1025.000000* values[0]: 0.705363F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035722.983165 s.I~,R'AA\@A@AHW~? AA#&"AA_'jNA"AZAbAjArAzAAA @ qڿA,zrAw@A.%<A=Ak AE߿A@oA*A:?2Aֽ:A7=BA:?JAֽRA7=٘i)I9w@YG JꬼJJJJWE&K YNU~?yf+YAݩE{7Mc9-B)qBE[[@[wV~?[ӛ[[[[BZYY i) &ȺIi@'&= O9))O9A@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035723.023165 s, next control iter: 1743035723.383178 s, wait time: 0.360013 sNU~?)f rAdjusting time to match Gazebo time: 1743035723.403165 s.&I~,R'AJ"J*J2J:JBJnJvJAQ@AHG@A7W~? AA&"AA jNA"AZAbAjArAzAAAhAG,rAv@A!AD=A A`޿A`hAu*A:?2A;׽:Ae:<BA:?JA;׽RAe:<٘i)I9v@YPG JäJJJJZE&K Y[>U~?ymXAE7Pc9)vB[[@[lV~?[ԡ[[[[BZYY i) O!Ii*@'= ))П@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035723.423165 s, next control iter: 1743035723.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9222", header.stamp.nsec: 0"0 temperature: 13.385814"* salinity: 33.391544", density: 1025.000000"* values[0]: 0.704357"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035723.823165 s.I~,)R'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: 0.4199692 time: 1743035723.823268F (some fields omitted in printout)AGz@AUq@A&W~? A%Ae7&"AAiNA"AZAbAjArAzAAAcN<A8&rAuv@A?DA=AA`m޿AAi*A2:?2An׽:As<BA2:?JAn׽RAs<٘i)I9uv@YG JJJJJ\E&K Y".U~?yudXAEb772Tc9.B)zBE[[]=@[nbV~?[ާ[[[[BZYY i) fH^Iij@})=  ¢)) ¢X_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035723.843165 s, next control iter: 1743035724.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035724.243165 s.I~,iS'AJ"J*J2J:JBJnJvJAףp=J@Az2=@AHW~? AjA&"AAiNA"AZAbAjArAzAAAg<A»rAu@AA-#=AcAPݿA`aA𠑼*AR:?2A`׽:A<BAR:?JA`׽RA<٘i)I9u@YG JFJJJJ_E&K YU~?yG|XAE77{7Wc9)~B[[Uˇ@[]XV~?[ﭨ[[[[BZYY i) Iiم@S+= +))+P@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035724.263165 s, next control iter: 1743035724.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035724.663165 s.I~,q*S'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9223, header.stamp.nsec: 00 temperature: 13.386001* salinity: 33.391529, density: 1025.000000* values[0]: 0.703471F (some fields omitted in printout)A@Apr@A=W~? AəAB&"AAiNA"AZAbAjArAzAAAgusSGA5ZHrA~u@AHAv=A A@ܿA cA&_*A/:?2AMG׽:A<BA/:?JAMG׽RA Y"U~?yWA(E)7ŧ7][c9)B[[@Z@[NV~?[[[[[BZYY i) UIib@,= N))N;|@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035724.683165 s, next control iter: 1743035725.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035725.083165 s.DI~J"J,SES'A*J2J:J4?BJ4?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743035725.083328F (some fields omitted in printout)A)\µ@Ae@AV~? ABAw&"AAiNA"AZAbAjArAzAAAP=Aj {rAYu@AyѺA"=AAۿA@A*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9u@Y G JǐJJJJdE&K YXU~?yIWAE777^c9-B)BE[[@[%EV~?[K[[[[BZYY i) B˻Ii@{,= )) @ϺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035725.103165 s, next control iter: 1743035725.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035725.503165 s.I~,;4`S'AAR@AQ}@AhV~? AӦABF&"AAiNA"AZAbAjArAzAAA9G AmrAFt@AUW!<A=AAۿA?;AP*A:?2ASֽ:A<BA:?JASֽRA<٘i)I9t@YG JKJJJJgE&K YT~?yXVAE{7{7bc9/B)BE[[3w@[:JJJoE&Kx> YT~?yΪUADEHmc9-B)BE[[= @[#V~?[oӨ[[[[BZYY i)  $Ii@1= 6))68B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035726.783165 s, next control iter: 1743035727.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035727.183165 s.I~,^S'AA(\@A @AV~? A©AV7&"AA:iNA"AZAbAjArAzAAAR+˜AӍ2rA r@AbA [=AǗA^׿A`'DAV*A9?2Ad׽:A7=BA9?JAd׽RA7=٘i)I9r@YG J͉JJJJrE&K YT~?y䲨}UAE77pc9.B)BE[[@[}V~?[٨[[[[BZYY i) ݏ3IiL@M2= o))oϤ@¿YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743035727.223165 s, next control iter: 1743035727.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743035727.603165 s.64I~,S'AJ"J*J2J:Jv3?BJv3?nJ-<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743035727.603300F (some fields omitted in printout)AQ@A{E@AV~? AɩAL&"AA&iNA"AZAbAjArAzAAAS&C"AtzrA;r@AzA=ASAֿA nAg*A 9?2Az׽:Ax=BA 9?JAz׽RAx=٘i)I9;r@YnG JJJJJtE&K Y_T~?y!UAEb77rtc9)B)B[[{;@[<V~?[?[[[[BZYY i) CIi @@3= Ɏ))Ɏv]@3êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035727.623165 s, next control iter: 1743035728.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9226 , header.stamp.nsec: 0 0 temperature: 13.386634 * salinity: 33.391464 , density: 1025.000000 * values[0]: 0.701021 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035728.023165 s.ZI~,{T'AAHz.@AH!@AV~? AЩA%&"AAEiNA"AZAbAjArAzAAAݭSQA rAq@AwA`ɐ=AOA@uֿA޻AČ*A9?2A]b׽:A"=BA9?JA]b׽RA"=٘i)I9q@Y'G J뉼JJJJwE&K Y*T~?yèTAE77{7xc9)BE[[Ȍ@[[ V~?[[[[[BZYY i) 6RIi@o4= +))+@!ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035728.063165 s, next control iter: 1743035728.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035728.443165 s.8I~,B]T'AJ"J*J2J:J]3?BJ]3?nJ<5vJAq= c@AдV@AV~? AGשAy&"AAiNA"AZAbAjArAzAAA=O; uANj/rANq@A>A =AA @CտAsA9̔*A9?2Aֽ:AB =BA9?JAֽRAB =٘i)I9Nq@YG JJJJJzE&K YT~?y%˨hTAE{c9)B[[:U@[V~?[$[[[[BZYY i) !bIi@5= b))b5w@ ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035728.463165 s, next control iter: 1743035728.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9227, header.stamp.nsec: 00 temperature: 13.386831* salinity: 33.391445, density: 1025.000000* values[0]: 0.700248F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035728.863165 s.+ I~,>7T'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035728.863283F (some fields omitted in printout)A@A@A}V~? AީA &"AAhNA"AZAbAjArAzAAAp}bAʚrAp@A;ğ;AyM=A+IAajԿA@(A)*A9?2Aiֽ:Ar =BA9?JAiֽRAr =Yo@l=yM=2;ٓH;ӿG?e@;ncNӿ@`OŲ s? ?)o@ I٘i)I9p@YG J٘Jzv<JJJ}E&Kx> YsT~?yӨTA=EZ7Z72c9)BE[[g@[V~?[[[[[BZYY i) ;OqIiG@6= -))-b@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035728.903165 s, next control iter: 1743035729.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035729.283165 s.6RI~,RT'AJ"J*J2J:J'3?BJ'3?nJ;5vJA(\@AcAaP@ArV~? AA&"AAhNA"AZAbAjArAzAAA9 LAdrAFp@ADg<Aj=AqASӿA [AJꥼ*A9?2ANֽ:AA=BA9?JANֽRAA=٘i)I9Fp@Y=G JѡJJJJE&K YT~?yۨSAE{7j7Ȃc9(B)BE[[lo@[U~?[1[[[[BZYY i)  >Ii@ל6= ))g@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035729.303165 s, next control iter: 1743035729.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 92282, header.stamp.nsec: 020 temperature: 13.3870392* salinity: 33.3914532, density: 1025.0000002* values[0]: 0.6993882F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035729.703165 s.ҺI~,mT'AAQ@A}@A=hV~? A5Ao&"AAhNA"AZAbAjArAzAAAa沢A YpT~?yRA1E7)7c9)B[[m@[_U~?[[[[[BZYY i) I{Ii@9= cz))czhé@y_ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035731.003165 s, next control iter: 1743035731.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035731.383165 s.5I~,T'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035731.383256F (some fields omitted in printout)A(@A@ABV~? AY Am&"AAhNA"AZAbAjArAzAAA4) A͉lsA8m@Ae&A=á=A-mA@'οA<Aʦ*A&9?2Ag׽:Ay=BA&9?JAg׽RAy=٘i)I9m@YG JJJJJE&K YjT~?y\QAEb77c9'B)BE[[-@[gU~?[-[[[[BZYY i) Ii-@m9= u))uO@MުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035731.423165 s, next control iter: 1743035731.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9230", header.stamp.nsec: 0"0 temperature: 13.387484"* salinity: 33.391418", density: 1025.000000"* values[0]: 0.697461"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035731.803165 s.zAk@APS,<A۪=A ؿA_ȿAAx*A.9?2A3ֽ:Af=BA.9?JA3ֽRAf=٘i)I9k@YG JJJJJE&K YYT~?y6 [PAE777sc9)ɯB[[Ғ@[U~?[)/[[[[BZYY i)  _Ii@9<= %h))%h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035732.663165 s, next control iter: 1743035733.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9231, header.stamp.nsec: 00 temperature: 13.387713* salinity: 33.391426, density: 1025.000000* values[0]: 0.696495F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035733.063165 s.PI~,x DU'AA3333@AD(@AJ%V~? AS*AK &"AARdhNA"AZAbAjArAzAAAҭKAUpsA k@Aׄ<A&=AYֿAƿAAȼ*A9?2Aֽ:A- =BA9?JAֽRA- =Y@,ֿyO=Q<ٓH` ?`Xj@f@@rȚ?@?)@ I٘i)I9 k@YG JļJ<JJJE&Kw> YVT~?y(OA,ֿE77{7c9)ίB[[^@[;U~?[5[[[[BZYY i) ?üIiȒ@;= ~d))~d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035733.083165 s, next control iter: 1743035733.463185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035733.483165 s.w_WI~,^U'AJ"J*J2J:JBJnJvJA\@A*@A1V~? A,2Aò &"AAZhNA"AZAbAjArAzAAAh -AsAvj@A[<A=AӿA@kſAA˼*AE9?2ATֽ:A=BAE9?JATֽRA=٘i)I9vj@YG JIʼJJJJE&K YTT~?y1rOA E77c9)ԯBE[[#@[U~?[<[[[[BZYY i) pʼIiҒ@$;= `))` @\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035733.503165 s, next control iter: 1743035733.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9232, header.stamp.nsec: 00 temperature: 13.387987* salinity: 33.391407, density: 1025.000000* values[0]: 0.695366F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035733.903165 s.]I~,yU'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035733.903297F (some fields omitted in printout)AQ@AQ5@AV~? A:A, &"AAQhNA"AZAbAjArAzAAA@)Y<AQ {!sAi@A9k;Af=AgпA#ÿA AE˼*A]9?2Anֽ:A|=BA]9?JAnֽRA|=٘i)I9i@YJG J˼JJJJE&K Y%QT~?yw:NA#E7773c9)ٯB[[v@[XU~?[DC[[[[BZYY i) 7ҼIi @8<= [))[@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035733.923165 s, next control iter: 1743035734.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035734.323165 s.vdI~,%U'AJ"J*J2J:JBJnJvJAGzT@A%vmoG@AV~? AAA~ &"AAIhNA"AZAbAjArAzAAADA WmP&sA=!i@AAM=AAοA;A`wA\7ʼ*A9?2A1׽:AK=BA9?JA1׽RAK=٘i)I9!i@Y G JʼJJJJE&K YBNT~?y6CNA&Eŧ7b7ȭc9&B)ݯB E[[@[U~?[I[[[[BZYY i) ټIit@<= _W))_W#@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035734.343165 s, next control iter: 1743035734.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9233*, header.stamp.nsec: 0*0 temperature: 13.396159** salinity: 33.394390*, density: 1025.000000** values[0]: 0.689364*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035734.743165 s.WkI~,qU'AAףp=@Ae6}@A V~? AIA &"AAiBhNA"AZAbAjArAzAAAcU Y{AT*+sA)wh@AZ$~Ap=A4˿A@,At%A:˼*A79?2A Y[KT~?yTMA#ɿ+E77{7c9'B)BE[[-@[HU~?[gW[[[[ZZ¸BZYY i¸^=) ԼIi@== N))N(;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035735.183165 s, next control iter: 1743035735.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035735.583165 s.xI~, SU'AA)\@A:@AV~? AYA &"AA:6hNA"AZAbAjArAzAAAc۠A4sAg@AҮ̻A&c=AXwƿAA@GAּ*A9?2Aֽ:Ag=BA9?JAֽRAg=٘i)I9g@Y G J ҼJJJJE&K YWKT~?y]#MA.Eb77c9)B[[@[U~?[ ^[[[[ZZBZYY i) ȼIi@f<= =GJ))=GJƯ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035735.603165 s, next control iter: 1743035735.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9234, header.stamp.nsec: 00 temperature: 13.572020* salinity: 33.374977, density: 1025.000000* values[0]: 0.570012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035736.003165 s.y I~,P4V'AJ"J*J2J:JBJnJvJAR+ @A^y @AV~? AaAN &"AAQ1hNA"AZAbAjArAzAAASAN9sARf@A[;A{0=AÿA k_AIQAK,*A9?2AEֽ:AU<BA9?JAEֽRAU<٘i)I9Rf@Y- G JJJJJE&K YRKT~?yWfLA0Eŧ7b7c9)B[[y|ǿ[U~?[d[[[[ZZBZYY i) )Ii@<= E))EEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035736.023165 s, next control iter: 1743035736.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035736.423165 s.uI~,V'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083848< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035736.423291F (some fields omitted in printout)A{Ga @A @T @A-V~? AiAs&"AA1-hNA"AZAbAjArAzAAA^SIAlq>sANqe@Ai<Ag=AzA8A[A=*A9?2A ֽ:Ag<BA9?JA ֽRAg<٘i)I9qe@Y G JB=JJJJE&K YNKT~?y#o0LA3E77c9)B[[WMſ[U~?[k[[[[ZZBZYY i) jIiݓ@E== ӊA))ӊAӊAy.=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035736.443165 s, next control iter: 1743035736.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9235", header.stamp.nsec: 0"0 temperature: 13.572430"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.569073"F (some fields omitted in printout)FNKT~?)F#o rAdjusting time to match Gazebo time: 1743035736.843165 s.݌I~J"J,5V'A*J2J:J?BJ?nJ5vJAp= @At @ACV~? AqA&"AA)hNA"AZAbAjArAzAAAT2@l|.Ac7CsA^d@Ay<At=AM྿AeAdAb*A]9?2A#:ֽ:A̝t<BA]9?JA#:ֽRA̝t<I٘i)I9d@Y G J\C=JJJJE&K YJKT~?ywKA6E7)7Hc9)BE[[!ÿ[WU~?[Hr[[[[ZZBZYY i) ғIiG@== g.=))g.=g.=uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035736.883165 s, next control iter: 1743035737.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035737.263165 s.I~,PV'AA @AB]¿ @AU~? A zA9&"AAQ'hNA"AZAbAjArAzAAAoBP?AE'HsAc@AS<AO/=A9AS A@alAoѼ*A]9?2A]ֽ:A;BA]9?JA]ֽRA;Y@.y/=!<ٓHǰ??@m?`,᥿@_ ?B?)@ I٘i)I9c@Y G JJr޽JJJE&Kv> Y!NT~?y|KA.8E777c9)B[[1[U~?[y[[[[ZZBZYY i =) ,̙Iiɓ@m+== 8))88vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035737.283165 s, next control iter: 1743035737.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 92362, header.stamp.nsec: 020 temperature: 13.5728242* salinity: 33.3749692, density: 1025.0000002* values[0]: 0.5680712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035737.683165 s.lI~,kkV'AJ"J*J2J:Jm?BJm?nJ}5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073749< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035737.683281F (some fields omitted in printout)A(\ @ADׅ @AU~? AAL&"AA%hNA"AZAbAjArAzAAAyIAktMsA0c@AxAw<AAa琿A@qAmM*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I90c@YE G JJJJJE&K YPT~?y{AKA;Ej7Z7sc9(B)BE[[[U~?[[[[[ZZBZYY i) ^Ii{@<= Om4))Om4Om4fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035737.683165 s, next control iter: 1743035738.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035738.103165 s.I~,V'AAQ8 @A3E c9)BE[[[U~?[s[[[[ZZBZYY i) z:Ii[@<= g 0))g 0g 0[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035738.143165 s, next control iter: 1743035738.503175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035738.523165 s.I~,{V'AJ"J*J2J:JBJnJvJAHzn @A3 a @AU~? A=A/a&"AA}$hNA"AZAbAjArAzAAAD%{KA <+JNWsA_b@AAѻAeA6?A`fuA1*A-9?2A 6ֽ:AƂBA-9?JA 6ֽRAƂ٘i)I9_b@Y G JKB=JJJJE&K YVT~?yJA DAE77c9)B[[i\[OU~?[)[[[[ZZBZYY i?=) rIik@<= +))++yR=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035738.543165 s, next control iter: 1743035738.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9237, header.stamp.nsec: 00 temperature: 13.573094* salinity: 33.374981, density: 1025.000000* values[0]: 0.567384F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035738.943165 s.YdI~,F]V'AvPublished 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: 0.4199922 time: 1743035738.943296F (some fields omitted in printout)Aq= ף @AҨɖ @AU~? ANA&"AA%%hNA"AZAbAjArAzAAAT?$BAA8;\sA+b@A%9A~zA˱A?A`rA*A9?2AXֽ:A.HBA9?JAXֽRA.H٘i)I9+b@Y G J^C=JJJJE&K YYT~?yΣJACE7ŧ73c9)B[[+[U~?[ړ[[[[ZZBZYY i) P]Ii@== G'))G'G'yۖ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035738.963165 s, next control iter: 1743035739.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035739.363165 s.I~,>V'AJ"J*J2J:JBJnJvJA @A;э @AV~? A_A &&"AA&hNA"AZAbAjArAzAAA4J3AvSE'asAb@A8AA'A@"?AlAbź*A9?2Aֽ:A˼BA9?JAֽRA˼YB@'y58ٓH?@X?zT ?@&?@???)B@ I٘i)I9b@Y G J:iJ6JJJE&K"x> Y/_T~?ysJA'FE77c9)B[[[U~?[[[[[BZYY il=) KIi@(<= '"))'"'"yU=/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035739.403165 s, next control iter: 1743035739.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9238&, header.stamp.nsec: 0&0 temperature: 13.573213&* salinity: 33.374966&, density: 1025.000000&* values[0]: 0.567119&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035739.783165 s.WI~,V'AA(\ @A[rP @AV~? AlA&"AA(hNA"AZAbAjArAzAAA<AgfsAyb@AT8<Aw2A}A֭?AdA ;*A 9?2Aֽ:AEBA 9?JAֽRAE缙٘i)I9Y Jf|8JJJJªE&K YdT~?yJAIEj7SI7^c9)B)E[[Kʳ[eU~?[1[[[[BZYY i=) n:Ii@P;= ))y;=n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035739.823165 s, next control iter: 1743035740.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035740.203165 s.I~, W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035740.203287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQE @A8 @AV~? AwA&"AA+hNA"AZAbAjArAzAAA.DA306jsA40b@AF<AYA٩A`~?A`YA;*A9?2A׽:A|BA9?JA׽RA|٘i)I90b@Y G JΈ;JJJJŪE&K YjT~?yKAKEŧ77c9)B[[C[*U~?[٧[[[[BZYY i) (Ii8@);=  ))  yf=[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035740.223165 s, next control iter: 1743035740.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035740.623165 s.^I~,z'W'AAGz @A{jm @AV~? A}AN&"AA/hNA"AZAbAjArAzAAAUtz2Al_.osAib@A-M<AhwAOEA`r?AKAnn)<*A9?2ASֽ:ABA9?JASֽRA٘i)I9ib@Y G J<JJJ FJȪE&K Y@pT~?y`ƩBKANE77{7c9*B)BE[[e[MU~?[|[[[[BZYY i) Ii@;= ))yp=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035740.643165 s, next control iter: 1743035741.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9239 , header.stamp.nsec: 0 0 temperature: 13.573183 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.567149 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035741.043165 s.I~,BW'AJ"J*J2J:JBJnJvJA= ף @A0 @A( V~? A~ªA&"AA4hNA"AZAbAjArAzAAA2K[AytsAb@AJL ;A]GAA1C?A@;A^d<*A9?2Acֽ:A BA9?JAcֽRA ٘i)I9b@Y G JD<JJJJ˪E&K YuT~?yϩnKAQE{7c9-B)B[[3[U~?[[[[[BZYY i) rIi.@;= 7W))7W7WŸ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035741.063165 s, next control iter: 1743035741.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035741.463165 s.XI~,]W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743035741.463324F (some fields omitted in printout)Affff @AG \ @A V~? AzʪA&"AA9hNA"AZAbAjArAzAAA=B.BAjvZ>ysA$&c@AeA̦AAA 6?A)A<*A9?2ASֽ:ABA9?JASֽRAY偙@+yٓH??Dވt??0?`ك?)偙@ I٘i)I9&c@Y? G Je|<JJJJͪE&KMw> Yd~T~?ylשKA+SE7)7c9.B)BE[[[U~?[[[[[BZYY ik=) IiY@ := ; )); ; *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035741.503165 s, next control iter: 1743035741.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9240, header.stamp.nsec: 00 temperature: 13.573032* salinity: 33.374981, density: 1025.000000* values[0]: 0.567487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035741.883165 s.yI~,8xW'AJ"J*J2J:JF?BJF?nJU5vJA( @AT @ApV~? AnҪAVz&"AA2@hNA"AZAbAjArAzAAATQA}~sA6c@A*фAAAA s?ANAro<*A9?2Aս:ABA9?JAսRA٘i)I9c@Y G J<JJJJЪE&K Y׆T~?yߩ2LAVE77Ic9)B[[[Ҩ[U~?[7©[[[[BZYY i) ϻIi@p79= ۔))۔۔*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035741.903165 s, next control iter: 1743035742.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035742.303165 s.]I~,gW'AAQ @A4D @AZV~? A\ڪA8%"AA7GhNA"AZAbAjArAzAAAxOAV:TsAz.d@AUlAAgA?AA#<*Aͩ9?2A6ֽ:ABAͩ9?JA6ֽRA٘i)I9.d@Y G Jť<JJJJӪE&K YJT~?y:LAYE777c9) B[[ [sU~?[ȩ[[[[BZYY i) :eIi<@8= ;0));0;0;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035742.343165 s, next control iter: 1743035742.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9241., header.stamp.nsec: 0.0 temperature: 13.572777.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.568095.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035742.723165 s.I~,HW'AJ"J*J2J:Jn?BJn?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035742.723311F (some fields omitted in printout)Az @Aޮz @AV~? AAAD%"AAOhNA"AZAbAjArAzAAA5L+èA!'%sAd@Ad}AAeAԜ?ALA¹<*Al9?2A ֽ:A BAl9?JA ֽRA ٘i)I9d@Y9 G JM<B=JJJJժE&K YT~?yLA[E7tc9/B) BE[[l[hV~?[Dϩ[[[[BZYY i) XǑIi@B8= ޓ))ޓޓy*2l=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035742.763165 s, next control iter: 1743035743.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035743.143165 s.V/I~,*W'AA ףp @A?d @A#V~? AAԪ%"AAWhNA"AZAbAjArAzAAA~c4AusAVe@A;A AA@?AoAV<*A9?2Aֽ:AxBA9?JAֽRAx٘i)I9Ve@Y G Jl<C=JJJJتE&K Y0T~?yWMA^Ej7j7 c9)B[[:[ V~?[թ[[[[BZYY i)  hfIiۏ@ #8= N))NN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035743.163165 s, next control iter: 1743035743.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035743.563165 s.I~,V W'AJ"J*J2J:JBJnJvJA3333 @A4( @A:*V~? AA%"AAahNA"AZAbAjArAzAAAzAsA#e@Alz<AK㙽ASA`?AA<*A9?2A1׽:AQBA9?JA1׽RAQYFĜ@"yޙ[{<ٓH/?`ob?a@QR?? 47?}T??)FĜ@ I٘i)I9e@Y G Jp<JJJJ۪E&KAx> YUT~?yMA"aE77{7c9)B[[[\V~?[+ܩ[[[[BZYY i) t*Iiڎ@46= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035743.603165 s, next control iter: 1743035743.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9242, header.stamp.nsec: 00 temperature: 13.572486* salinity: 33.375000, density: 1025.000000* values[0]: 0.568787F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035743.983165 s.I~,W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035743.983293F (some fields omitted in printout)A\( @A?l @A:1V~? AAXy%"AA7khNA"AZAbAjArAzAAAf8 Ao͋wsA{f@AZ;<AۖA`A :?AA<*A9?2A׽:ABA9?JA׽RA٘i)I9{f@YF G J<JJJJݪE&K  d9YyT~? d9y5 &NAcE{7j74d90B)B E[[ ֝[`V~?[[[[[BZYY i҈=) PۺIi@y5= ~8))~8復~8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035744.003165 s, next control iter: 1743035744.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035744.403165 s.&I~,X'AJ"J*J2J:JBJnJvJAQ^ @AnQ @A8V~? ArA%"AA-vhNA"AZAbAjArAzAAA ADX/sA g@A;A)A ُA ?AgAi<*AR9?2Aֽ:AdBAR9?JAֽRAd٘i)I9 g@Y G Jƫ<JJJJE&K YT~?yLNAfEd91B)B!E[[롛[V~?[[[[[BZYY i) EIie@4= gܾ))gܾgܾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035744.423165 s, next control iter: 1743035744.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9243, header.stamp.nsec: 00 temperature: 13.572158* salinity: 33.374977, density: 1025.000000* values[0]: 0.569493F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035744.823165 s. I~,64X'AAGz @A-\o @A@V~? A" A@K%"AAhNA"AZAbAjArAzAAAFX ApOsAg@ADSAm`AYA?ABA <*A9?2Alֽ:ABA9?JAlֽRA٘i)I9g@Y G J <JJJJE&K YT~?ybNAiEZ7SI7_d9)B[[l[&V~?[N[[[[BZYY i)  -9Ii@h4= Ӿ))ӾӾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035744.843165 s, next control iter: 1743035745.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035745.243165 s.I~,OX'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743035745.243319F (some fields omitted in printout)Aףp= @A|a2 @A?IV~? AA%"AA_hNA"AZAbAjArAzAAAH A+곉sA'h@A]bAA-ԊA?AA*<*A19?2Af7ֽ:A BA19?JAf7ֽRA ٘i)I9'h@YJ G J+<JJJJE&K YT~?yy!\OAkE77{7 d92B)B$E[[7[.V~?[[[[[BZYY i) d:Ii@f4= ʾ))ʾʾy<Ȉ=ؾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035745.263165 s, next control iter: 1743035745.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035745.663165 s.I~,qjX'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9244, header.stamp.nsec: 00 temperature: 13.571869* salinity: 33.375004, density: 1025.000000* values[0]: 0.570190F (some fields omitted in printout)A@An @A?RV~? AXA!%"AAhNA"AZAbAjArAzAAA2HD A~*sAh@AAՈAh=A?AA<*A 9?2AHֽ:ABA 9?JAHֽRAYU@yЈJٓH?@?@ ~@ ?`(?@? ?)U@ I٘i)I9h@Y G J<Jh<JJJE&K9x> YT~?y,)OAnEZ7Z7d9)B[[[ 7V~?[[[[[BZYY i) Z;Ii@E2= ^))^^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035745.683165 s, next control iter: 1743035746.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035746.083165 s.D!I~,SX'AJ"J*J2J:JBJnJvJA)\5@A$'(@A[V~? AA%"AAhNA"AZAbAjArAzAAAF A+ elevatorAngleAction: 0.066809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035746.503294F (some fields omitted in printout)ARk@A*5{^@AeV~? AT'A+%"AAQhNA"AZAbAjArAzAAA_A4OsA-i@A:AA߂A@??A%A4<*A9?2Aֽ:A_ BA9?JAֽRA_ 񼙘٘i)I9i@Y9G J<JJJJE&K YU~?y8oPAtEj7Z7d9)B[[ۖ[IV~?[I[[[[BZYY i) iՀ;Ii@F0= ;));;ͳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035746.523165 s, next control iter: 1743035746.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9245, header.stamp.nsec: 00 temperature: 13.571580* salinity: 33.375011, density: 1025.000000* values[0]: 0.570844F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035746.923165 s.:.I~,X'AJ"J*J2J:J"?BJ"?nJ<5vJA{G@Aj=@A6pV~? A.Aj%"AAhNA"AZAbAjArAzAAA/dAjA=ҶsA!j@AF<AA-A`bb?AWdA<*AU9?2A@׽:AqBAU9?JA@׽RAq켙٘i)I9!j@YG JQ<JJJJE&K YU~?yD@PAvE777Jd9)B[[k^[RV~?[q[[[[BZYY i) r;Ii@{/= Y))YY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035746.943165 s, next control iter: 1743035747.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035747.343165 s.<5I~,X'AAp= @AU.T@A/{V~? A 6AF%"AAhNA"AZAbAjArAzAAANAAKsAXj@Am?<AA&{A)B?A@]0A߀<*A9?2A^E׽:AϲBA9?JA^E׽RAϲ꼙٘i)I9j@YG JĂ<JJJJE&K YU~?yG'QAyE77{7d94B)B+E[[%[r\V~?[[[[[BZYY i8t=) ;Ii@.= t))tt*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035747.363165 s, next control iter: 1743035747.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9246*, header.stamp.nsec: 0*0 temperature: 13.571327** salinity: 33.375015*, density: 1025.000000** values[0]: 0.571424*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035747.763165 s.:;I~,,X'AJ"J*J2J:JH?BJH?nJc5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743035747.763331F (some fields omitted in printout)A @A>@AV~? AN=AK%"AAhNA"AZAbAjArAzAAA"xA\dsAUj@AG<AAuA?A`A{A<*A9?2AS ׽:ABA9?JAS ׽RAYLH@#vyrBH<ٓHF?`9?D0@(U? ?# Y,U~?y0O~QA#v|Eb77t d9)ܯB[[[fV~?[[[[[BZYY i) o;IiT@W8-= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035747.783165 s, next control iter: 1743035748.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035748.183165 s.BI~, Y'AA(\B@Awӂ5@AV~? A}DA̾%"AAhNA"AZAbAjArAzAAA_kGA]sAgk@A*:AApA?AAr<*A9?2Aֽ:ABA9?JAֽRA٘i)I9gk@YEG JD<C=JJJJE&K Y elevatorAngleAction: 0.076394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743035749.023350F (some fields omitted in printout)AHz@A;s @AȫV~? ARA(%"AA# iNA"AZAbAjArAzAAANhl4AfsAIl@AVXA](AfAؚ?A LA<*A 9?2A;ֽ:ABA 9?JA;ֽRA٘i)I9Il@YG J<JJJJE&K Y=]U~?ydRAEb774+d97B)ԯB2E[[%?[cV~?[s,[[[[BZYY i) 'bwY'AA@AxW @AV~? Al`Aՙ%"AA`HiNA"AZAbAjArAzAAAjkHAE(sA~1m@AAŰA$\AH>?AAꪉ<*A9?2Aֽ:A6zBA9?JAֽRA6zY@b\yoaӎٓH???8줿0? M?R?q@%?)@ I٘i)I91m@Y\G JR<B=J&JJJE&K YU~?yr9SA\Ej7j7_2d98B)ϯB6E[[}[V~?[8[[[[BZYY i)  = elevatorAngleAction: 0.076394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035750.283294F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\O@AQB@AV~? A1gA%"AA]iNA"AZAbAjArAzAAA :A^uJsAm@A;A]aAVA ?A`AY<*A9?2A0׽:ABA9?JA0׽RA٘i)I9m@YG J)<C=JJJJE&K YIU~?ynySAE{7775d99B)̯B9E[[oy[.V~?[=[[[[BZYY i) M elevatorAngleAction: 0.076394< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035751.543285F (some fields omitted in printout)A= ף@Aݗ@AFW~? AzA;%"AAiNA"AZAbAjArAzAAA#fkA3WsAB o@Ac;AcAGAc?A`eA8H<*AN9?2Aֽ:AH BAN9?JAֽRAH ٘i)I9 o@Y{G J8<JJJJE&K YU~?ysTAE77@d9)¯B[[Sk['V~?[N[[[[BZYY i(~=) {JJJE&Kw> YU~?yUABEŧ7b7JDd9 elevatorAngleAction: 0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035752.803282F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@4@AF3W~? AȍA%"AADiNA"AZAbAjArAzAAA޵}wA.sA]p@ACჼA֝A7A@?A [A <*AO9?2A*ֽ:Au;BAO9?JA*ֽRAu;I٘i)I9p@YvG Jw<B=JJJJE&K Y!V~?yUAE777uKd9)B[[^[V~?[^[[[[BZYY i) oB)BIE[[ST[W~?[fi[[[[BZYY i) ))>>T*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9252, header.stamp.nsec: 00 temperature: 13.569559* salinity: 33.375050]:, density: 1025.000000* values[0]: 0.575116F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743035753.663165 s, next control iter: 1743035754.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035754.063165 s.I~,t Z'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743035754.063318F (some fields omitted in printout)A33333@AU3k)&@AgW~? AA.%"AA9jNA"AZAbAjArAzAAA҃/UNAmqsAXr@AHM<AXA'A[?A A <*A9?2AE׽:A0BA9?JAE׽RA0Y:@o'yHUM<ٓHE?`0~?8k`t_?@ YFV~?yWA'Ej75Vd9?B)BJE[[ vP[(W~?[n[[[[BZYY i)  elevatorAngleAction: 0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035755.323296F (some fields omitted in printout)AGz@A9EGr@AW~? AAo%"AAjNA"AZAbAjArAzAAAC _n?A tA&t@A):A A VAX?At߿A"<*Aӏ9?2AJmֽ:ABAӏ9?JAJmֽRA٘i)I9&t@YG J,<JJJJ&E&K YV~?y-mXAE)7ŧ7`d9)B[[B[qXW~?[o}[[[[BZYY i) $[ iW~?[E[[[[BZYY i) g YV~?y,˪UYA Eb77 hd9BB)BVE[['9[yW~?[[[[[BZYY i) W elevatorAngleAction: 0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743035756.583282F (some fields omitted in printout)A)\u@AE(h@AW~? ABA8%"AAjNA"AZAbAjArAzAAA'?AvVtA-4v@AQ\ArA A`C?A@jݿAz<*A9?2AQ*ֽ:ABA9?JAQ*ֽRA٘i)I94v@YG J<JJJJ.E&K YV~?yϪYAE{7j7kd9)B[[5[ӊW~?[[[[[BZYY i)  elevatorAngleAction: 0.085690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035757.843277F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @Af @A?X~? AΫA%"AAACkNA"AZAbAjArAzAAAH$(l@Ax8ItABZYY i¸>D) ,))о>о>#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035757.863165 s, next control iter: 1743035758.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035758.263165 s.I~,8ؐ['AAL@Ao ?@A.X~? AsӫA%"AA\ckNA"AZAbAjArAzAAAOr@Acـ^tAy@As<A|ƷA(A+h?A NڿA<*A~9?2A׽:A BA~9?JA׽RA ٘i)I9y@YG J<JJJJ9E&K Y/W~?yR[AE777 zd9)|B[[t"[W~?[_[[[[ZZZZBZYY i) ())Pl>Pl>h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035758.283165 s, next control iter: 1743035758.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 92572, header.stamp.nsec: 020 temperature: 13.5675332* salinity: 33.3751342, density: 1025.0000002* values[0]: 0.5792922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035758.683165 s.lI~,['AJ"J*J2J:JL?BJL?nJ5vJA(\@A߃u@A)))->)->*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035758.683165 s, next control iter: 1743035759.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035759.103165 s.I~,['AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743035759.103294F (some fields omitted in printout)AQ@AׇF@A&ZX~? A;ܫAK %"AAkNA"AZAbAjArAzAAAiCn@AS tAMz@Ai5A/A@ӾA?A`յؿA+=*A9?2AIֽ:ABA9?JAIֽRA٘i)I9z@YG JH=JJJJ>E&K Y_W~?y\AĪE77775d9)pBgE[[[jW~?[[[[[ZZZZBZYY i) ))@?>@?>y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035759.123165 s, next control iter: 1743035759.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035759.523165 s.J "J *J 2J :J m?BJ m?nJ 5vJ I~,|['AAHz@Ae@AWpX~? AkA%"AAIkNA"AZAbAjArAzAAA,@A/H#tA'{@A*fAwAȾA&?A@׿A<*A/9?2A3ֽ:A/4uBA/9?JA3ֽRA/4u٘i)I9{@YG J=JJJJAE&K YwW~?y5]AǪE{7{7˄d9GB)kBkE[[_[ X~?[[[[[ZZZZBZYY i)  ))0R>0R> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035759.543165 s, next control iter: 1743035759.923184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9258, header.stamp.nsec: 00 temperature: 13.567063* salinity: 33.375130, density: 1025.000000* values[0]: 0.580339F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035759.943165 s.[dI~,O]['AAq= #@AƇ@A͆X~? AvAi%"AAkNA"AZAbAjArAzAAAG6m @Ac%tAL|@AtAC2A_Ad?A׿A<*A79?2AFֽ:A+޻BA79?JAFֽRA+޻٘i)I9L|@YG Jo<JJJJCE&K YW~?y]AɪE777`d9)eB[[۪[IX~?[[[[[ZZZZBZYY i) e))e>e>w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035759.963165 s, next control iter: 1743035760.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035760.363165 s.I~,>\'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082650< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035760.363337F (some fields omitted in printout)AY@A-L@AX~? A^A%"AAU lNA"AZAbAjArAzAAAa(m @A{"(tAQ|@A ARּAA@?A@%BֿAA<*A9?2ASֽ:A:BA9?JASֽRA:Yζ@곾yּ#ٓH`?} ?zlֿ ?䋐?ᅳ? A@?)ζ@ I٘i)I9|@YG J<B=J>JJJFE&Ki> YTW~?y]A곾̪E7d9HB)`BnE[[ [2X~?[e[[[[ZZZZBZYY in) ))(r#x>#x>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035760.383165 s, next control iter: 1743035760.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9259&, header.stamp.nsec: 0&0 temperature: 13.566565&* salinity: 33.375149&, density: 1025.000000&* values[0]: 0.581374&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035760.783165 s.[ I~,2\'AA(\@A@iQ@AX~? A A%"AA,lNA"AZAbAjArAzAAAu "@AWJXn*tAv}@A;AxAڎA`?A@lտA<*A9?2A~<ֽ:A<BA9?JA~<ֽRA<٘i)I9v}@YDG J!<C=JJJJIE&K YW~?y]AϪE77d9)\BqE[[[[FX~?[[[[[ZZZZBZYY i) m)) hh>hh>3X)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035760.803165 s, next control iter: 1743035761.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035761.203165 s.I~,M\'AJ"J*J2J:JBJnJvJAQ@A&@AX~? AAɈ%"AAOlNA"AZAbAjArAzAAAAݪ@Ap|,tA}@Ac<A|;AߌA?AԿA<*Az9?2A ӽ:AT<BAz9?JA ӽRAT<٘i)I9}@Y{G JV<JJJJLE&K YyW~?y]AѪE{7j7 d9)ZBtE[[[ZX~?[[[[[ZZZZBZYY i) 53|))ώ>ώ> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035761.223165 s, next control iter: 1743035761.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035761.623165 s.SI~,Lg\'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035761.623278F (some fields omitted in printout)AG@A)$@A:X~? A6AuC%"AA_slNA"AZAbAjArAzAAA,@A0a.tA~@ARވ<A<AvAJ?A%ӿA;*A9?2A Խ:Ap<BA9?JA ԽRAp<٘i)I9~@YG J;JJJJNE&K Y W~?y ^AԪE7777d9IB)XBwE[[[XoX~?[[[[[ZZZZBZYY i) g@ 5< C>))C>C>yH\ܩY[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035761.643165 s, next control iter: 1743035762.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9260 , header.stamp.nsec: 0 0 temperature: 13.566234 * salinity: 33.375156 , density: 1025.000000 * values[0]: 0.582030 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035762.043165 s.Ĩ I~,Â\'AJ"J*J2J:J?BJ?nJ<5vJA= ף0@A$#@AX~? AA%"AAlNA"AZAbAjArAzAAA[@AQ#0tA~@A3<AD=AgA|?AҿATh:*A`9?2AԽ:Añ<BA`9?JAԽRAñ<٘i)I9~@YG JRH;B=JJJJQE&K YX~?yD^AתEŧ7b7Kd9)zE[[Z[-X~?[w[[[[BZYY i) R))š>š>yԡ1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035762.063165 s, next control iter: 1743035762.443184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743035762.463165 s.S'I~,ۤ\'AAfffff@AݔZY@AY~? AA9%"AA*lNA"AZAbAjArAzAAApw@A 2tAO~@A%A9.=AS‾A@?A@qҿA*,*AS9?2A:)ս:AF<BAS9?JA:)սRAFJJJTE&Ks> Y0X~?y9 ^A䀾٪E{7j7d9)}E[[[X~?[ª[[[[BZYY ig) B))͏{1+>1+>nYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035762.483165 s, next control iter: 1743035762.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9261, header.stamp.nsec: 00 temperature: 13.566053* salinity: 33.375164, density: 1025.000000* values[0]: 0.582279F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035762.883165 s.y-I~,+\'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245666@ elevatorAngleAction: -0.056625< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035762.883274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@AZ+@A*Y~? AAw%"AAlNA"AZAbAjArAzAAAA;[e-@A84tA(}@AW7A3T=AslA`?A@+$ѿAơ»*A9?2Aս:A<BA9?JAսRA<٘i)I9}@YG JJJJJVE&K YiKX~?yl]AܪEvd9)YB[[|ݾ[X~?[Ū[[[[BZYY iІ) ;$1)) >>͑YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035762.903165 s, next control iter: 1743035763.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035763.303165 s.W4I~,{g\'AA@A@ABCY~? AAJ%"AA:mNA"AZAbAjArAzAAAֲ>T@Aa+5S6tA}@AwAt=AcWA`?A;пA=#*A9?2A>Խ:AT?=BA9?JA>ԽRAT?=٘i)I9}@YsG JTJJJJYE&K YfX~?y ]AߪE7S7 d9)[BE[[Ӿ[X~?[Ȫ[[[[BZYY i) D ))+>+>=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035763.323165 s, next control iter: 1743035763.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9262., header.stamp.nsec: 0.0 temperature: 13.565985.* salinity: 33.375172., density: 1025.000000.* values[0]: 0.582232.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035763.723165 s.;I~,H\'AJ"J*J2J:JBJnJvJAz@Av@A[Y~? AWA%"AA4)mNA"AZAbAjArAzAAA2}XX}@A>7tAt}@A|IAe=ACA /?A@οAMW*AU9?2AԽ:AXn=BAU9?JAԽRAXn=٘i)I9t}@YCG Jo;JJJJ\E&K Y5X~?y Z]AEŧ7b7d9JB)^BE[[}\ʾ[QX~?[˪[[[[BZYY i) b))9>9>ԸY;-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035763.743165 s, next control iter: 1743035764.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035764.143165 s.X/BI~,* ]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035764.143288F (some fields omitted in printout)A ףp=@Ay@e0@AltY~? AA%"AAqNmNA"AZAbAjArAzAAAq`y@A<&9tAc}@AA =A/A(U?A ̿A*A\9?2AԽ:AS =BA\9?JAԽRAS =٘i)I9}@YG JoJJJJ^E&K YX~?y ]AE6d9)aBE[[[`X~?[Ϊ[[[[BZYY i) ;Ii(@C< h>))h>h>yŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035764.163165 s, next control iter: 1743035764.543178 s, wait time: 0.380013 s*X~?)* rAdjusting time to match Gazebo time: 1743035764.563165 s.HI~,R $]'AJ"J*J2J:JBJnJvJA3333s@A8+f@A?Y~? AVA%"AAsmNA"AZAbAjArAzAAAEJ@AѢy ;tA,|@A;<AC=A-Ax?A8˿A*A9?2AHԽ:A'=BA9?JAHԽRA'=YO3@/y=d<ٓH3?Li?;?Eÿ`? WѲ_g?@x?)O3@ I٘i)I9|@YG JB=Jk=JJJaE&K/t> YX~?yW\A/E{7j7̯d9LB)gBE[[e1[RY~?[#Ѫ[[[[BZYY i)  ;Ii^$@d< Q>))xQ>Q>!ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035764.583165 s, next control iter: 1743035764.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9263, header.stamp.nsec: 00 temperature: 13.566035* salinity: 33.375206, density: 1025.000000* values[0]: 0.581903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035764.983165 s.OI~,>]'AA\@A͍@A8Y~? A A'%"AAmNA"AZAbAjArAzAAAW~Fd@A9k)) >>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035765.003165 s, next control iter: 1743035765.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035765.403165 s.&VI~,Y]'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743035765.403274F (some fields omitted in printout)AQ@Aѯ@AWY~? A AHV%"AAmNA"AZAbAjArAzAAA|t5@Ax=tA{@Af<AH=AA`?AǿAN*A9?2AHӽ:A=BA9?JAHӽRA=٘i)I9{@YG J JJJJfE&K YZX~?y[AE77d9)pBE[[[(2Y~?[֪[[[[BZYY i) ;Ii_@(< %0>))%0>%0>"تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035765.423165 s, next control iter: 1743035765.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9264", header.stamp.nsec: 0"0 temperature: 13.566179"* salinity: 33.375179", density: 1025.000000"* values[0]: 0.581378"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035765.823165 s.\I~,[t]'AAGz@AV p@AY~? A Ay.%"AAmNA"AZAbAjArAzAAAϙqg@ANu>tAz@AI;Aw=AZ"A?AſAW*A9?2A{Խ:A)=BA9?JA{ԽRA)=٘i)I9z@YG JJJJJiE&K YE Y~?yT[AEb77d9)tB[[-5[IY~?[[ت[[[[BZYY i) ;Ii@< >))>>تY=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035765.863165 s, next control iter: 1743035766.223250 s, wait time: 0.360085 s rAdjusting time to match Gazebo time: 1743035766.243165 s.cI~,y]'AJ"J*J2J:JBJnJvJAףp=J@A U1=@AY~? AvA %"AA( nNA"AZAbAjArAzAAA J@AS.^?tA Uz@AbAo=A@$A`?ADÿAq*A9?2AIս:AX =BA9?JAIսRAX =٘i)I9Uz@Y\G J0JJJJlE&K Y+)Y~?y&[AE{7{7!d9)yBE[[n[$`Y~?[ڪ[[[[BZYY i) pJ;Ii@< ?))??تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035766.263165 s, next control iter: 1743035766.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035766.663165 s.jI~,q]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035766.663286F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9265, header.stamp.nsec: 00 temperature: 13.566328* salinity: 33.375214, density: 1025.000000* values[0]: 0.580778F (some fields omitted in printout)A@Anr@A| Z~? AA%"AA2nNA"AZAbAjArAzAAA͞@A@tAay@AI3wAq=A LA`?A` ¿A*AQ9?2A-ս:Av=BAQ9?JA-սRAv=Yi@Qy=!wٓH? G??F?` ?kx@掿@V?)i@ I٘i)I9y@YG JB=Jf;JJJnE&Kt> Y`EY~?yZAQEb77d9)~BE[[[#wY~?[ܪ[[[[BZYY i) \;IiD@< ?))Vv??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035766.683165 s, next control iter: 1743035767.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035767.083165 s.J "J *J 2J DqI~:J?BJ?, S]'AnJ5vJA)\µ@A7R@A%Z~? AA%"AAlYnNA"AZAbAjArAzAAA%N>} @A$&AtA11y@A zAer=AA%?A@,A*A09?2Aֽ:A=BA09?JAֽRA=٘i)I91y@YG J䬼C=JJJJqE&K YaY~?yTZAEKd9)BE[[z[mY~?[hު[[[[BZYY i) :Ii @l< T ?))1T ?T ?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035767.103165 s, next control iter: 1743035767.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035767.503165 s.wI~,U4]'AAR@A^y@A>Z~? AA3%"AAKnNA"AZAbAjArAzAAAoBhR!@A:BtAx@ANA=A[Y~?[H[[[[BZYY i) úIir@< b?))b?b?m˪Y5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035768.383165 s, next control iter: 1743035768.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9267&, header.stamp.nsec: 0&0 temperature: 13.566627&* salinity: 33.375237&, density: 1025.000000&* values[0]: 0.579581&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035768.763165 s. Y\Y~?yzXAVH=Ej7SI7d9RB)BE[[+[Y~?[[[[[BZYY i) AIiL?ՠ< 2N?))t2N?2N?kǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035768.783165 s, next control iter: 1743035769.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035769.183165 s.˒I~,cK^'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239089@ elevatorAngleAction: -0.065828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199362 time: 1743035769.183268F (some fields omitted in printout)A(\@A;@ANZ~? AA_%"AAoNA"AZAbAjArAzAAAx#@Am4DtAiWv@Ad <A_=Al=As?AAx*A:?2AQ_ս:A,=BA:?JAQ_սRA,=٘i)I9Wv@YG J JJJJE&K YY~?y XXAE7776d9)B[[.[Z~?[[[[[BZYY i) d\Ii?5< 2D#?))}2D#?2D#?[êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035769.203165 s, next control iter: 1743035769.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035769.603165 s.J "J *J 2J :J 9?BJ 9?nJ l5vJ :4I~,f^'AAQ@AzF@AQZ~? AAS%"AA\DoNA"AZAbAjArAzAAA30$@A?EtAu@A=BͺAp=A&=A7~?A`Am!*A::?2Aӽ:AN<BA::?JAӽRAN<٘i)I9u@YG JvJJJJE&K Y Z~?yWAE77d9)BE[[{/[Z~?[[[[[BZYY i) ٌIi?T< C(?)) C(?C(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035769.623165 s, next control iter: 1743035770.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9268 , header.stamp.nsec: 0 0 temperature: 13.566804 * salinity: 33.375252 , density: 1025.000000 * values[0]: 0.579004 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035770.023165 s.ZI~,|^'AAHz.@AC!@A]Z~? AiAaK%"AAkoNA"AZAbAjArAzAAA!޴$@A_'uEtAQu@AFA=A =A ?A`nA*A>:?2AlԽ:A<BA>:?JAlԽRA<٘i)I9Qu@YOG J2JJJJE&K Y&Z~?y/WA E7ad9)BE[[޽[17Z~?[[[[[BZYY igC) Iih?< L-?))L-?L-?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035770.063165 s, next control iter: 1743035770.423182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743035770.443165 s.8æI~,B]^'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420027J"J2 time: 1743035770.443313*JF (some fields omitted in printout)2J:JBJnJvJAq= c@A%:V@AoZ~? AAE%"AANoNA"AZAbAjArAzAAA;G_l%@AK\WEtAt@AނA q=A>A ?A!A*A>:?2AԽ:Ao<BA>:?JAԽRAo<٘i)I9t@YG JJJJJE&K Y2CZ~?y5WA EZ7SI7d9)BE[[[PZ~?[[[[[BZYY i) &ʻIi?ց< ]2?))]2?]2?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035770.483165 s, next control iter: 1743035770.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9269, header.stamp.nsec: 00 temperature: 13.566918* salinity: 33.375282, density: 1025.000000* values[0]: 0.578477F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035770.863165 s.+I~,>^'AA@Anl@A[~? AAC%"AAҺoNA"AZAbAjArAzAAA.t &@AM~EtAct@ABADֆ=A >A ?A L_u?Aq*A8:?2A3ս:A<BA8:?JA3սRAyӆ=fECٓH ?ÿ3?? ? ?\װZ`?)@ I٘i)I9ct@YG JsJ*<JJJE&K's> Y%_Z~?ysVA;>Ej7Z7d9QB)BE[[x[hZ~?[([[[[BZYY i) 'XIik?KO< `7?))*t`7?`7?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035770.903165 s, next control iter: 1743035771.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035771.283165 s.8RI~,^'AJ"J*J2J:JBJnJvJA(\@AP@A([~? A~AD%"AAUoNA"AZAbAjArAzAAA*&@AיEtAs@AAJ=A!->A?A>?A*A3:?2AJս:AaC<BA3:?JAJսRAaC<٘i)I9s@YwG JՊJJJJE&K Y{Z~?y%VAEŧ77!d9)BE[[J[Z~?[[[[[BZYY i) `BIi?x< @nA`E?A:?Ap*AL:?2AEӽ:A=BAL:?JAEӽRA=٘i)I9ws@Y.G JB=JJJJE&K YZ~?y%VAE7777d9PB)BE[[[͚Z~?[[[[[BZYY i) UIi?y< A?)) A?A?仪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035771.723165 s, next control iter: 1743035772.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035772.123165 s.6I~,X_'AJ"J*J2J:JBJnJvJAG:@A -@A\[~? AAO%"AAS1pNA"AZAbAjArAzAAA'@A/ / EtAkr@Aen<A=ANT>A{?A*?A*ArK:?2Amӽ:As=BArK:?JAmӽRAs=٘i)I9r@YG JC=JJJJE&K YZ~?yUAE77Ld9)BE[[/[Z~?[[[[[BZYY i) q#Ii\?*o< F?))F?F?SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035772.143165 s, next control iter: 1743035772.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035772.543165 s.II~,"_'AA= ףp@A]ؚc@Av[~? AA$Z%"AAXpNA"AZAbAjArAzAAAbB(@A7DtAr@A}@_<A=Ah>Ar?A B?AⒼ*A.F:?2A%Խ:A=BA.F:?JA%ԽRA=٘i)I9r@YG JJJJJE&K YZ~?y;pUAE7d9NB)BE[[Q0<[Z~?[[[[[BZYY i) _ 3Ii?=g< TK?))TK?TK?-YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035772.563165 s, next control iter: 1743035772.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9271, header.stamp.nsec: 00 temperature: 13.567119* salinity: 33.375290, density: 1025.000000* values[0]: 0.577535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035772.963165 s.I~,=_'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743035772.963356F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AM]@A[~? AXAg%"AA(pNA"AZAbAjArAzAAAR;D )@AX1DtA>r@AB;A1=AwK~>Af?A ?A(*A6@:?2A_ս:A=BA6@:?JA_սRA=YГ<~>y倌=߅;ٓHs?uϿMD?k??ko?`p? ?)Г< I٘i)I9r@YNG JJ<;JJJE&Ks> YIZ~?y UA~>E777wd9MB)BE[[)<[Z~?[[[[[BZYY i) yBIiW?Q[< P?))NtP?P?VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035772.983165 s, next control iter: 1743035773.363182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035773.383165 s.I~,@X_'AA(@A(@A[~? AgAx%"AAvpNA"AZAbAjArAzAAAN)@As8CtAq@AV|Ac=A>A$X?AϷ?A4*A9:?2Aս:A=BA9:?JAսRA=٘i)I9q@YG JJJJJE&K Y[~?y TAE77 d9)BE[[7P=[:[~?[[[[[BZYY i) QIi|?&O< XV?))HXV?XV?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035773.403165 s, next control iter: 1743035773.783182 s, wait time: 0.380017 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9272", header.stamp.nsec: 0"0 temperature: 13.567207"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.577071"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035773.803165 s.yAI~,gs_'AJ"J*J2J:JBJnJvJA@A@Ae[~? ALA%"AApNA"AZAbAjArAzAAAxo"Y*@A5BtAq@AzAє=Ai>A@H?A@ɻ?A*A]S:?2A:\Խ:Ac=BA]S:?JA:\ԽRAc=٘i)I9q@YG JJJJJE&K Y ![~?yUTA"E{7{7d9LB)įB¹E[[*=[[~?[[[[[BZYY ië) SZaIi|?uE< `D[?)) `D[?`D[?&ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035773.823165 s, next control iter: 1743035774.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035774.223165 s.gI~,H_'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035774.223282F (some fields omitted in printout)AzG@A":@A)[~? AA %"AApNA"AZAbAjArAzAAAW*@As+BtAqp@A_5tA2=A1m>AX6?A gj?A!*AR:?2A.kԽ:A[%=BAR:?JA.kԽRA[%=٘i)I9p@YqG JJJJJE&K  e9Yj<[~? e9ySA$E777e9)ǯBŹE[[z=[3[~?[r[[[[BZYY i) HpIiW?e<< 4`?))4`?4`?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035774.243165 s, next control iter: 1743035774.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035774.643165 s.sI~,)_'AJ"J*J2J:JBJnJvJA ףp}@Aep@A[~? AA!%"AAqNA"AZAbAjArAzAAAgv8+@A`CMAtAZ p@AnڻAK=A3S>A@ ?A Z?A'N*AI:?2AԽ:A# =BAI:?JAԽRA# =٘i)I9 p@Y%G J甼JJJJE&K YW[~?yeSA'Ee9KB)ʯBȹE[[:=[iM[~?[[[[[BZYY i) Ii?4< e?))e?e?ͪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035774.663165 s, next control iter: 1743035775.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9273, header.stamp.nsec: 00 temperature: 13.567297* salinity: 33.375324, density: 1025.000000* values[0]: 0.576585F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035775.063165 s.I~,g _'AA3333@AM(@Am\~? AA?%"AACqNA"AZAbAjArAzAAA[ ,,@AxV@tAo@Aϻ;AG=A7>A ?A N?A!㠼*AE?:?2AԽ:Ad=BAE?:?JAԽRAd=Yo>4i>y=3;ٓH 7?Wտd??`? #?st?`?)o> I٘i)I9o@YG JśJk<JJJE&Kjs> YVr[~?yd2SAi>*EZ7Z7b e9JB)ͯB˹E[[>[f[~?[[[[[BZYY i) 9Iiq??(< "j?))>t"j?"j?y%ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035775.083165 s, next control iter: 1743035775.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035775.483165 s.x_I~,_'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239209@ elevatorAngleAction: -0.083870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035775.483310F (some fields omitted in printout)A\@A˄_@A*\~? AKAh%"AAXjqNA"AZAbAjArAzAAA@\Z,@AےiG?tAZo@Ani<A=A?F>A ?A?A*A5:?2AԽ:A)=BA5:?JAԽRA)=٘i)I9o@YG JzJJJJE&K Yߌ[~?ybRA-E77{7 e9)үB[[>[[~?[[[[[BZYY i) 8Ii\u?J< 7p?))gń7p?7p?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035775.503165 s, next control iter: 1743035775.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9274, header.stamp.nsec: 00 temperature: 13.567413* salinity: 33.375332, density: 1025.000000* values[0]: 0.576071F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035775.903165 s.I~,_'AAQ@A9d@ACD\~? Ae A%"AAqNA"AZAbAjArAzAAA0̩a-@Av'>tA'n@A<A(=A'_>A@?A_ ?A4*AJ:?2A&Lӽ:A-5=BAJ:?JA&LӽRA-5=٘i)I9n@Y*G JJJJJE&K Yi[~?yadRA/E77e9)կBιE[[e1>[[[~?[,[[[[BZYY i) ZƖIie?< 4u?)) 4u?4u?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035775.923165 s, next control iter: 1743035776.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035776.323165 s.pI~, `'AJ"J*J2J:Jg?BJg?nJ5vJAGzT@AoG@A~]\~? AX A!D%"AA9qNA"AZAbAjArAzAAAs-@A1A@?A`?A^°*AF:?2Aӽ:A1[=BAF:?JAӽRA1[=٘i)I9m@YG JȯJJJJE&K Y[~?y_QA2E777"e9IB)ٯBѹE[[%G>[>[~?[[[[[BZYY i) 4TIiW? < dz?))dz?dz?ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035776.343165 s, next control iter: 1743035776.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9275*, header.stamp.nsec: 0*0 temperature: 13.567565** salinity: 33.375355*, density: 1025.000000** values[0]: 0.575514*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035776.743165 s.W I~,/`'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035776.743315F (some fields omitted in printout)Aףp=@AK4}@Av\~? A"Am%"AA_qNA"AZAbAjArAzAAAw'K.@Ak-;tAZm@A"A =A"h>AS?A|?AP*AL>:?2A#Խ:A4=BAL>:?JA#ԽRA4=٘i)I9Zm@YuG J!JJJJE&K Y~[~?y^QA5E77e9HB)ݯBԹE[[%\>[1[~?[[[[[BZYY i) j⥼IiAK?8< ?))??HYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035776.763165 s, next control iter: 1743035777.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035777.163165 s.s}I~,qJ`'AJ"J*J2J:JBJnJvJA@A@A\~? AA%"AAMrNA"AZAbAjArAzAAA1)/@A:tA:l@ALA[=A2>Ao?An?Aշ*Ai5:?2Aս:Ak6=BAi5:?JAսRAk6=YKj>ܫ>y=WMٓH ڼ?ۿ`s?`?O??괿є?)Kj> I٘i)I9l@YG J鱼J(<JJJE&Kt> Y[~?y'QA>7EMe9GB)B׹E[[Uq>[[~?[)ߪ[[[[BZYY i) =>IiP8?; ?))8ov??$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035777.183165 s, next control iter: 1743035777.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035777.583165 s.I~,Se`'AA)\@A5@AR\~? A@A%"AA(rNA"AZAbAjArAzAAAXӿ/@A/-8tA-l@AӃA_=A>A7H?A`3[[\~?[&ݪ[[[[BZYY i) fIi'?; 2o?))2o?2o? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035777.603165 s, next control iter: 1743035777.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9276, header.stamp.nsec: 00 temperature: 13.567727* salinity: 33.375351, density: 1025.000000* values[0]: 0.574899F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035778.003165 s.w I~,H4`'AJ"J*J2J:J,?BJ,?nJR5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.260967@ elevatorAngleAction: -0.083870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035778.003280F (some fields omitted in printout)AR+@Ax@A\~? AA0%"AAoNrNA"AZAbAjArAzAAAUrh*0@AO 6tAk@A2X8Aa=A>A?A`b ?A*A@:?2AYXԽ:A=BA@:?JAYXԽRA=٘i)I9k@Y^G JrJJJJE&K Y(\~?yFPA D=E777w"e9DB)BٹE[[kh>[\~?[ڪ[[[[BZYY i) Ii?(; "?)) "?"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035778.023165 s, next control iter: 1743035778.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035778.423165 s.u&I~,`'AA{Ga@ARy;T@A^\~? AA1%"AAsrNA"AZAbAjArAzAAA:&t0@AtC.-5tAj@AEA ^=A/?A?A?Aȼ*A_;:?2A=Խ:A=BA_;:?JA=ԽRA=٘i)I9j@YG J+üJJJJE&K Y2B\~?yOA?E{7Z7 &e9CB)BܹE[[{H>[4\~?[ت[[[[BZYY i) 8OüIi ?;  ڊ?)) ڊ? ڊ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035778.443165 s, next control iter: 1743035778.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9277, header.stamp.nsec: 00 temperature: 13.567881* salinity: 33.375385, density: 1025.000000* values[0]: 0.574254F (some fields omitted in printout)*2B\~?)* rAdjusting time to match Gazebo time: 1743035778.843165 s.,I~,`'AJ"J*J2J:JBJnJvJAp= @A@A\~? AADj%"AArNA"AZAbAjArAzAAAF;`$0@A铙\3tABAj@A&-<A=A?A?Ap?AJѼ*Am4:?2ADRԽ:Ad=BAm4:?JADRԽRAd=٘i)I9Aj@YG J̼JJJJE&K Y[\~?yJeOABE7777)e9BB)B߹E[[s:>[N\~?[ժ[[[[BZYY i) zʼIii>+; ?))??^YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035778.863165 s, next control iter: 1743035779.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035779.263165 s.4I~,`'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743035779.263327F (some fields omitted in printout)A@AUm7@A ]~? AA%"AA'rNA"AZAbAjArAzAAAO%1@AKVt1tAi@A=<A?=A$ ?A`o?A$?Atּ*Av-:?2AԽ:A=BAv-:?JAԽRA=Y8Ш> ?y09=i<ٓH`f2?^]#?@?Q?@&??|? ?)8Ш> I٘i)I9i@Y&G J%ԼJ9L<JJJE&Kkt> Ys\~?yݪNA ?EE{7j77-e9AB)BE[[_>[g\~?[IӪ[[[[BZYY i) 7ѼIil>މ; K?))xK?K?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035779.283165 s, next control iter: 1743035779.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 92782, header.stamp.nsec: 020 temperature: 13.5680812* salinity: 33.3753852, density: 1025.0000002* values[0]: 0.5735142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035779.683165 s.l:I~,I`'AJ"J*J2J:JBJnJvJA(\@A@A!]~? AaA%"AAyrNA"AZAbAjArAzAAA/8bO1@A?v/tAh@A9X<Aֲ=An?Aj?Au?AT ؼ*A&:?2AtUս:A=BA&:?JAtUսRA=٘i)I9h@Y G JؼJJJJ«E&K Y\~?y٪vNAGE{70e9)B[[>[\~?[bЪ[[[[BZYY i) ټIi>7h; O?)) O?O?YFFF]h:Waiting for Gazebo time sync: latest Gz time: 1743035779.683165 s, next control iter: 1743035780.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743035780.103165 s.AI~,Úa'AAQ8@AsE+@A'9]~? AA %%"AAvsNA"AZAbAjArAzAAA01@A-Q_-tA$h@APpZ;Ar.=A?A6?A@]?A";ּ*A9:?2A2qԽ:A?=BA9:?JA2qԽRA?=٘i)I9$h@YI G J׼JJJJīE&K YУ\~?yԪMAJE77j7b4e9@B)BE[[O>[j\~?[Iͪ[[[[ZZ¸BZYY i¸=) 2ͼIi0>B; AǕ?))AǕ?AǕ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035780.143165 s, next control iter: 1743035780.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035780.523165 s.GI~,{!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: 0.083988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035780.523301F (some fields omitted in printout)AHzn@A+J a@AP]~? AcA5i%"AA)sNA"AZAbAjArAzAAAdW(1@AlC1+tAqg@A\A=AI?AG?Ax3?A/EӼ*A3:?2ABս:AI=BA3:?JABսRAI=٘i)I9qg@Y G JռJJJJǫE&K Y\~?yϪMAME{77e9[\~?[ɪ[[[[ZZBZYY i) Ii |>M!; 7?))7?7?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035780.543165 s, next control iter: 1743035780.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9279, header.stamp.nsec: 00 temperature: 13.568302* salinity: 33.375397, density: 1025.000000* values[0]: 0.572744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035780.943165 s.WdNI~,>]>[\~?[ƪ[[[[ZZBZYY i) IiO>҇; }W?))}W?}W?/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035780.963165 s, next control iter: 1743035781.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035781.363165 s.UI~,p>Wa'AJ"J*J2J:JBJnJvJA@A 2@A~]~? AA%"AAUosNA"AZAbAjArAzAAA#IQi2@AMt&tAe@AqA|=A&?A`c?A@d?A*A@:?2A9ֽ:A&<BA@:?JA9ֽRA&IQ&?yN=trٓHi?`b.?[N? u?R?F`9=?)Xq> I٘i)I9e@Y G JIJJJJͫE&Ku> Yn\~?yƪLAQ&?RE77"?e97B)B[[{M>[\~?[ª[[[[ZZBZYY i) tIiU>:: L?))({L?L?y W=uϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035781.383165 s, next control iter: 1743035781.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9280&, header.stamp.nsec: 0&0 temperature: 13.568540&* salinity: 33.375420&, density: 1025.000000&* values[0]: 0.571926&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035781.783165 s.Y[I~,ra'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245701> elevatorAngleAction: 0.083988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743035781.783294F (some fields omitted in printout)A(\ @AjTQ @AE]~? AAnF%"AAߑsNA"AZAbAjArAzAAAWK2@AO!$tA; e@AԻAo=AK+?A P?A?A$*A;C:?2AA2ֽ:Ak"X<BA;C:?JAA2ֽRAk"X<٘i)I9 e@Ye G J2JJJJϫE&K Y]~?yFLAUEb7b7Be96B)BE[[v>[E\~?[[[[[ZZBZYY i) -ԝIi=eh5: ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035781.823165 s, next control iter: 1743035782.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035782.203165 s.cI~, a'AJ"J*J2J:JBJnJvJAQE @A8 @A]~? AݫAʕ%"AAsNA"AZAbAjArAzAAA!ͥ'2@AvÚ!tAXKd@A};A+=A0?A?A=?Ay&м*AQY:?2AԽ:A;BAQY:?JAԽRA;٘i)I9Kd@Y G JJJJJҫE&K Yg]~?y_KAWE77{7MFe95B)BE[[>[]~?[[[[[ZZBZYY i) X7Ii\<F 9 r?))r?r?qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035782.223165 s, next control iter: 1743035782.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035782.623165 s.YiI~,ea'AAGz @A m @A]~? Af٫A%"AAsNA"AZAbAjArAzAAAۉF353@A@tAc@AZ<A<A 5?At?AJN?AѬ*A,V:?2Ap4ս:ABA,V:?JAp4սRA纙٘i)I9c@Y G J¼JJJJիE&K Y-]~?y }KAZEj7Z7Ie9)B[[?[W/]~?[ض[[[[ZZBZYY i) I`I?i5)N ~?))~?~?}YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035782.643165 s, next control iter: 1743035783.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9281 , header.stamp.nsec: 0 0 temperature: 13.568808 * salinity: 33.375446 , density: 1025.000000 * values[0]: 0.571060 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035783.043165 s.pI~,a'AJ"J*J2J:J1?BJ1?nJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083988< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035783.043293F (some fields omitted in printout)A= ף @Af @A]~? AԫA<%"AAsNA"AZAbAjArAzAAAkiw3@AUaKtAN$c@Aϯl<A2;A':?A?A?Az*AN:?2Aս:AzBAN:?JAսRAz٘i)I9$c@Y= G JcB=JJJJ׫E&K YbD]~?yKA]E77xMe94B)BE[[ ?[G]~?[o[[[[ZZBZYY i) uITI?i[G 8J?))8J?8J?CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035783.063165 s, next control iter: 1743035783.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035783.463165 s.ZwI~,a'AAffff @ASZ @A)]~? AnЫA#%"AAtNA"AZAbAjArAzAAA3@A{"tA*b@A#;A A@?A`FO?A`?A-*AaB:?2Aս:Af킼BAaB:?JAսRAf킼Y? @?y m;ٓH`h?`EP?@yh?6 U[?P? x?)? I٘i)I9b@Y G JbC=JFJJJګE&Ku> YY]~?y$KA @?_E777 Qe90B)BE[[_`?[_]~?[㭪[[[[ZZBZYY iO.|=) 1cI\ I?i t?))t?t?&)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035783.503165 s, next control iter: 1743035783.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9282, header.stamp.nsec: 00 temperature: 13.568950* salinity: 33.375443, density: 1025.000000* values[0]: 0.570457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035783.883165 s.z}I~,ba'AJ"J*J2J:JBJnJvJA(!@A 6u!@Ak^~? A˫A0%"AAv8tNA"AZAbAjArAzAAAL;cd43@AX)tARb@A!iAAV5E?A ?A`?A !*As4:?2Aս:A϶BAs4:?JAսRA϶٘i)I9b@Y G JTJJJJݫE&K Ym]~?y0KAbE{7j7Te9)B[[?[6w]~?[#[[[[ZZBZYY iS=) rPI I?iO] 6ͮ?)) 6ͮ?6ͮ?%)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035783.903165 s, next control iter: 1743035784.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035784.303165 s.]I~,gb'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743035784.303296F (some fields omitted in printout)AQ!@AyZ~D!@A^^~? AƫAJ%"AAxXtNA"AZAbAjArAzAAAG84@A:1tA{b@AtVAYpA>?J?A?ATk?ANO:*A<:?2A'Խ:AټBA<:?JA'ԽRAټ٘i)I9{b@Y G JJJJJ߫E&K Y]~?y;KAeE778Xe9/B)BE[[o?[]~?[/[[[[BZYY i) =I I?iM]' ?))??9C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035784.343165 s, next control iter: 1743035784.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9283*, header.stamp.nsec: 0*0 temperature: 13.568945** salinity: 33.375439*, density: 1025.000000** values[0]: 0.570277*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035784.723165 s.I~,H.b'AJ"J*J2J:JBJnJvJAz!@A}z!@A,^~? AA%"AAxtNA"AZAbAjArAzAAATJw4@AئtAqb@A.Aj<AAPO?Ax?A&?Abw;*A2:?2AԽ:AesBA2:?JAԽRAes٘i)I9b@Y G J4;JJJJE&K Y:]~?yGKAhE777[e9.B)BE[[ ?[]~?[[[[[BZYY i) *II?iD n?))n?n?yՕ=x}*Y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035784.743165 s, next control iter: 1743035785.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035785.143165 s.R/I~,)Ib'AA ףp!@A٭e!@AR@^~? A缫A %"AAtNA"AZAbAjArAzAAA~!4@A匢 tAub@A2~-AԳ_AT?A,?A ?Az@ <*A):?2Ayս:A?BA):?JAyսRA?I٘i)I9b@Y G J;JJJJE&K Y]~?ySKAjE77b_e9)B[[)s&?[)]~?[[[[[BZYY i) "4IFH?iܬB] I?))I?I?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035785.163165 s, next control iter: 1743035785.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035785.563165 s.I~,[ db'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035785.563281F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333!@AL{)!@ANT^~? AA p%"AAtNA"AZAbAjArAzAAAv4@Ak tAcc@A'9A|AY?A?A ?A9<*A":?2A5(ֽ:A} BA":?JA5(ֽRA} Y!?PY?y| (9ٓH ? KĤ P??sҧ@X?w$?@a?)!? I٘i)I9c@Y( G J!<JJJJE&KQv> Y]~?yKAY?mE77{7be9*B)BE[[6,?[]~?[=[[[[BZYY imj=) bIH?iA;\ ?))SG??I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035785.583165 s, next control iter: 1743035785.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9284, header.stamp.nsec: 00 temperature: 13.568800* salinity: 33.375462, density: 1025.000000* values[0]: 0.570471F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035785.983165 s.I~,~b'AA\("@A"@Ag^~? A`A%"AAtNA"AZAbAjArAzAAAmIx,5@A|9+tAGVc@A.<AAP_?A̋?AW?Asa<*AJ:?2Aֽ:A BAJ:?JAֽRA ٘i)I9Vc@Y\ G JL<JJJJE&K Y0]~?y`KApEj7Z7fe9)B)BE[[2?[]~?[[[[[BZYY i) a%IxH?i龉) ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035786.003165 s, next control iter: 1743035786.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035786.403165 s.&I~,͙b'AJ"J*J2J:JBJnJvJAQ^"@Aͫ:Q"@A5{^~? AA?%"AA+tNA"AZAbAjArAzAAA]ڸig5@A|=tA"c@Aɩ}<A͓Ad?A8?A?A<*A':?2A%ֽ:A BA':?JA%ֽRA ٘i)I9c@Y G JNw<JJJJE&K Y]~?y~QLArESI7SI7"je9) B[[u7?[]~?[[[[[BZYY i) ѻIH?iCt ?))??*YFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743035786.423165 s, next control iter: 1743035786.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9285", header.stamp.nsec: 0"0 temperature: 13.568537"* salinity: 33.375469", density: 1025.000000"* values[0]: 0.570930"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035786.823165 s.I~,2b'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057158< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035786.823288F (some fields omitted in printout)AGz"@A/Xn"@A^~? AZAj%"AA"uNA"AZAbAjArAzAAAk5@AptA7d@AE<AkA1i?AY?A _?A<*A*:?2A!ֽ:A BA*:?JA!ֽRA ٘i)I97d@Y G J<JJJJE&K Yp]~?yxLAuE)7ŧ7me9(B)BE[[=?[{^~?[[[[[BZYY i/=) WᱻIH?i Ų $?))$?$?yʅj=*YcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035786.843165 s, next control iter: 1743035787.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035787.243165 s.I~,qb'AJ"J*J2J:JBJnJvJAףp="@AR1"@A^~? AA;%"AA*uNA"AZAbAjArAzAAA25@A[9+sA1d@Ao;AxAn?A$?Aִ?A<*AB.:?2Aս:A~ BAB.:?JAսRA~ ٘i)I9d@Y8 G Jt<JJJJE&K Y ^~?y~qLAxE{7j7Mqe9)B[[ݭC?[*^~?[w|[[[[BZYY i) ?I H?i0 ?))??y/j=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035787.263165 s, next control iter: 1743035787.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035787.663165 s.I~,qb'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9286, header.stamp.nsec: 00 temperature: 13.568207* salinity: 33.375492, density: 1025.000000* values[0]: 0.571580F (some fields omitted in printout)A#@A"@Aܲ^~? AݛAH%"AAlFuNA"AZAbAjArAzAAAH 6@AamsAxSe@A)AUAzs?A@:?A@*?Aɳ<*A}-:?2Aս:ABA}-:?JAսRAY;?s?yJT ٓH ?xPo@ Yn^~?yRjeMAs?zE77te9#B)BE[[I?[|?^~?[$v[[[[BZYY i) hIFH?i+#$л &^?))&^?&^?yR=X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035787.683165 s, next control iter: 1743035788.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035788.083165 s.DI~,Sc'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035788.083302F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5#@AI(#@A^~? AA%"AAauNA"AZAbAjArAzAAAZF6@A/sAe@A{xA(윽Ax?A`J?A yZ?AfѸ<*Ah-:?2Aս:ABAh-:?JAսRA٘i)I9e@Y G J<JJJJE&K Y)^~?y&cMA}Ej7Z7xxe9)B[[uO?[S^~?[o[[[[BZYY i) ,IH?iI0$ M=?))M=?M=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035788.103165 s, next control iter: 1743035788.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035788.503165 s.I~,H4 c'AARk#@AD~^#@A^~? AAo%"AAr|uNA"AZAbAjArAzAAA}/z6@A_ۡ$sAtf@A_AkA~?Ar?A ?A!<*AV-:?2AFֽ:A BAV-:?JAFֽRA ٘i)I9f@YN G J<B=JJJJE&K Y+:^~?y[8NAES77|e9"B)B E[[iU?[g^~?[h[[[[BZYY i) b>IH?iq; #?))#?#?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035788.523165 s, next control iter: 1743035788.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9287, header.stamp.nsec: 00 temperature: 13.567841* salinity: 33.375500, density: 1025.000000* values[0]: 0.572353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035788.923165 s.:I~,;c'AJ"J*J2J:J?BJ?nJ5vJA{G#@Ab[>#@A^~? ẢA%"AAuNA"AZAbAjArAzAAAxʅ6@AfsA!g@ATA3EAU?A[T?A?Aϲ<*AF-:?2Aֽ:ABAF-:?JAֽRA٘i)I9!g@Y G JS<C=JJJJE&K YJ^~?yTNAE{7{7e9)B[[d[?[s{^~?[b[[[[BZYY i) RI&H?iD ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035788.943165 s, next control iter: 1743035789.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035789.343165 s. elevatorAngleAction: 0.066397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035789.343295F (some fields omitted in printout)Ap= #@A;#@A^~? AA:_%"AAuNA"AZAbAjArAzAAA ^6@AilsACg@A[G;AAm?A ?AK?A<*A-:?2AD׽:A#BA-:?JAD׽RA#٘i)I9g@Y G Jۯ<JJJJE&K YZ^~?yM OAE77778e9B)B E[[/ga?[^~?[Z[[[[BZYY i) 8I2H?iKpj \?))\?\?*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743035789.363165 s, next control iter: 1743035789.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9288*, header.stamp.nsec: 0*0 temperature: 13.567463** salinity: 33.375519*, density: 1025.000000** values[0]: 0.573143*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035789.763165 s.5I~,pc'AJ"J*J2J:JBJnJvJA $@AʋL#@A_~? A7}A%"AAuNA"AZAbAjArAzAAAX*77@AutesACh@Aipk<AoA?A?A ?A\<*A,:?2A׽:ABA,:?JA׽RAYU??yl<ٓH?`@6ԗ??@?m??)U? I٘i)I9Ch@Y[ G J<J$<JJJE&K y> Yh^~?yEoOA?Eŧ7b7Άe9)ۯB[[`g?[ ^~?[S[[[[BZYY i) LF:I~H?iYK 0?))0?0?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035789.783165 s, next control iter: 1743035790.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035790.183165 s.I~,cc'AA(\B$@A>D5$@A_~? AvAV%"AA3uNA"AZAbAjArAzAAAεMA7@A& 'sAh@ADr<AA?Al ?A ?A$<*A+:?2As׽:A`BA+:?JAs׽RA`٘i)I9h@Y G J<JJJJE&K Yv^~?yR>OAE{7j7ce9B)֯BE[[cm?[8^~?[uL[[[[BZYY i) ;I(H?ie ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035790.203165 s, next control iter: 1743035790.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035790.603165 s.74I~,c'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: 0.066397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035790.603271F (some fields omitted in printout)AQx$@AEk$@A'_~? A:pA%"AAuNA"AZAbAjArAzAAArHp7@A!sAoTi@A;AAF?A@G?A*?A<*A +:?2A+׽:AFBA +:?JA+׽RAF٘i)I9Ti@YG Jʡ<JJJJE&K Y^~?y67PAE{7e9)үB[[ps?[^~?[D[[[[BZYY i) =;IHH?ijo": ?))??J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035790.643165 s, next control iter: 1743035791.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9289 , header.stamp.nsec: 0 0 temperature: 13.567133 * salinity: 33.375519 , density: 1025.000000 * values[0]: 0.573882 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035791.023165 s.ZI~,1|c'AAHz$@A( $@A5_~? AiA.V%"AAvNA"AZAbAjArAzAAA~7@A2y2sAi@ALxAώA_Ɏ?Ag?A@o?A<*A*:?2Aֽ:ABA*:?JAֽRA٘i)I9i@YUG JK<JJJJ E&K Y^~?y/PAEb77e9B)ɯBE[[y?[^~?[A=[[[[BZYY i) z;IvH?iGw-B ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035791.063165 s, next control iter: 1743035791.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035791.443165 s.7I~,>]c'AJ"J*J2J:JBJnJvJAq= $@AS]$@AhD_~? AbA%"AA&vNA"AZAbAjArAzAAAʓb7@AL7osAej@AUAnjAcQ?A`e?A ?Aoۢ<*A):?2Aֽ:Ae BA):?JAֽRAe ٘i)I9ej@YG J<JJJJ E&K Y^~?yY'PAE7777#e9)įB[[?[^~?[j5[[[[BZYY i) ћ;IbiH?i}I! ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035791.463165 s, next control iter: 1743035791.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9290, header.stamp.nsec: 00 temperature: 13.566786* salinity: 33.375526, density: 1025.000000* values[0]: 0.574573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035791.863165 s.+I~,>c'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035791.863275F (some fields omitted in printout)A%@A) %@AqR_~? A \A\%"AA;vNA"AZAbAjArAzAAA?7@AdwsAj@A}{AAo?A?A?A<*A(:?2A6ֽ:A~BA(:?JA6ֽRA~Yo? ?yΤwT|ٓH?F ' :?@?`[`6Q?`w D?)o? I٘i)I9j@YG J<J/?<JJJE&Kx> Y^~?yI\QA ?E77e9)B[[ق?[^~?[-[[[[BZYY i_=) κ;I[H?ḯ) ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035791.903165 s, next control iter: 1743035792.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035792.283165 s.3RI~,d'AJ"J*J2J:JBJnJvJA(\O%@Ay7RB%@A`_~? A"UA%"AAPvNA"AZAbAjArAzAAAP!8@AP@sAVqk@AeAVAn?A!?A 4?AY<*A&:?2Aֽ:ABA&:?JAֽRA٘i)I9qk@YKG J<JJJJE&K YU^~?y9QAE{7j7Ne9B)BE[[?[_~?[k%[[[[BZYY i) (;IBLH?i R0 ܫ?))ܫ?ܫ?-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035792.303165 s, next control iter: 1743035792.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 92912, header.stamp.nsec: 020 temperature: 13.5664632* salinity: 33.3755422, density: 1025.0000002* values[0]: 0.5752542F (some fields omitted in printout)FU^~?)F9 rAdjusting time to match Gazebo time: 1743035792.703165 s.պ I~, -d'AAQ%@AKx%@A(m_~? A$NAlj%"AAdvNA"AZAbAjArAzAAADD8@AXCsAk@A9:AjiAG?AL??As?A┎<*A !:?2A\׽:A.wBA !:?JA\׽RA.w٘i)I9k@YG J$<B=JJJJE&K Y^~?y(RAE77e9B)BE[[?[_~?[,[[[[BZYY i) ;I elevatorAngleAction: 0.076627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743035793.123315F (some fields omitted in printout)AG%@Aխ%@Ay_~? AGA%"AAxvNA"AZAbAjArAzAAA_F,Nk8@AbsAbl@Ai:<A0A?Ace?A?AlÇ<*A3:?2A׽:AC2BA3:?JA׽RAC2٘i)I9bl@YG J!<C=JJJJE&K Y^~?ysRAEZ7Z7ye9)B[[?[(#_~?[[[[[BZYY i)  8@ALsAcl@A8 <AA?A ?A@-?A <*A:?2An׽:ABA:?JAn׽RA٘i)I9l@Y#G J<<JJJJE&K Yp^~?y RAE77e9B)BE[[z&?[0_~?[H [[[[BZYY i) r[=<A;8A62?A ?A?A<*A:?2AP_׽:A BA:?JAP_׽RA Y# ?r?y5=<ٓH\?\u@1*a? c?t@Mc???)# ? I٘i)I9Dm@YhG J<J,JJJE&Kx> Y^~?y-SA?E7e9)B[[:?[=_~?[[[[[BZYY i) H* elevatorAngleAction: 0.076627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035794.383287F (some fields omitted in printout)A(\&@A!O&@A_~? Ac1A%"AAvNA"AZAbAjArAzAAA)P8@AMnsAm@Aj:AAƶ?A?A`,R?Ȁ<*AB :?2A-ֽ:ABAB :?JA-ֽRA٘i)I9m@YG J<JJJJ E&K Y^~?yFSAEŧ79e9B)BE[[R?[)J_~?[[[[[BZYY i) N: elevatorAngleAction: 0.076627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743035795.643277F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp&@A/g&@AŻ_~? AAI%"AAvNA"AZAbAjArAzAAAdv"f@39@AXTӪsA;o@A+YA zAh?A2?Ae?A\u<*AM9?2Aqֽ:A BAM9?JAqֽRA ٘i)I9;o@YG Jq<JJJJ(E&K Y_~?y թTAEZ7Z7e9)B[[8?[\k_~?[[[[[BZYY i) h Y _~?y̩UA%?E7777e9 B)BE[[Bˡ?[u_~?[ש[[[[BZYY i) nw elevatorAngleAction: 0.076627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743035796.903291F (some fields omitted in printout)AQ'@AV)'@A!_~? ACA%"AAwNA"AZAbAjArAzAAAE)9@A }sAp@A#n<A(A?A?A \?A<*A19?2Aϓ׽:AW BA19?JAϓ׽RAW ٘i)I9p@YG J<JJJJ0E&K Y_~?yLUAESI7SI7e9)B[[?[>_~?[{ĩ[[[[BZYY i=) ! elevatorAngleAction: 0.085906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035798.163304F (some fields omitted in printout)A@(@A4f2(@A_~? AA"%"AAC*wNA"AZAbAjArAzAAA49@A٬sAkr@AڗAhΠA!?A`;l?A?A<*A9?2Aֽ:A2BA9?JAֽRA2Y5!?-?y͠,RٓH䠻?qڊö?`nλ?6ճu? YZ%_~?yTWA-?Eŧ77ye9)tB[[?[_~?[#[[[[BZYY i)  elevatorAngleAction: 0.085906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035799.423291F (some fields omitted in printout)A{G(@A<(@A_~? AVժA%"AAEwNA"AZAbAjArAzAAA*β[9@A1>sA9t@AAJA?A@r?A)?A<*A9?2AHֽ:ABA9?JAHֽRA٘i)I99t@YG J<JJJJ@E&K Y._~?yLXAūE779e9)cB[[?[__~?[G[[[[BZYY i) ? Y1_~?yu,YA:?˫E{7j7de9)WB[[L?[_~?[w[[[[BZYY i)  elevatorAngleAction: 0.085906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035800.683266F (some fields omitted in printout)A(\)@A8ӄu)@A `~? AkAi&"AAYwNA"AZAbAjArAzAAA#4:@Ad2qsAv@A~<AמA?A@3?A sG?AG<*A9?2Ag׽:ABA9?JAg׽RA٘i)I9v@YG J<JJJJHE&K Y1_~?ylYAͫE77e9B)PBE[[w?[4_~?[%n[[[[BZYY i)  elevatorAngleAction: 0.085906< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035801.943314F (some fields omitted in printout)Aq= #*@AL*@AZ`~? AQA?&"AAfwNA"AZAbAjArAzAAAC 6:@AM0bsALx@A"A}εA?Aϩ?Ah?A{<*A9?2A4ֽ:A+hBA9?JA4ֽRA+h٘i)I9x@YG J-<JJJJPE&K Y2_~?yZRZAիEe9)@B[[?[_~?[P[[[[ZZZZ¸>BZYY i¸>YΩ) Df'AJ"J*J2J:J?BJ?nJ-5vJAY*@AKWL*@A`~? ABA&"AAiwNA"AZAbAjArAzAAA W;:@A{^sAxx@AҰ|A7ܶA?AB?Ao?A <*A9?2A5ֽ:A BA9?JA5ֽRA Y3?"@?yֶ~}ٓHP>@j|@i?Q ``Ӷ?@ȕe?)3? I٘i)I9x@YrG Jo<J:JJJSE&Kx> Y/_~?yIw[A@?ثE777Oe9);BE[[%?[_~?[G[[[[ZZZZBZYY i) J:@ABYsAy@A?QA8>A;?A@8?Ap?AY=*A9?2AQֽ:ABA9?JAQֽRA٘i)I9y@YG JZ<JJJJVE&K Y"-_~?y@[A۫E77e9)4B[[Q?["_~?[b=[[[[ZZZZBZYY i) LJJJ`E&K-x> Y_~?y]AF?Eb77:f9)B[[C?[_~?[[[[[ZZZZBZYY im) eA\?AtT6<*Al9?2A ֽ:Ao<BAl9?JA ֽRAo<٘i)I9}@YSG J(c<JJJJfE&K Yy_~?y ]AE7d f9B)BE[[\?[Ō_~?[[[[[ZZZZBZYY i) jJJJnE&Kkw> Y_~?y]AE?Eŧ77%f9)[[$?[is_~?[n[[[[BZYY ihsj) p0¿AY?A}A*A9?2Aս:A =BA9?JAսRA =٘i)I9}@YVG J?JJJJsE&K Yo^~?yd]AEb7b7Of9)B[[.?[^_~?[ը[[[[BZYY i) -5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743035808.243298F (some fields omitted in printout)Aףp=J-@Ax1=-@A_~? A!-Al &"AAI Y^~?yɨ\AK?Ej7Z7(f9)B E[[ M@[:_~?[P[[[[BZYY i) n;IcE?i調Z  0@)) 0@ 0@&ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035808.683165 s, next control iter: 1743035809.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035809.083165 s.DI~,SEh'AJ"J*J2J:JBJnJvJA)\µ-@As-@A_~? AA &"AA')wNA"AZAbAjArAzAAA[s>9@AvO sAa{@Ap+Az=A?AɿAk?A*A9?2A׽:AL=BA9?JA׽RAL=٘i)I9{@YBG JC=JJJJ~E&K Y^~?y!\AEb77+f9B)%BE[[@[-_~?[[[[[BZYY i) );IPE?i񨿉 ?X  Z2@)) Z2@ Z2@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035809.103165 s, next control iter: 1743035809.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035809.503165 s.I~,D4`h'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743035809.503327F (some fields omitted in printout)AR-@A%Zx-@Am_~? AAW6&"AAgwNA"AZAbAjArAzAAA~Q'*9@AdO sAJF{@AlA9=A@A˿A`so?Aw*A9?2A -׽:AD. =BA9?JA -׽RAD. =٘i)I9F{@YG JJJJJE&K Yʾ^~?yٸ[AEŧ7ŧ7:/f9))B[[n@[_~?[ [[[[BZYY i) =;I?E?iTcT r3@))r3@r3@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035809.543165 s, next control iter: 1743035809.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9308, header.stamp.nsec: 00 temperature: 13.383796* salinity: 33.391624, density: 1025.000000* values[0]: 0.709071F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035809.923165 s.J "J *J 2J :J 5?BJ 5?nJ V>5vJ DI~,{h'AA{G!.@Aٗl<.@A_~? AA&"AAwNA"AZAbAjArAzAAAziG JJJJJE&K YȨ^~?yZA E77e6f9B)4BE[[ӈ@[_~?[S[[[[BZYY i) Ԍ;IE?iȜ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035810.763315F (some fields omitted in printout)Ǎ.@A.@AN_~? AA&"AAvNA"AZAbAjArAzAAAzUI9@ATpSPrAhy@AQt<A7=A2@A`xпA p?AL*A{9?2AC7ֽ:A =BA{9?JAC7ֽRA =Y#E?@yҽ=<ٓH ޿ _?`,޿e?ҳ}??)#E? I٘i)I9y@YG JJ <JJJE&K x> Y3^~?y꠨ZA@E77{79f9)9B[[@[^~?["[[[[BZYY i) }:I E?ihF T8@))T8@T8@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035810.783165 s, next control iter: 1743035811.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035811.183165 s.2I~,oh'AA(\.@AU.@A_~? AMA}&"AAvNA"AZAbAjArAzAAA2-9@AjorAx@Ay<AZ=A4@AyZѿA#?A4*Ax9?2ACֽ:AP =BAx9?JACֽRAP =٘i)I9x@YG JٻJJJJE&K Y^~?y3ZAEb77=f9B)@BE[[ @[p^~?[[[[[BZYY i) to9ID?i0B :@)):@:@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035811.223165 s, next control iter: 1743035811.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035811.603165 s.649I~,h'AJ"J*J2J:JBJnJvJAQ.@A\sG.@A_~? AA&"AAFvNA"AZAbAjArAzAAAcZ|9@ATY'rAXNx@ACog<A =A2@A<ҿAG?AXѸ*Ac9?2AHֽ:An[ =BAc9?JAHֽRAn[ =٘i)I9Nx@Y G J6B=JJJJE&K Y^~?y{YAEŧ7b7%Af9)EB[[/ @[j^~?[1[[[[BZYY i) <_3ID?iW= ;@));@;@/ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035811.643165 s, next control iter: 1743035812.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9310 , header.stamp.nsec: 0 0 temperature: 13.384346 * salinity: 33.391640 , density: 1025.000000 * values[0]: 0.706617 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035812.023165 s.Z@I~,1|i'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035812.023305F (some fields omitted in printout)AHz./@At !/@A¥_~? AjA}&"AAvNA"AZAbAjArAzAAA h8@AFf|rAw@A];A =A@ADӿAp?AL*A9?2A\ֽ:A-=BA9?JA\ֽRA-=٘i)I9w@YG JC=JJJJE&K Ysr^~?yʼnEYAE7ŧ7Df9B)JBE[[Q @[^~?[xx[[[[BZYY i) 9>ѺIYD?iwϢ7 7=@))7=@7=@ ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035812.063165 s, next control iter: 1743035812.423188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743035812.443165 s.7FI~,>]i'AJ"J*J2J:J4?BJ4?nJ=5vJAq= c/@AV/@A_~? AA?&"AAvNA"AZAbAjArAzAAA Y8@AΛE%rA#w@ALAv =Ad @A` ԿAy=?Af6*A59?2A]׽:Ab=BA59?JA]׽RAb=٘i)I9#w@YjG JhJJJJE&K Yd^~?yXAE77PHf9 B)PBE[[b?@[ެ^~?[p[[[[BZYY i) i$ID?ie0 >@))>@>@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035812.463165 s, next control iter: 1743035812.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9311, header.stamp.nsec: 00 temperature: 13.384636* salinity: 33.391647, density: 1025.000000* values[0]: 0.705362F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035812.863165 s.+MI~,>7i'AA/@AmO/@A_~? A٩Ad&"AA>vNA"AZAbAjArAzAAA[E8@AKarAv@AcjA/v=A= @AVԿA?A*A9?2A=>׽:AU<BA9?JA=>׽RAU YT^~?yzyXA- @E7ŧ7Kf9)UB[[@[+^~?[xi[[[[BZYY i) aI D?i, K@@))K@@K@@jȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035812.903165 s, next control iter: 1743035813.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035813.283165 s.;RTI~,Ri'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743035813.283277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\/@AP/@A҃_~? AҩA[&"AA›vNA"AZAbAjArAzAAA i8@ALJPrAv@ArbyAJ=A @A տA P?A[X*A79?2A(׽:A<BA79?JA(׽RA<٘i)I9v@YG JkJJJJE&K YD^~?ysXAE77{7{Of9 B)ZBE[[P@[^~?[0b[[[[BZYY i) mID?ifj1( A@))A@A@lŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035813.303165 s, next control iter: 1743035813.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9312., header.stamp.nsec: 0.0 temperature: 13.384897.* salinity: 33.391678., density: 1025.000000.* values[0]: 0.704207.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035813.703165 s.ֺZI~,mi'AAQ0@Ay7/@Aw_~? Ay˩A&"AAvNA"AZAbAjArAzAAA|fRd8@A!Q rAu@AipAl=A# @A`nֿA?A*A*9?2Awֽ:Ao<<BA*9?JAwֽRAo<<٘i)I9u@YvG JJJJJE&K Y4^~?yOlWA!E{7j7Sf9 B)_BE[[@[Os^~?[[[[[[BZYY i)  IGD?i}G" ]C@))]C@]C@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035813.723165 s, next control iter: 1743035814.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035814.123165 s.8aI~,ai'AJ"J*J2J:JBJnJvJAG:0@Ac#-0@Aj_~? AmĩA#r&"AAvvNA"AZAbAjArAzAAAQo=8@A<rAu@AWpQ;A}=A@Ape׿A[?A{*A9?2A4~ֽ:A9<BA9?JA4~ֽRA9<٘i)I9u@Y&G JJJJJE&K Y$^~?yeTWA#Eb77Vf9B)eBE[[Z@[<_^~?[)T[[[[BZYY i&) t̻IAD?iOr VD@))VD@VD@~YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035814.143165 s, next control iter: 1743035814.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035814.543165 s.IhI~,âi'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035814.543283F (some fields omitted in printout)A= ףp0@AR(c0@A]_~? AvA&"AAcvNA"AZAbAjArAzAAA8@A8irA t@AHR<A=AT@A 6ؿA?Aɜ*A9?2ArDֽ:A`<BA9?JArDֽRA`<٘i)I9t@YG JJJJJE&K Y^~?y]VA&E{7j7;Zf9)iB[[/@[J^~?[oM[[[[BZYY i) DID?i e lF@))lF@lF@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035814.563165 s, next control iter: 1743035814.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9313, header.stamp.nsec: 00 temperature: 13.385152* salinity: 33.391685, density: 1025.000000* values[0]: 0.703140F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035814.963165 s.}nI~,i'AJ"J*J2J:JBJnJvJAffff0@AkBZ0@AP_~? AAR&"AANvNA"AZAbAjArAzAAAu7@A596rAH t@A<A=Al@AٿA?A痼*A9?2AMֽ:A4=BA9?JAMֽRA4=Yw@@y;=V<ٓH@@`RN?`I2?@J? ?)w@ I٘i)I9 t@YG JJ(JJJE&K%x> Y^^~?yWVA@)E)7b7]f9B)oBE[[`@[5^~?[F[[[[BZYY i) -I}D?iq^'] AG@))AG@AG@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035814.983165 s, next control iter: 1743035815.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035815.383165 s.uI~,ni'AA(0@A 0@AA_~? AɯA&"AA9vNA"AZAbAjArAzAAA<7@A5 'rAs@A(<A1=AK@AaٿA ?Ap"*AV9?2ALֽ:A1=BAV9?JALֽRA1=٘i)I9s@Y:G J;JJJJE&K Y ]~?ygP;VA+ES77faf9)sB[[t@[* ^~?[c@[[[[BZYY i) nI}rD?iUD {H))zH;vI@y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035815.403165 s, next control iter: 1743035815.783191 s, wait time: 0.380026 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9314&, header.stamp.nsec: 0&0 temperature: 13.385414&* salinity: 33.391682&, density: 1025.000000&* values[0]: 0.702054&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035815.803165 s.yA|I~,gi'AJ"J*J2J:J3?BJ3?nJt<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035815.803288F (some fields omitted in printout)A1@AyZ~1@Am3_~? AA̋&"AA,$vNA"AZAbAjArAzAAA7@Ae rAs@AVwA4=AL@AڿA W?A*An9?2Aiֽ:AxE=BAn9?JAiֽRAxE=٘i)I9s@YG J=JJJJE&K Y]~?yIUA.Eŧ7b7df9B)yBE[[b@[K ^~?[&:[[[[BZYY i) ZE$IgD?i1K)  5%G))5%GJ@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035815.823165 s, next control iter: 1743035816.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035816.223165 s.gI~,Hj'AAzG1@A9:1@Aw$_~? AyA &"AA vNA"AZAbAjArAzAAA#bh7@AXrAџr@Ax4A=AF@A8kۿA?A쇼*Ao9?2A@?׽:AQ<BAo9?JA@?׽RAQ<٘i)I9r@YG J݉JJJJE&K Yh]~?yBUA1E777hf9B)BE[[\@[]~?[4[[[[BZYY i) 3IS]D?i>U E))E}L@佪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743035816.243165 s, next control iter: 1743035816.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035816.643165 s.tЉI~,))j'AJ"J*J2J:JBJnJvJA ףp}1@A?dp1@A_~? AA&"AAuNA"AZAbAjArAzAAA~97@AxrA .r@AA=A@A1ܿA?A釼*Ah9?2A5G׽:A=BAh9?JA5G׽RA=٘i)I9.r@YeG JnJJJJE&K Y]~?yJ<(UA3E77%lf9)B[[Y[@[]~?[G.[[[[BZYY i) }[CISD?i/`F  D)) DM@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035816.663165 s, next control iter: 1743035817.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9315, header.stamp.nsec: 00 temperature: 13.385617* salinity: 33.391708, density: 1025.000000* values[0]: 0.701065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035817.063165 s.I~,_ Dj'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035817.063293F (some fields omitted in printout)A33331@AXf,1@A>_~? AAJ &"AA=uNA"AZAbAjArAzAAAЇ 7@Aq rAq@AEFARp=A,B@A5ܿA@|?Aft*A~9?2A ׽:Ah=BA~9?JA ׽RAh=Y,. @P4@ym=zGٓHT@_K?"?ʱ߈?),. @ II٘i)I9q@YG JeB=J;JJJE&Kx> Y]~?y26TA4@6E7777of9B)BE[[-@[]~?[([[[[BZYY i)  RIJD?i(j)׻ hB))hBMO@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035817.083165 s, next control iter: 1743035817.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035817.483165 s.u_I~,^j'AJ"J*J2J:JBJnJvJA\1@A8j1@A^~? A=A&"AAuNA"AZAbAjArAzAAA96@A62rAAq@A8O A=A҃@AɯݿA`70?A<#*Aֿ9?2A;ֽ:AU=BAֿ9?JA;ֽRAU=٘i)I9Aq@YG JC=JJJJE&K YE]~?y0iTA D9E7)7Psf9)B[[T @[9]~?[ #[[[[BZYY i) #bIQBD?i7ʻ A))A0Q@qǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035817.523165 s, next control iter: 1743035817.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9316, header.stamp.nsec: 00 temperature: 13.385844* salinity: 33.391720, density: 1025.000000* values[0]: 0.700140F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035817.903165 s.ȝI~,yj'AAQ2@Aެ2@A^^~? AA&"AAuNA"AZAbAjArAzAAA.G 6@A֤hrAp@A<A C=A@Ah޿A?AA*A9?2ACGֽ:Aؘ =BA9?JACGֽRAؘ =٘i)I9p@YG JJJJJE&K Y{]~?y* TA;E77{7vf9B)BE[[x!@[]~?[[[[[BZYY iN) ߅qIs:D?i^EZ7Z7{zf9B)BE[[rE#@[]~?[[[[[BZYY i) tIR3D?i9 G">))G">nS@0ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035818.363165 s, next control iter: 1743035818.723175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9317*, header.stamp.nsec: 0*0 temperature: 13.386107** salinity: 33.391716*, density: 1025.000000** values[0]: 0.699075*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035818.743165 s.WI~,~j'AAףp=2@A2}2@A^~? A|Ay&"AAzuNA"AZAbAjArAzAAA9Fӈ=6@AOrAo@A"a<AD =AY@A߿A A?A*A9?2AUֽ:Aq/=BA9?JAUֽRAq/=٘i)I9o@YG J/JJJJE&K Y S]~?yJSAAE{7{7~f9)B[[{$@[g]~?[[[[[BZYY i) X&I -D?i龉J <))<yU@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035818.763165 s, next control iter: 1743035819.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035819.163165 s.x}I~,qj'AJ"J*J2J:JBJnJvJA2@A2@A^~? A wAe&"AA_uNA"AZAbAjArAzAAAMC6@AļY&orA,o@A ;A=AW@AoCA>?A/*A 9?2AϹֽ:AHc=BA 9?JAϹֽRAHc=Y4@Y@y=};ٓH@x-@К?= ~?z+`Mt??)4@ I٘i)I9,o@YG JJR<JJJE&K4x> Y<]~?yoRA@CEj7SI7f9B)B޹E[[i0&@[+O]~?[[[[[BZYY i) ƱI>'D?i׾ *;))*;5V@y/ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035819.183165 s, next control iter: 1743035819.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035819.583165 s.%I~,;Sj'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743035819.583310F (some fields omitted in printout)A)\2@Aබ2@Aߝ^~? AHqAY&"AADuNA"AZAbAjArAzAAA1 N5@AnbrAѥn@AֻA7q=AO @A A@?Aꆠ*A|9?2A#׽:A =BA|9?JA#׽RA =٘i)I9n@Y?G JʠJJJJE&K Y&]~?y|RAFE77{7;f9B)B۹E[[E'@[f6]~?[i [[[[BZYY i)  Y\~?y!PA:%@QE777f9#B)BѹE[[Ld-@[\~?[*[[[[BZYY i) x2ID?iI*Uٺ |3))|39N^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035821.303165 s, next control iter: 1743035821.663185 s, wait time: 0.360020 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 93206, header.stamp.nsec: 060 temperature: 13.3869056* salinity: 33.3917436, density: 1025.0000006* values[0]: 0.6957516F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035821.683165 s.lI~,Vkk'AJ"J*J2J:JBJnJvJA(\4@A\߇3@Ae=^~? AAVA&"AAγtNA"AZAbAjArAzAAAɄ@ʫ4@A-fjrAk@A9Y<Am=A+u&@A`0Aa?Aż*A9?2Aս:A8=BA9?JAսRA8=٘i)I9k@YG JJJJJϬE&K Y׳\~?yubPASE&f9&B)ȯB[[.@[߷\~?[[[[[BZYY i) ID?iA \2))\2/_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035821.683165 s, next control iter: 1743035822.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743035822.103165 s.I~,k'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035822.103277F (some fields omitted in printout)AQ84@A4F+4@A)^~? A8QA]k'AAq= ף4@A˖4@A|]~? AGA&"AAVtNA"AZAbAjArAzAAAa6]3@AQorA:i@A%A%=Ar*@A`iAnT?A˼*AՋ9?2A ֽ:A=BAՋ9?JA ֽRA=٘i)I9i@YHG J̼JJJJ׬E&K Yl\~?yq OA[E)7ŧ7f9,B)ݯBǹE[[1 3@[Vj\~?[[[[[BZYY i) }ҼID?i=ا$: .)).6d@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035822.983165 s, next control iter: 1743035823.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035823.363165 s.I~,}>k'AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084622< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199292 time: 1743035823.363281F (some fields omitted in printout)A4@AǺ4@A7]~? ABAl&"AA6tNA"AZAbAjArAzAAATzu3@AZborAGi@A =A[=A +@A@lVA@?Aʼ*A9?2A&׽:AO=BA9?JA&׽RAO=Yf@+@yX==ٓH@E>ܿG2??Ci?)f@ I٘i)I9i@Y G J˼J<JJJ٬E&KDx> YR\~?yNA+@^E|f9)B[[s4@[P\~?[([[[[BZYY i) ټIXD?i)=6: ,)),1e@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035823.403165 s, next control iter: 1743035823.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9322&, header.stamp.nsec: 0&0 temperature: 13.387531&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.693090&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035823.783165 s.XI~,k'AA(\5@AR5@A]~? Ah>A<&"AAZtNA"AZAbAjArAzAAA`Z0n3@AHmLo܇rADqh@AрA =AS"-@AɚA@?A̼*Ag9?2A)׽:A|=BAg9?JA)׽RA|=٘i)I9qh@Yx G J˼JJJJܬE&K Y9\~?yNAaE77{7f9-B)BĹE[[5@[5\~?[[[[[BZYY i) IuD?iL>X: W&+))W&+^f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035823.823165 s, next control iter: 1743035824.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035824.203165 s.I~, l'AJ"J*J2J:JBJnJvJAQE5@Al85@AǾ]~? A :A&"AAusNA"AZAbAjArAzAAAE8+3@A[3rAg@AƦ>Aʴ=A{i.@A@4A?AxѼ*Ag9?2Aֽ:A=BAg9?JAֽRA=٘i)I9g@Y G JμJJJJ߬E&K Y9 \~?yߧMAdE7f9.B)BE[[>7@[]\~?[[[[[ZZ¸BZYY i¸=) KԼIXD?iV> ; N)))N)ggh@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035824.223165 s, next control iter: 1743035824.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035824.623165 s.W I~,]'l'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035824.623310F (some fields omitted in printout)AGz5@Am5@A]~? A5Ap&"AA#sNA"AZAbAjArAzAAA4k22@A*r4rAGg@AKAU=A/@A A ?AXؼ*A9?2Aeֽ:A<=BA9?JAeֽRA<=٘i)I9g@Y G JiԼJJJJE&K Y\~?yۧ-MAfE3; K())K(i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035824.663165 s, next control iter: 1743035825.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9323 , header.stamp.nsec: 0 0 temperature: 13.387863 * salinity: 33.391766 , density: 1025.000000 * values[0]: 0.691745 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035825.043165 s.J "J *J 2J :J 1?BJ 1?nJ 95vJ I~,Bl'AA= ף5@Aa 5@A=]~? A1A&"AAisNA"AZAbAjArAzAAA Svfݤ2@A7!rA)Gf@A7<Ax=A00@ATAM?A*A9?2AS ֽ:A,+<BA9?JAS ֽRA,+<٘i)I9Gf@Y& G JJJJJE&K Y[~?yקLAiEŧ7b7ѳf91B)BE[[09@[[~?[[[[[ZZBZYY i) k缼I!D?i>K6a; &))&>k@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035825.063165 s, next control iter: 1743035825.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035825.463165 s.VI~,]l'AAffff5@Ac]5@A{]~? A-A} &"AALsNA"AZAbAjArAzAAA g250`2@A#wh}rAfe@Az<AO=AT+2@A@Ay?A*A9?2Aֽ:Af<BA9?JAֽRAf Y)[~?yԧPLA=2@lE77gf9)B[[z`;@[:[~?[ާ[[[[ZZBZYY i) AI+'D?i>~; u%))u%̩l@y x=&ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035825.483165 s, next control iter: 1743035825.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9324, header.stamp.nsec: 00 temperature: 13.388225* salinity: 33.391754, density: 1025.000000* values[0]: 0.690236F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035825.883165 s.J "J *J 2J :J 0?yI~BJ0?nJH95,Uxl'AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035825.883329F (some fields omitted in printout)A(6@A:!6@Ad]~? A*A/\ &"AAmsNA"AZAbAjArAzAAAa˿2@AIog{rApd@AQ<Acq=A{3@A`A£?A҆*A69?2Ab,ֽ:An<BA69?JAb,ֽRAn<٘i)I9d@Y G J7C=JJJJE&K Y[~?yѧKAnEŧ77f93B)BE[[<@[[~?[+ݧ[[[[ZZBZYY i) I6-D?i>׏;  $)) $n@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035825.903165 s, next control iter: 1743035826.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035826.303165 s.R$I~,fgl'AAQ6@AcD6@AM]~? AY&A &"AAJsNA"AZAbAjArAzAAA\敏1@A-yrAc@A2S;A,=A4@A $A?Aͼ*A9?2AOֽ:A;BA9?JAOֽRA;٘i)I9c@Y G JlJJJJE&K Y>[~?yΧKAqESI7SI7f95B)BE[[>@[[~?[ۧ[[[[ZZBZYY i) I 4D?i>~; L"))L"i|o@sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035826.323165 s, next control iter: 1743035826.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9325*, header.stamp.nsec: 0*0 temperature: 13.388607** salinity: 33.391750*, density: 1025.000000** values[0]: 0.688579*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035826.723165 s.+I~,Hl'AJ"J*J2J:JF0?BJF0?nJ85vJAz6@Az6@A%6]~? A"A# &"AA'sNA"AZAbAjArAzAAAd1@A?U?wrA.c@A9 A<A-!6@A`O7A?A*A9?2AELֽ:A.BA9?JAELֽRA.٘i)I9.c@YC G JJJJJE&K Yȃ[~?y˧KAtEb7b7'f96B)BE[[x?@[|[~?[Qڧ[[[[ZZBZYY i) }RI;D?i?W; ;!));!p@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035826.763165 s, next control iter: 1743035827.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035827.143165 s.[/2I~,*l'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083047< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743035827.143332F (some fields omitted in printout)A ףp6@Arg6@A]~? AzAW.!&"AA sNA"AZAbAjArAzAAA:JF1@ArtrA߳b@AAA<Am7@A`kA V?Ap*A9?2AE3ֽ:A)BA9?JAE3ֽRA)٘i)I9b@Y G JcB=JJJJE&K YRi[~?yȧJAvE7777f98B)"BE[[]@@[sb[~?[+٧[[[[ZZBZYY i) yIDD?i"?r; 5))5Ir@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035827.163165 s, next control iter: 1743035827.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035827.563165 s.8I~,V l'AJ"J*J2J:J0?BJ0?nJ85vJA33336@AL{)6@A]~? ADAn!&"AArNA"AZAbAjArAzAAA^d0@A ) srA\b@Ac{A Ak8@A`iA 6?A!*A9?2A=1ֽ:ABA9?JA=1ֽRAY*@=8@yr{ٓHl`)п@qi?A(?`w`}}?@t?)*@ I٘i)I9\b@Y G JmOC=JFJJJE&Kw> YM[~?yfƧJA8@yEb77Qf99B)&BE[[,B@[G[~?[.ا[[[[ZZBZYY iy=)  rIMD?i@.?} ; p))ps@ )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035827.583165 s, next control iter: 1743035827.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9326, header.stamp.nsec: 00 temperature: 13.388889* salinity: 33.391762, density: 1025.000000* values[0]: 0.687460F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035827.983165 s.?I~,l'AA\(7@A=7@A\~? A5A!&"AAһrNA"AZAbAjArAzAAAƥٴ0@A'qrA%b@AAvA:@A mA )S?A*A49?2An_ֽ:A첼BA49?JAn_ֽRA첼٘i)I9%b@Y G JJJJJE&K Y2[~?y,ħJA|E77{7f9)(B[[C@[2-[~?[`ק[[[[ZZBZYY i =) n_IWD?i;? a;  )) u@)YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035828.003165 s, next control iter: 1743035828.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035828.403165 s.&FI~,m'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035828.403287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^7@AQ7@Ad\~? AMAi!&"AA;rNA"AZAbAjArAzAAADz+Vk0@AGaorA b@Aw;A~ AEY;@AtARm?A `*Av9?2Aֽ:A˼BAv9?JAֽRA˼٘i)I9 b@Y G JaB=JJJJE&K Y"[~?yJA~E77|f9:B)*BE[[dD@[[~?[֧[[[[BZYY i) LIbD?i"K?t< )) yv@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035828.423165 s, next control iter: 1743035828.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9327", header.stamp.nsec: 0"0 temperature: 13.389010"* salinity: 33.391762", density: 1025.000000"* values[0]: 0.686937"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035828.823165 s.LI~,-4m'AAGz7@AGZ*o7@A\~? AA"&"AAZrrNA"AZAbAjArAzAAAz?!0@AQmrAWb@Aa<A:5A<@A@"A`\ ?A;;*Aӕ9?2AUֽ:AjBAӕ9?JAUֽRAj㼙٘i)I9b@Y G JR:C=JJJJE&K YZ~?yJAE77f9;B)+BE[[13F@[Z~?[K֧[[[[BZYY i) :InD?i:\?@ < C))Cw@y=ls*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035828.843165 s, next control iter: 1743035829.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035829.243165 s.SI~,\Om'AJ"J*J2J:J/?BJ/?nJb85vJAףp=7@A7n17@AX\~? AA R"&"AA1MrNA"AZAbAjArAzAAA86?/@AElrA2b@A{<A`ZA=@A@!JA@;?A l;*AS9?2A!ֽ:AZ~BAS9?JA!ֽRAZ~٘i)I92b@Y G J!;JJJJE&K YYZ~?y|JAEf9 elevatorAngleAction: 0.071803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035829.663285F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9328, header.stamp.nsec: 00 temperature: 13.389050* salinity: 33.391762, density: 1025.000000* values[0]: 0.686963F (some fields omitted in printout)A8@AW>7@A\~? AAq"&"AA'rNA"AZAbAjArAzAAAkg:4/@AxJjrAlb@AQ<AyAB?@AnAm?A:,<*Af9?2AZֽ:ABAf9?JAZֽRAY41@?:?@yGy<ٓH rÿ@1?? ՟G@.?-ʁ?{?)41@ I٘i)I9lb@Y G JK <JJJJE&Kw> YkZ~?y#>KA:?@Eb77B)*BE[[H@[&Z~?[է[[[[BZYY i?f=) -hID?i {?߫ < ))z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035829.683165 s, next control iter: 1743035830.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035830.083165 s.DaI~,Sm'AJ"J*J2J:JBJnJvJA)\58@A%(8@As\~? A9 A"&"AArNA"AZAbAjArAzAAAY.@A>;irAb@A:\/AA@@A@A elevatorAngleAction: 0.056396< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035830.923310F (some fields omitted in printout)A{G8@AB:<8@AZA\~? AA;#&"AA%qNA"AZAbAjArAzAAAN-@AhfrAc@AOAƼA C@A=A`?AJZ<*A9?2Aaս:AxBA9?JAaսRAx٘i)I9c@Y G J™<JJJJ E&K YpZ~?y:LAEŧ7b7f9)"B[[,L@[VvZ~?[֧[[[[BZYY iĊ=) VϻIfD?i?c>< h))h)~@yKg=S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035830.963165 s, next control iter: 1743035831.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035831.343165 s.zBA9?JA1ֽRA>z٘i)I9;d@Y G J<JJJJ E&K YTZ~?yLAE777f9AB)BE[[N@[\Z~?[ק[[[[BZYY i) dIfD?i2?}J< ] ))] , @y]g=f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035831.363165 s, next control iter: 1743035831.743182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9330&, header.stamp.nsec: 0&0 temperature: 13.388776&* salinity: 33.391762&, density: 1025.000000&* values[0]: 0.688333&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035831.763165 s.8{I~,#m'AJ"J*J2J:JBJnJvJA 9@AvQ8@A\~? AAVL#&"AAaiqNA"AZAbAjArAzAAAP),@AtdrAd@AG׈A AIE@A A 9?ARr<*A$9?2A ֽ:A BA$9?JA ֽRA Yz7@E@y :ٓH @x 7??`q`k??1?)z7@ I٘i)I9d@Y? G J<J JJJE&Kw> Y8Z~?yILAE@Eb77'f9BB)BE[[VdO@[/CZ~?[ק[[[[BZYY i) "ǑID?i5?0R< ))e@ya݇=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035831.783165 s, next control iter: 1743035832.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035832.183165 s.˂I~,| n'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743035832.183278F (some fields omitted in printout)A(\B9@AMg'59@A[~? A*A$k#&"AABqNA"AZAbAjArAzAAA. +@AcrAZe@A/<A񻙽AWG@AAAR?AY<*A9?2A׽:AC]BA9?JA׽RAC]٘i)I9Ze@Y G J<JJJJE&K YPZ~?yԵ\MAE7)7f9CB)BE[[P@[)Z~?[ا[[[[BZYY i) Z@gItD?i?Z< SY))SY1c@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035832.223165 s, next control iter: 1743035832.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035832.603165 s.64I~,&n'AJ"J*J2J:J{0?BJ{0?nJ95vJAQx9@A}Fk9@A][~? AA#&"AAqNA"AZAbAjArAzAAAh༂*@A_brAe@A'<A՘A4kH@A /A׼?A<*A9?2A{׽:A7qBA9?JA{׽RA7q٘i)I9e@Y G Jͧ<JJJJE&K YZ~?y_MAE)7b7Rf9DB)BE[[wQ@[wZ~?[٧[[[[BZYY i) *ID?iв?d< ))@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035832.623165 s, next control iter: 1743035833.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9331 , header.stamp.nsec: 0 0 temperature: 13.388572 * salinity: 33.391762 , density: 1025.000000 * values[0]: 0.689386 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035833.023165 s.ZI~,{An'AAHz9@AE9@A[~? AA0#&"AApNA"AZAbAjArAzAAA"wH*@AEb/brA0tf@AwT<AˋA kHAAA`?A<*A9?2A`ֽ:A.{BA9?JA`ֽRA.{I٘i)I9tf@YB G JW<JJJJE&K YY~?y괧+NAE77f9EB)BE[[AS@[~Y~?[ڧ[[[[BZYY i) P_ݺIE?ib?o< ] ))] ,@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035833.043165 s, next control iter: 1743035833.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035833.443165 s.7ÖI~,>]\n'AJ"J*J2J:J0?BJ0?nJ195vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035833.443283F (some fields omitted in printout)Aq= 9@A;9@Aӧ[~? AAv#&"AApNA"AZAbAjArAzAAA$$=)@Aʶ:arAg@AJ;AەA)GAPAVO?A!W<*Ay9?2Aֽ:ABAy9?JAֽRA٘i)I9g@Y G J<JJJJE&K YY~?yuNAEZ7Z7|f9FB) BE[[_T@[Y~?[4ܧ[[[[BZYY i) II'E?i?{< _U ))_U +e@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035833.463165 s, next control iter: 1743035833.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9332, header.stamp.nsec: 00 temperature: 13.388386* salinity: 33.391743, density: 1025.000000* values[0]: 0.690390F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035833.863165 s.+I~,>wn'AA:@A :@A[~? AA#&"AA˦pNA"AZAbAjArAzAAAz$)@AwarAg@A AbA-EA ]A-?A><*A<9?2AM2ֽ:ABA<9?JAM2ֽRAY^9>@5Ey O ٓH*?ꈲ?i@ sgs?Q>g?)^9>@ I٘i)I9g@Y G JN<J;JJJE&K x> YY~?y崧NAEEj7f9) BE[[U@[Y~?[ݧ[[[[BZYY i) )9I=E?i?!Á<  )) Y @a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035833.883165 s, next control iter: 1743035834.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035834.283165 s.7RI~,n'AJ"J*J2J:JBJnJvJA(\O:@ADQOB:@A t[~? A(A#&"AApNA"AZAbAjArAzAAA*Iq(@Az`rA"h@Aw}A8ADAhA?A:B<*A9?2Aֽ:A3BA9?JAֽRA3٘i)I9"h@YH G J<JJJJE&K  g9YQY~? g9yUYOAEb77g9GB)BE[[W@[LY~?[Rߧ[[[[BZYY i) ):IRTE?i??< ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035834.303165 s, next control iter: 1743035834.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9333., header.stamp.nsec: 0.0 temperature: 13.388174.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.691467.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035834.703165 s.ӺI~,n'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743035834.703265F (some fields omitted in printout)AQ:@A+Nx:@AZ[~? AAe#&"AA@XpNA"AZAbAjArAzAAA+9'@AowT`rAٰh@AIkAsAUCAQpA`O?A8<*AJ9?2AEֽ:ABAJ9?JAEֽRA٘i)I9h@Y G JV<B=JJJJ"E&K YsY~?yŵOAE7777=g9)B[[YYX@[Y~?[[[[[BZYY i) -;IkE?i5?4< e))eN@,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035834.723165 s, next control iter: 1743035835.103176 s, wait time: 0.380011 ssY~?)ŵ rAdjusting time to match Gazebo time: 1743035835.123165 s.7I~,]n'AJ"J*J2J:J$1?BJ$1?nJ95vJAG:@Arح:@A@[~? AJA#&"AA0pNA"AZAbAjArAzAAAW7'@AL`rA9i@AMA׼AAA!vA`G?A <*A\9?2Aֽ:ABA\9?JAֽRA٘i)I99i@Y G JȢ<C=JJJJ%E&K YVY~?y6 PAE{7 g9CB)B}E[[Y@[|Y~?[[[[[BZYY i) ҍA;IE?i?o< @))@@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035835.143165 s, next control iter: 1743035835.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035835.543165 s.II~,n'AA= ף:@APk:@A&[~? AA^#&"AA{ pNA"AZAbAjArAzAAAa섕K&@AА `rAҺi@A';AdA3@A@]yAK8?AH<*A9?2A׽:A%BA9?JA׽RA%٘i)I9i@Y@G Jۙ<JJJJ'E&K Y:Y~?yPAE)7ŧ7h g9)BzE[[#Z@[%eY~?[[[[[BZYY i) ~;I7E?i?c< )) @;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035835.583165 s, next control iter: 1743035835.943182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9334, header.stamp.nsec: 00 temperature: 13.387969* salinity: 33.391731, density: 1025.000000* values[0]: 0.692469F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035835.963165 s.yI~,n'AJ"J*J2J:JE1?BJE1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035835.963290F (some fields omitted in printout)Affff&;@AG \;@A [~? AA{#&"AAoNA"AZAbAjArAzAAA ]%@A9%_rA4j@Aon<A虇AL?AyAJqyA<*A99?2A3׽:ABA99?JA3׽RAYFD@N\?y9n<ٓHR`r?-?@BIÿ@`??͍?@/?)FD@ I٘i)I94j@YG JW<Jcg<JJJ*E&K5x> YY~?yPA\?E777g9DB)BwE[[\@[DMY~?[;[[[[BZYY i+=) ,h;IE?i? < Ͼ))Ͼs0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035836.003165 s, next control iter: 1743035836.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035836.383165 s.I~,Io'AA(\;@A]O;@AZ~? A;A[#&"AAoNA"AZAbAjArAzAAA^k{]%@A$$`rARj@A }<A{UAU=AwAwA`<*A9?2A׽:AƂBA9?JA׽RAƂ٘i)I9j@YG JƋ<JJJJ-E&K YY~?yO9QAE7ŧ7g9)BtE[[]]@[5Y~?[[[[[BZYY i) ;IE?ix?a< }))}Ї@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035836.403165 s, next control iter: 1743035836.783182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9335&, header.stamp.nsec: 0&0 temperature: 13.387786&* salinity: 33.391743&, density: 1025.000000&* values[0]: 0.693396&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035836.803165 s.{AI~,g3o'AJ"J*J2J:JBJnJvJA;@AQ1߄;@AZ~? AA#&"AA6oNA"AZAbAjArAzAAA̺%$@AE`rAIk@A<AA<A`rA`tAt<*A9?2Amֽ:A&BA9?JAmֽRA&٘i)I9k@YG J<JJJJ/E&K YX~?yQAE77'g9)BqE[[^@[`Y~?[[[[[BZYY i) ;IE?i?,<  ?)) ?Up@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035836.843165 s, next control iter: 1743035837.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035837.223165 s.hI~,INo'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743035837.223347F (some fields omitted in printout)Az;@AA];@AZ~? AA#&"AAkoNA"AZAbAjArAzAAA{ "$@AF!`rAqk@AMYA飆A$x;A{kAZA<*A79?2Apֽ:ANBA79?JApֽRAN٘i)I9k@Y^G J<JJJJ2E&K YX~?yQAEb77g9)BnE[[N_@[fY~?[[[[[BZYY i) ;Im F?i@}< q))q@y=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035837.243165 s, next control iter: 1743035837.623242 s, wait time: 0.380077 s rAdjusting time to match Gazebo time: 1743035837.643165 s.uI~,*io'AJ"J*J2J:JBJnJvJA ףp;@A g;@A&Z~? AA#&"AA~DoNA"AZAbAjArAzAAAd#@AF`rAVl@A- WA~ㇽA[5:A@aA ;A*w<*A%9?2A1ֽ:AUBA%9?JA1ֽRAU٘i)I9l@YG JW<JJJJ5E&K Y X~?yLJRAE{7j7Rg9EB)BkE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #53q/5^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) } <)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035837.663165 s, next control iter: 1743035838.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9336, header.stamp.nsec: 00 temperature: 13.387615* salinity: 33.391708, density: 1025.000000* values[0]: 0.694223F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035838.063165 s.I~,c o'AA33333<@At#,*&<@ABZ~? AsA#&"AA8oNA"AZAbAjArAzAAA56j"@A.oarA~l@AdAmA8AzUATA%<*A99?2A7ֽ:A]BA99?JA7ֽRA]YW@K@=8yhŰٓHy??`п\NT?)?ol ?)W@K@ I٘i)I9~l@YG J6<J JJJ7E&Kx> YX~?yRA8E"g9DB)B[[Pb@[X~?[/[[[[BZYY i)  elevatorAngleAction: 0.076256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743035838.483300F (some fields omitted in printout)A\h<@AM[<@AkpZ~? AtA(#&"AAnNA"AZAbAjArAzAAAJ¸K"@A1^ brAl@A&A3[A7AMA A<*A:?2A$½:ABA:?JA$½RA٘i)I9l@Y9G J5<JJJJ:E&K Y\xX~?ySAE77{7}&g9)ܯBhE[[c@[X~?[,[[[[BZYY i) 1,#&"AAnNA"AZAbAjArAzAAAW!@Aj"҇crAm@Ae?<A8^Ab 6A[:A`Q뾿A<*A::?2A#ƽ:ABA::?JA#ƽRA٘i)I9m@YG J|<JJJJ@E&K YAX~?y!ƧSAĬEb77-g9)կBbE[[e@[X~?[|[[[[BZYY i) +K elevatorAngleAction: 0.076256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035839.743282F (some fields omitted in printout)Aףp= =@AY2<@A#Z~? ADAt#&"AAnNA"AZAbAjArAzAAAx;w @AadrA`n@A<ALA34A*A`NAK<*A:?2AQȽ:ABA:?JAQȽRA٘i)I9`n@YG J<JJJJBE&K YP&X~?yVȧTAǬEj7j7=1g9)ѯB_E[[O3g@[X~?[[[[[BZYY i) g[7q=<ٓH '?d°?@Կ9 ?ò? ?k?)bP@ I٘i)I9n@Y`G J%<JytJJJEE&KC> Y X~?y8˧|TA3ɬE{74g9)ͯB\E[[jh@[3mX~?[B[[[[BZYY i) YGj elevatorAngleAction: 0.076256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743035841.003323F (some fields omitted in printout)AR=@A_{=@AY~? AF A5#&"AAG nNA"AZAbAjArAzAAAySL@Ax|ogrAo@A0#AA)1AWA ſA<*A:?2ApϽ:AGZBA:?JApϽRAGZ٘i)I9o@YG J#<JJJJJE&K YDW~?yЧFUAϬEb77;g9)įBZE[[j@[CX~?[~ [[[[BZYY iv==) \Q@A >@AY~? A[ A"&"AAmNA"AZAbAjArAzAAA':@AirAq@A< [AA.A A@ɿA|U<*ALi:?2Aҽ:AMBALi:?JAҽRAM٘i)I9q@YG Jǯ<JJJJPE&K YW~?y֧VAԬEb7(Cg9CB)BTE[[<4m@[X~?[[[[[BZYY i) Y~ elevatorAngleAction: 0.085078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743035842.263271F (some fields omitted in printout)AL>@A3?>@AY~? AA="&"AAimNA"AZAbAjArAzAAAOUP@AvU?PkrAbq@Ay~AꟽA$-AAc˿Aխ<*A\:?2A[Խ:ABA\:?JA[ԽRAYV@-y韽〻ٓH ! ??ڿ??p?)V@ I٘i)I9q@YG J<J)8JJJRE&K2{> YSW~?yxڧ{VA-׬Ej7j7Fg9)BQE[[fn@[X~?[[[[[BZYY i) @Akcu>@ArY~? AAts"&"AAsmNA"AZAbAjArAzAAA ӯCl@AJxlrA3r@A;AuDA+A-bA@-9ͿA<*AP:?2Aս:ABAP:?JAսRA٘i)I93r@YiG J+<JJJJUE&K YmW~?y1ާVAڬEZ7Z7SJg9)BNE[[fo@[,W~?[0[[[[BZYY i) Bi@A ҌE>@ANYY~? AAB"&"AAMmNA"AZAbAjArAzAAA/4^@AUw`nrA$r@Amv<A AJd*A9A ϿA <*AsE:?2A[ֽ:ABAsE:?JA[ֽRA٘i)I9r@YG J<JJJJXE&K Y+TW~?yRWAܬE{7{7Mg9)B[[;p@[ W~?[^[[[[BZYY i) ީ elevatorAngleAction: 0.085078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035843.523291F (some fields omitted in printout)AHz>@Ad9 >@A@Y~? AcA"&"AA(mNA"AZAbAjArAzAAA=b4@AGJ prAYs@Ao<AYA)A A`dlпA<<*A::?2AŢֽ:ACBA::?JAŢֽRAC٘i)I9Ys@YG J<JJJJZE&K Y:W~?yWA߬E)7ŧ7~Qg9)BKE[[q@[HW~?[#[[[[BZYY i) }TI~,O]p'AAq= #?@AQi?@Ah(Y~? AIA!&"AAmNA"AZAbAjArAzAAAp @A{nqrAs@At;AAc'AIA@ONѿAO<*A0:?2Aֽ:A~ BA0:?JAֽRA~ ٘i)I9s@YyG J%<JJJJ]E&K Y!W~?y[)XAE777Ug9BB)BHE[[s@[W~?['[[[[BZYY i) ʸq'AJ"J*J2J:JBJnJvJAY?@AǺL?@A@Y~? AUAΝ!&"AAlNA"AZAbAjArAzAAAb1@A"msrAҔt@AzAA)&AA`-ҿA;<*A':?2AJRֽ:ABA':?JAJRֽRAY]@&y|}ٓH@ZPn?:D?@Lb uF??`Itz?)]@ I٘i)I9t@YG J<JfJJJ`E&K\{> YW~?yXA&E7)7Xg9)BEE[[aKt@[W~?[s,[[[[BZYY i)  elevatorAngleAction: 0.085078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035844.783307F (some fields omitted in printout)A(\?@AR?@AMX~? A A`!&"AANlNA"AZAbAjArAzAAA7+@Ah[turA>u@AeASAI%A`˂A@S ӿAl<*A:?2A 9ֽ:A BA:?JA 9ֽRA ٘i)I9>u@YCG J<JJJJbE&K YV~?yeYAE7777>\g9)BFE[[wu@[W~?[1[[[[BZYY i) V!!&"AA)lNA"AZAbAjArAzAAAӀV@A3wrAu@A~A3A #A`dOAӿA#<*A:?2Atiֽ:ABA:?JAtiֽRA٘i)I9u@YG J<JJJJeE&K YeV~?yYAE7_g9)BCE[[Bv@[W~?[5[[[[BZYY i)  elevatorAngleAction: 0.085078< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035846.043289F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף0@@Azؘ#@@A˱X~? A+A &"AANlNA"AZAbAjArAzAAAgX;@A8v|rAPw@Ag;ASJAC!A`YA տA<*A:?2AL^׽:A BA:?JAL^׽RA ٘i)I9Pw@YG J<JJJJkE&K YV~?yoZAE777fg9)B=E[[x@[dW~?[%?[[[[BZYY i) ) YfV~?y8ZAE7jg9)B[[>z@[jSW~?[D[[[[ZZZZ¸>BZYY i¸>Q)  rAHty@A5<AKAKA@X'A $ؿA@<*Au:?2Awa׽:ABAu:?JAwa׽RA󼙘٘i)I9ty@YG J<JJJJsE&K Y9dV~?y[AE{7{7qg9)tB7E[[cj|@[#3W~?[N[[[[ZZZZBZYY i)  Y="V~?yB ]ArEZ7Z7~|g9/B)PB1E[[@[TW~?[][[[[ZZZZBZYY iV) 85vJAQA@ALl>A@AlX~? AJMA&"AAAkNA"AZAbAjArAzAAA`%Q?AĵXrA}@AAOA7AA)ܿAFz<*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9}@YG J<JJJJE&K YU~?y4,}]AE77g9)FB[[@[OV~?[h[[[[ZZZZBZYY i) G JS<JJJJE&K YU~?y-2]AEb7>g9)DB,E[[2@[aV~?[m[[[[ZZZZBZYY i) ]kY(rA}@Ai<A=AACAX޿A9*A9?2Aֽ:A2U<BA9?JAֽRA2U<٘i)I9}@YiG J(4;B=JJJJE&K Y#U~?y">-^A Ej7j7jg9)AB[[ Â@[ V~?[ y[[[[BZYY i) @JJJE&K> Y[U~?yDh^AE777g9.B)&E[[Q@[V~?[~[[[[BZYY i) +JJJE&K> YU~?yJ^AE)7ŧ7g9)BB[[o߃@[V~?[J[[[[BZYY i) $x5vJA{G!C@A;C@A$W~? AlA&"AAUjNA"AZAbAjArAzAAAL3!?A!X} rAR}@AheA{=A@A``A`$?AM"*A9?2Ac׽:A =BA9?JAc׽RA =٘i)I9R}@Y.G J$JJJJE&K Y{U~?y P^AE77)g9/B)DB$E[[k@[V~?[퉨[[[[BZYY i) :;Ií@$&= o))o@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035851.943165 s, next control iter: 1743035852.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035852.343165 s.JJJE&K> YnVU~?y)]^Ao E{7Tg9)IB[[ą@[V~?[q[[[[BZYY iEE) ;Ii`@*= o))o@;תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035852.783165 s, next control iter: 1743035853.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035853.183165 s.I~,cKs'AA(\C@AC@AcSW~? A}A^&"AAl7jNA"AZAbAjArAzAAA.RҿAqUurA |@A(y;A=A' A߿A`4<Aj0*A69?2Aiֽ:AD"=BA69?JAiֽRAD"=٘i)I9 |@YsG JӕJJJJE&K YEU~?yNdE^AEj7j7g9-B)LBE[[.@[xV~?[Z[[[[BZYY i) r;Ii]@+= f))f)6@YFFF]g:Waiting for Gazebo time sync: latest Gz time: 1743035853.203165 s, next control iter: 1743035853.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035853.603165 s.54I~,fs'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743035853.603286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQC@A DC@AAW~? AփAa&"AAjNA"AZAbAjArAzAAASQ߿AE%@rAJ{@A]V<A$=Au A0߿AA¼*A$9?2Aֽ:A =BA$9?JAֽRA =٘i)I9{@YG JwJJJJE&K Yw5U~?ysk]AEb77~g9)QB[[%@[mV~?[L[[[[BZYY i) au;Ii@}-= .)). ğ@YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743035853.623165 s, next control iter: 1743035854.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9352 , header.stamp.nsec: 0 0 temperature: 13.384927 * salinity: 33.391510 , density: 1025.000000 * values[0]: 0.708241 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035854.023165 s.ZI~,{s'AAHz.D@As'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.063449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035854.863316F (some fields omitted in printout)AD@AIطD@AW~? AkA؃&"AAiNA"AZAbAjArAzAAA/]wMvAYrAU~y@AꐉAY=A"AKܿAyAotм*A9?2Aֽ:AQB=BA9?JAֽRAQB=Y-~@yS=ٓH #߿ ?@@߿bԲ] 2Q?)-~@ I٘i)I9~y@YG JҼB=J3<JJJE&K$x> YmU~?y_\A'Eb777?g9-B)aBE[[I@[OV~?[b[[[[BZYY i)  !:Ii@i2= 돞))돞k@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035854.883165 s, next control iter: 1743035855.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035855.283165 s.@RI~,s'AJ"J*J2J:JBJnJvJA(\D@A3OD@AV~? AӜA&"AAViNA"AZAbAjArAzAAAwA .rAx@A:A4=ABA7ܿAAJʼ*AK9?2AJ׽:Au =BAK9?JAJ׽RAu =٘i)I9x@YpG JμC=JJJJE&K Y`T~?y!\A*ESI7SI7Եg9)gB[[׈@[NFV~?[[[[[BZYY i)  9Ii@+3= 7[))7[ @YFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743035855.303165 s, next control iter: 1743035855.683188 s, wait time: 0.380023 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 93542, header.stamp.nsec: 020 temperature: 13.3854862* salinity: 33.3914872, density: 1025.0000002* values[0]: 0.7058882F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035855.703165 s.ҺI~,s'AAQE@A"D@AV~? ATA܉&"AAiNA"AZAbAjArAzAAAOK YT~?yꧨ`ZA D5E*g9){B[[@[i$V~?[bҨ[[[[BZYY i畖) bIi@>8= O))O*@^ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035856.983165 s, next control iter: 1743035857.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035857.383165 s.I~,8Xt'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073528< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743035857.383278F (some fields omitted in printout)A(E@A(>E@A$V~? AJAT&"AA,GiNA"AZAbAjArAzAAAp"A< y[rA?u@A@z<AR==A?UA IHؿA@A*A9?2AZֽ:Ae<BA9?JAZֽRAe<٘i)I9u@YG J!C=JJJJE&K Y,T~?yYA7E777g9)B[[6@[V~?[ب[[[[BZYY i)  Ii@9= b))b1@ɪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035857.423165 s, next control iter: 1743035857.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9356", header.stamp.nsec: 0"0 temperature: 13.386029"* salinity: 33.391460", density: 1025.000000"* values[0]: 0.703610"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035857.803165 s.xAI~,gst'AJ"J*J2J:J4?BJ4?nJ<5vJAF@ACF@AV~? A?ũAY&"AA2iNA"AZAbAjArAzAAA{1cA-rAXu@A~Z<A1=A"Au׿AqZA*A9?2A$ֽ:A e<BA9?JA$ֽRA e<٘i)I9u@Y'G JJJJJJE&K YT~?yYA:E77Tg9.B)BE[[N!@[V~?[ߨ[[[[BZYY i) oIim@%:= G2))G2IC@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035857.843165 s, next control iter: 1743035858.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035858.223165 s.g#I~,Ht'AAzGF@Aui:F@AV~? AI̩Ao&"AAiNA"AZAbAjArAzAAA0Q'AzrAt@A;3;A =AAֿA`Aa*Ag9?2A:ֽ:A<BAg9?JA:ֽRA<٘i)I9t@YG J"B=JJJJE&K Y'T~?y/YA=Ej7Z7g9)B[[ @[V~?[m[[[[BZYY i) LD̻Iiq@.s;= [))[ϥ@y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035858.243165 s, next control iter: 1743035858.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035858.643165 s.z)I~,*t'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073528< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743035858.643293F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp}F@AcpF@AϐV~? AiөA~&"AA iNA"AZAbAjArAzAAAQE@A)rAt@AKAB=ANA RտAA**AD9?2A=׽:Ax<BAD9?JA=׽RAx<٘i)I9t@YG JC=JJJJE&K YT~?yȨXA?E77g9)B[[98@[*V~?[[[[[BZYY i) ϑIi@ <= ֊))֊4Z@YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9357, header.stamp.nsec: 00 temperature: 13.386267* salinity: 33.391487, density: 1025.000000* values[0]: 0.702605F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743035858.663165 s, next control iter: 1743035859.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035859.063165 s.0I~,t t'AA3333F@AI&F@AV~? AکAY&"AAhNA"AZAbAjArAzAAA;e>Aת7rAs@AloAƈ=AAԿA` A*A9?2Aa׽:A?k<BA9?JAa׽RA?k YЋT~?yoШnXABE{7g9)BE[[.č@[V~?[B[[[[BZYY i) rIi@[== Ǧ))Ǧ)@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035859.103165 s, next control iter: 1743035859.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035859.483165 s.x_7I~,t'AJ"J*J2J:JBJnJvJA\F@A>xF@AyV~? AA}&"AAhNA"AZAbAjArAzAAAa/A5tF#rA;s@AnA D=AA`( ԿA)?A*A9?2A#B׽:A`<BA9?JA#B׽RA`<٘i)I9s@YG J3JJJJE&K YT~?yبXAEEŧ7b7g9)B[[O@[&U~?[[[[[BZYY i) ^Iii@o== w))wq@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035859.503165 s, next control iter: 1743035859.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9358, header.stamp.nsec: 00 temperature: 13.386509* salinity: 33.391460, density: 1025.000000* values[0]: 0.701780F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035859.903165 s.=I~,t'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073528< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743035859.903299F (some fields omitted in printout)AQG@A߅G@AnV~? A9A=&"AA$hNA"AZAbAjArAzAAA]pA_v#rAr@AA~a=AP~A,ӿAqAV *A'9?2Aֽ:Ac6<BA'9?JAֽRAc6<٘i)I9r@YG JόJJJJíE&K Y&zT~?y+WAGE{7j7?g9)B[[vێ@[U~?[9[[[[BZYY i) #Ii@>= I))Iq@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035859.923165 s, next control iter: 1743035860.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035860.323165 s.xDI~,-u'AJ"J*J2J:J3?BJ3?nJF<5vJAGzTG@AEf.pGG@AXdV~? AA&"AAhNA"AZAbAjArAzAAAi#A6O rA%r@A|;A"‹=AANҿAAkg*At9?2Aֽ:A=BAt9?JAֽRA=٘i)I9%r@Y`G J!JJJJƭE&K YQqT~?y[WAJE)7b7g9)B[[f@[U~?[[[[[BZYY i) s3Ii@-?= ))@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035860.363165 s, next control iter: 1743035860.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9359*, header.stamp.nsec: 0*0 temperature: 13.386675** salinity: 33.391434*, density: 1025.000000** values[0]: 0.700973*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035860.743165 s.WKI~,q/u'AAףp=G@A1}G@AmZV~? AA&"AAhNA"AZAbAjArAzAAA AQ8rAq@Aw\<A.=AuA`nѿAZA#*A9?2ARֽ:A0<=BA9?JARֽRA0<=٘i)I9q@YG JJJJJɭE&K Y|hT~?yVAMEŧ77jg9/B)BE[[m@[U~?[= [[[[BZYY i稽) WBIi@0A= ))h@:ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035860.783165 s, next control iter: 1743035861.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035861.163165 s.}RI~,qJu'AJ"J*J2J:JV3?BJV3?nJ <5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035861.163301F (some fields omitted in printout)AG@AG@AQV~? AA>&"AAݨhNA"AZAbAjArAzAAA9<@ Aš9rA%q@A{<A'M=A|A ƋпACAu*A9?2A_ֽ:A}=BA9?JA_ֽRA}=Y݈@lyH=|<ٓH c˿>?$@.`˿@_`qű.}?`D?)݈@ I٘i)I9%q@YG J3Jf;JJJ˭E&K"x> YmbT~?yVAOE77{7g9)B[[|@[xU~?[[[[[BZYY i) bRIi @UA= u{))u{@êYFFF]Waiting for Gazebo time sync: latest Gz time: 1743035861.183165 s, next control iter: 1743035861.563191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743035861.583165 s.XI~,Reu'AA)\G@Aȳ˷G@AHV~? A9A&"AAhNA"AZAbAjArAzAAAߧ Ai|ssAp@A<AeՏ=Ak4A IϿA$Aԗ*Al9?2Aֽ:A =BAl9?JAֽRA =٘i)I9p@YuG JJJJJέE&K Y^\T~?y@VARE777g9)B[[@[rU~?[_[[[[BZYY i) aIiV@SA= E0w))E0w)@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035861.623165 s, next control iter: 1743035861.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9360, header.stamp.nsec: 00 temperature: 13.386897* salinity: 33.391434, density: 1025.000000* values[0]: 0.700117F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035862.003165 s.y `I~,P4u'AJ"J*J2J:J:3?BJ:3?nJ;5vJAR+H@AzH@A?V~? AAa&"AAhNA"AZAbAjArAzAAAPҟBt AsA%p@A A@=A~߿AasͿALA8*Am9?2A׽:A =BAm9?JA׽RA =٘i)I9%p@Y(G J|JJJJѭE&K YOVT~?y UAUEb77*g9,B)B[[֒@[U~?[[[[[BZYY i) y*qIiЗ@RB= Mr))MrѴ@yɨ&ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035862.043165 s, next control iter: 1743035862.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035862.423165 s.ufI~,u'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743035862.423282F (some fields omitted in printout)A{GaH@Ap>;TH@A7V~? AA:&"AARhNA"AZAbAjArAzAAA A4 Ar| sAo@A`@A7_=AܿA@˿A qApÔ*Ah9?2AW׽:AP =BAh9?JAW׽RAP =٘i)I9o@YG JJJJJӭE&K Y@PT~?yOUAXE7777g9)BE[[@[{U~?[&[[[[BZYY i) GIiy@X*C= n))n?@^ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035862.463165 s, next control iter: 1743035862.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9361, header.stamp.nsec: 00 temperature: 13.387108* salinity: 33.391426, density: 1025.000000* values[0]: 0.699260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035862.843165 s.lI~,u'AJ"J*J2J:JBJnJvJAp= H@A!H@AR0V~? ANA5&"AAuhNA"AZAbAjArAzAAAn A"+養sA*o@A<Am=AD'ڿAɿA:A/]*A9?2AQU׽:AR =BA9?JAQU׽RAR =٘i)I9*o@YG J야JJJJ֭E&K Y1JT~?y!UAZEb7Ug9+B)B E[[@[U~?[&-[[[[BZYY i) @IiP@p=D= -/j))-/jɫ@NҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035862.863165 s, next control iter: 1743035863.243177 s, wait time: 0.380012 s 1JT~?)  rAdjusting time to match Gazebo time: 1743035863.263165 s.tI~, u'AAH@AƣT¿H@Am)V~? A&A &"AAjhNA"AZAbAjArAzAAA4A'KsA4n@A'~6AҜ=A׿AǿA̳A3*A=9?2Ay ׽:A=BA=9?JAy ׽RA=Y@׿ynМ=r7ٓH @!?gc?@dz& φ|?)@ I٘i)I9n@Y@G JqJ_<JJJ٭E&K2x> YFT~?y%TA׿]E77g9)B[[2@[U~?[3[[[[BZYY i) cyIi>@r&D= e))eT@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035863.303165 s, next control iter: 1743035863.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 93622, header.stamp.nsec: 020 temperature: 13.3872792* salinity: 33.3914032, density: 1025.0000002* values[0]: 0.6984252F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035863.683165 s.lzI~,cu'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: -0.082473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035863.683287F (some fields omitted in printout)A(\I@AvH@A #V~? A-Au &"AA`hNA"AZAbAjArAzAAALFI)A xsAn@ARQXAz=AtտA|ƿAAĨ*AR9?2Aֽ:Aa[=BAR9?JAֽRAa[=٘i)I9n@YG JJJJJۭE&K YCT~?yf.OTA`E7g9)B[[M@[U~?[h:[[[[BZYY i) HIiZ@JD= a))aH߬@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035863.683165 s, next control iter: 1743035864.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035864.103165 s.I~,v'AAQ8I@AAF+I@A+V~? A5A@l &"AAfWhNA"AZAbAjArAzAAA;IV6ḀXsAm@Az#<A =AҿA=ĿA2A*A9?2Aw8ֽ:At=BA9?JAw8ֽRAt=٘i)I9m@YG JNJJJJޭE&K  h9Y@T~? h9y$7SAbEb7h9)B E[[G@[U~?[ A[[[[BZYY i) yIi@ΪD= /]))/]i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035864.143165 s, next control iter: 1743035864.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035864.523165 s.I~,{!v'AJ"J*J2J:JBJnJvJAHznI@AMaI@AV~? A=AX &"AANhNA"AZAbAjArAzAAA˗'A~#sAl@A E~<AGD=A пAXc¿A A*x*A(9?2Aֽ:A=BA(9?JAֽRA=٘i)I9l@Y4G JJJJJE&K YN=T~?y?|SAeE77{7h9)ïB[[JҔ@[cU~?[G[[[[BZYY i) Ii@FE= X))XE@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035864.543165 s, next control iter: 1743035864.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9363, header.stamp.nsec: 00 temperature: 13.387519* salinity: 33.391396, density: 1025.000000* values[0]: 0.697437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035864.943165 s.ZdI~,J]Wv'AJ"J*J2J:J1?BJ1?nJ95vJAI@A GI@AV~? AMA &"AA@hNA"AZAbAjArAzAAA _`A8if-sAk@A3l;A=AʿAq5A.A.*AҦ9?2Aֽ:A7.=BAҦ9?JAֽRA7.=Ya@+ʿyM=Tmm;ٓH 5 E? es+ 9R[47 m??)a@ I٘i)I9k@YpG J`Jy<JJJE&K2x> Y9T~?ynQRAʿjE{7{7 h9)ͯBE[[@[zU~?[T[[[[BZYY i) ʹIi@E= 8P))8P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035865.383165 s, next control iter: 1743035865.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9364&, header.stamp.nsec: 0&0 temperature: 13.571168&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.572096&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035865.783165 s.YI~,rv'AA(\J@At?PJ@A V~? AUA &"AA9hNA"AZAbAjArAzAAAaAЏ`cF2sA k@AG^AIz=AǿA^A?Aq*A9?2A"%׽:A=BA9?JA"%׽RA=٘i)I9 k@YG J JJJJE&K Y`9T~?y9Z/RAmE77jh9)үB[[q@[U~?[[[[[[BZYY i) }Iiq@AE= ]K))]K@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035865.803165 s, next control iter: 1743035866.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035866.203165 s.I~,v'AJ"J*J2J:J\?BJ\?nJx5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082473< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743035866.203293F (some fields omitted in printout)AQEJ@A,{8J@AV~? A]Ad &"AA4hNA"AZAbAjArAzAAAAt)7sAkj@ABrA=AKſAANA1O*A|9?2ARJ׽:A=BA|9?JARJ׽RA=٘i)I9kj@YG JſJJJJE&K Y9T~?ycQApE77h9)دB[[Qȿ[U~?[Ib[[[[BZYY i) UrüIi@ E= G))GGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035866.223165 s, next control iter: 1743035866.603174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743035866.623165 s.YI~,ev'AAGzJ@A mJ@AV~? AeA=&"AA/hNA"AZAbAjArAzAAAg A())>>YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743035867.063165 s, next control iter: 1743035867.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035867.463165 s.XI~,v'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.091274< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743035867.463292F (some fields omitted in printout)AffffJ@A/N[J@AV~? AuA:&"AA1)hNA"AZAbAjArAzAAA.2Afr>EsAquh@AP;A=A״A`>`AkA`ϼ*A9?2AAֽ:Aq?=BA9?JAAֽRAq?=Y?@*yH=,;ٓH`׵??@2d?S?#@Z*u?I?)?@ I٘i)I9uh@Yz G J̼J<JJJE&Kw> Y:T~?y`}bPAxE77h9)B[[[U~?[5v[[[[BZYY i) RټIiݚ@9F= _:))_:_:TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035867.483165 s, next control iter: 1743035867.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9366, header.stamp.nsec: 00 temperature: 13.571803* salinity: 33.374977, density: 1025.000000* values[0]: 0.570566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035867.883165 s.yI~,@v'AJ"J*J2J:J?BJ?nJ(5vJA(K@AK@AU~? A}A&"AA&hNA"AZAbAjArAzAAA&J@A @/JsAg@AԠa<Aȴ=A2AA pA_ռ*A9?2Aս:A%=BA9?JAսRA%=٘i)I9g@Y G J^ҼJJJJE&K YV=T~?y"OAzE7777U!h9)B[[M[_U~?[|[[[[ZZ¸BZYY i¸=) 8VͼIi@RE= N6))N6N6ysغYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035867.903165 s, next control iter: 1743035868.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035868.303165 s.TI~,ogw'AAQK@ADK@A&U~? AԅAuS&"AA%hNA"AZAbAjArAzAAA\/HAeBOsAEg@A*Yx<A}]=AA A rAIؼ*AŠ9?2Ahֽ:Av =BAŠ9?JAhֽRAv =٘i)I9g@Y G JּJJJJE&K Y?T~?y厩tOA}E77$h9)B[[+[U~?[y[[[[ZZBZYY i) 4YIi@E= {1)){1{1yϺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035868.323165 s, next control iter: 1743035868.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9367*, header.stamp.nsec: 0*0 temperature: 13.572133** salinity: 33.374981*, density: 1025.000000** values[0]: 0.569735*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035868.723165 s.I~,H.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: 0.083817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743035868.723296F (some fields omitted in printout)AzK@AӹzK@A U~? A卪A&"AA$hNA"AZAbAjArAzAAAW8,iIAATsAGf@AH <A=A쵿AVs?A7pAv*A9?2Aoiֽ:A0]<BA9?JAoiֽRA0]<٘i)I9Gf@Y' G JxJJJ FJE&K Y\BT~?yNAE7(h9)BE[[ ][6U~?[[[[[ZZBZYY i) d\Ii@*E= ;-));-;-y|=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035868.743165 s, next control iter: 1743035869.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035869.143165 s._/I~,,*Iw'AA ףpK@A"dK@AuU~? AA&"AA/%hNA"AZAbAjArAzAAA:NDAzeYsAGme@A@-A'=A5A`'7?AmA*A9?2Aֽ:AS<BA9?JAֽRAS<٘i)I9me@Y G J,JJJJE&K YDT~?yjNAE7777,h9)B[[K4[U~?[[[[[ZZBZYY i) v_Ii@pGF= X)))X)X)ys =ҪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035869.163165 s, next control iter: 1743035869.543185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035869.563165 s.I~,F dw'AJ"J*J2J:JBJnJvJA3333K@A,K@AiV~? AA${&"AA1&hNA"AZAbAjArAzAAAt\8A5"p~^sAd@APAu=AA hǡ?A7iA*A9?2Aֽ:A{_<BA9?JAֽRA{_ Y elevatorAngleAction: 0.083817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743035869.983278F (some fields omitted in printout)A\(L@AӽNL@AV~? AA&"AA(hNA"AZAbAjArAzAAAo_&AihcsArc@A A'2=A뭿Acm?AcAXɼ*A9?2Aֽ:Ax;BA9?JAֽRAx;٘i)I9c@Y G JݼC=JJJJE&K YOT~?yMAE7{7@3h9) BE[[ി[U~?[❩[[[[ZZBZYY i) ܒIiԙ@)D= ñ ))ñ ñ zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035870.003165 s, next control iter: 1743035870.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035870.403165 s.&I~,͙w'AJ"J*J2J:Jz?BJz?nJ5vJAQ^L@AQL@AV~? AA@&"AA*hNA"AZAbAjArAzAAA!2YAPhsADc@AQAA/<AYA?AZA*A(9?2A&ֽ:A2BA(9?JA&ֽRA2٘i)I9Dc@YQ G JJJJJE&K YTT~?y^MAE776h9,B)BE[[[4U~?[w[[[[ZZBZYY i) ⛇Ii@2D= C\))C\C\xYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743035870.423165 s, next control iter: 1743035870.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9369", header.stamp.nsec: 0"0 temperature: 13.572884"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.567866"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035870.823165 s.I~,w'AAGzL@AwoL@ArV~? A"Aˣ&"AA .hNA"AZAbAjArAzAAAXAII7msAb@A"A#<AƨAY?AdOAe*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9b@Y G JJJJJ E&K YRZT~?yé=MAE77k:h9)B[[׊[U~?[[[[[ZZBZYY i) xIi{@tD= ))xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035870.843165 s, next control iter: 1743035871.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035871.243165 s.I~,mw'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J"J< rudderAngleAction: -0.261799*J2J> elevatorAngleAction: 0.083817:JBJ< massPositionAction: 0.000000nJvJ4 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035871.243319F (some fields omitted in printout)Aףp=L@A7n1L@A V~? A$A+&"AAA2hNA"AZAbAjArAzAAAjHAlrsAab@AX4<AA+A~*?A`AAl?*A#9?2Aֽ:AԾtBA#9?JAֽRAԾt٘i)I9ab@Y G JjJJJJ E&K Y_T~?y˩LAEb7>h9)B[[_[[U~?[[[[[ZZBZYY i) /bIi@D= ))(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035871.263165 s, next control iter: 1743035871.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035871.663165 s.I~,qw'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9370, header.stamp.nsec: 00 temperature: 13.573118* salinity: 33.374981, density: 1025.000000* values[0]: 0.567285F (some fields omitted in printout)AM@AVJL@A V~? A"ƪAj&"AAF7hNA"AZAbAjArAzAAA2rA9vsAcb@A_w<AިAꌣAF?A`0AR*A9?2A^ֽ:A=BA9?JA^ֽRA=Y'@y٨Gmw<ٓH%w?֡??唿͡~|?@{??@?`S?)'@ I٘i)I9b@Y G JJ DJJJE&KUx> YgT~?y ԩMAEAh9-B)BE[[4[U~?[[[[[ZZBZYY iu=) PIiØ@8C= Z))ZZ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035871.683165 s, next control iter: 1743035872.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035872.083165 s.DI~, Sx'AJ"J*J2J:J9?BJ9?nJG5vJA)\5M@A]¡(M@A<V~? AΪA&"AA=hNA"AZAbAjArAzAAA4rlAf{sAa@AJ<A+ AdA`Ϸ?AA*A9?2Aֽ:ApмBA9?JAֽRApм٘i)I9a@Y G JJJJJE&K YpT~?yܩ#MAE77+Eh9.B)BE[[ [U~?[[[[[BZYY i4j=) >Ii"@B= + ))+ + 9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035872.103165 s, next control iter: 1743035872.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035872.503165 s.I~,U4 x'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743035872.503306F (some fields omitted in printout)ARkM@Ao{^M@AV~? A ֪A3&"AAChNA"AZAbAjArAzAAAU/b4ABo@sAab@A<;A:AgA;?A@Azs;*A9?2AVֽ:ABA9?JAVֽRA٘i)I9b@Y G J :JJJJE&K Y1xT~?y@MAEj7j7Hh9)[[ܧ[DU~?[ũ[[[[BZYY i) +Ii@'B= '))''y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035872.523165 s, next control iter: 1743035872.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9371, header.stamp.nsec: 00 temperature: 13.573200* salinity: 33.374985, density: 1025.000000* values[0]: 0.567069F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035872.923165 s.J "J *J 2J :J +?BJ +?nJ 85vJ 9I~,;x'AA{GM@A!S>M@AV~? AݪA%"AAKhNA"AZAbAjArAzAAAx!BA9H1sA(b@A9A _A?⛿A@?A@A`<*A9?2Aս:A[BA9?JAսRA[٘i)I9(b@Y G J;JJJJE&K Y\T~?yz\MAE77{7VLh9)B[[_[U~?[˩[[[[BZYY i) 'Iij@.A= L))LLy=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035872.943165 s, next control iter: 1743035873.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035873.343165 s.<I~,Ux'AAp= M@AM@A V~? AA%"AA9ShNA"AZAbAjArAzAAA$yzbA} SsAlb@AazA %}A}WAf?AgArE<*A9?2Aս:A BA9?JAսRA ٘i)I9lb@Y G J#<JJJJE&K YT~?yyMAEOh9)BE[[Y[V~?[ѩ[[[[BZYY i) IiU@A= ))P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035873.383165 s, next control iter: 1743035873.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9372*, header.stamp.nsec: 0*0 temperature: 13.573114** salinity: 33.374992*, density: 1025.000000** values[0]: 0.567229*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035873.763165 s.<I~,4px'AJ"J*J2J:J5?BJ5?nJC5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.070515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743035873.763295F (some fields omitted in printout)A N@AM@A&V~? AANe%"AA'\hNA"AZAbAjArAzAAA7AKvsA3b@A-jAHA>A@n@?A sAt<*Ag9?2A-ս:ABAg9?JA-սRAYe@zyEokٓH`r?`%?jቿzw?|[?EE?\ ~?)e@ I٘i)I9b@Y G J[<JJJJE&K;w> YaT~?yMAE)77Sh9/B)BE[[U[` V~?[]ة[[[[BZYY iv_k=) :IiX@p@= N6))N6N6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035873.803165 s, next control iter: 1743035874.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035874.183165 s."I~,ox'AA(\BN@At5N@A-V~? AvA%"AAehNA"AZAbAjArAzAAAׄ*A.VߓsA6c@A|2ûAAAA|?AAEm<*Aƌ9?2Aaֽ:ABAƌ9?JAaֽRA٘i)I96c@YI G JF<JJJJE&K Y9T~?y12NAE777Wh9)B[[O)[V~?[ީ[[[[BZYY i) ѻIi@h?= ))꾩*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035874.203165 s, next control iter: 1743035874.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035874.603165 s.94)I~,x'AJ"J*J2J:JBJnJvJAQxN@A3= ))ᾩ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035874.623165 s, next control iter: 1743035875.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9373 , header.stamp.nsec: 0 0 temperature: 13.572901 * salinity: 33.374977 , density: 1025.000000 * values[0]: 0.567722 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035875.023165 s.Z0I~,|x'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743035875.023308F (some fields omitted in printout)AHzN@A> N@Av= fپ))fپfپy&k=;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035875.043165 s, next control iter: 1743035875.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035875.443165 s.:6I~,J]x'AJ"J*J2J:JBJnJvJAq= N@A!%N@ADV~? A A%"AAhNA"AZAbAjArAzAAAU8i' A-msAd@Aaw<AŝA AU?A,A2<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9d@Y: G J<C=JJJJ'E&K YžT~?yIOAE777ah9) B[[[q)V~?[[[[[BZYY iYވ=) $iIi5@== Vо))VоVо*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035875.463165 s, next control iter: 1743035875.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9374, header.stamp.nsec: 00 temperature: 13.572636* salinity: 33.374981, density: 1025.000000* values[0]: 0.568356F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035875.863165 s.+=I~,>x'AAO@A|O O@AiMV~? A/Ar%"AAhNA"AZAbAjArAzAAA:f|% AџsA.Ue@A<AAπAZ7?AA߱<*Aת9?2Aֽ:AWBAת9?JAֽRAWY^@ym󜽙1L<ٓH =]?`g"?@e`}?9?? ?@?)^@ I٘i)I9Ue@Y G J{<J籼JJJ)E&Kx> Y4T~?yT&OAE77{7keh9)B[[3q[1V~?[[[[[BZYY i) P-Ii @7<= Ǿ))ǾǾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035875.903165 s, next control iter: 1743035876.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743035876.283165 s.8RDI~,y'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035876.283287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\OO@A%PBO@AVV~? AA%"AAhNA"AZAbAjArAzAAA%=E A6C;sAe@A:AAA(?A A <*Aˮ9?2ANֽ:ABAˮ9?JANֽRA٘i)I9e@Y G JZ<JJJJ,E&K YT~?y.PAEb77ih92B)B$E[[B[:V~?[[[[[BZYY i) RIi@J:= 쾾))쾾쾾K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035876.303165 s, next control iter: 1743035876.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9375., header.stamp.nsec: 0.0 temperature: 13.572307.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.569050.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035876.703165 s.ֺJI~,-y'AAQO@AWxO@AV`V~? A8#AK%"AA^hNA"AZAbAjArAzAAA+A vZ Au.ͯsA&f@AjLAA~A@A?A(AL<*A9?2Asֽ:ABA9?JAsֽRA٘i)I9f@YK G J?<B=JJJJ/E&K YT~?y5PAE77lh9)B%E[[[BV~?[$[[[[BZYY i) 0TIiB@b9= .+)).+.+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035876.723165 s, next control iter: 1743035877.103176 s, wait time: 0.380011 sT~?)5 rAdjusting time to match Gazebo time: 1743035877.123165 s.7QI~,]Gy'AJ"J*J2J:JBJnJvJAGO@A1]խO@AjV~? A*A%"AAhhNA"AZAbAjArAzAAAQMcA 3VsAg@A 2~AA(ꁿA`?A}A<*Aܶ9?2Aֽ:AiBAܶ9?JAֽRAi٘i)I9g@Y G JҴ<C=JJJJ1E&K YT~?y=PAEb77+ph93B)B(E[[᏿[LV~?[@ [[[[BZYY i) 8>8Ii@#9= g))ggy͈= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035877.163165 s, next control iter: 1743035877.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035877.543165 s.IXI~,by'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035877.543301F (some fields omitted in printout)A= ףO@A?NO@A3uV~? A2A)%"AA/hNA"AZAbAjArAzAAA^\e`Ak2qԸsAƯg@AZ)AsA'~A?ALAк<*At9?2Akֽ:AVnBAt9?JAkֽRAVn٘i)I9g@Y G J<JJJJ4E&K YU~?yLEXQAE)7ŧ7sh9)B[[[UV~?[S[[[[BZYY i) X:Ii4@8= ƞ))ƞƞ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035877.583165 s, next control iter: 1743035877.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9376, header.stamp.nsec: 00 temperature: 13.571977* salinity: 33.375008, density: 1025.000000* values[0]: 0.569794F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035877.963165 s.x^I~,}y'AJ"J*J2J:JBJnJvJAffff&P@Ab1ZP@A[V~? AN9AZ%"AAhNA"AZAbAjArAzAAA^;CQArkgHsA YU~?yLQAyE77{7Vwh94B)B+E[[w[^_V~?[P[[[[BZYY i) ;;Iiݎ@6= &⛾))&⛾&⛾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035878.003165 s, next control iter: 1743035878.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035878.383165 s.eI~,+y'AA(\P@AapOP@AV~? A@A %"AAhNA"AZAbAjArAzAAA&|]7A *ҰsAh@A`Z0<ABAڵsAv?A@SA <*AN9?2A׽:A=@BAN9?JA׽RA=@٘i)I9h@Y G J<JJJJ9E&K Y!U~?ySRAE7zh95B)B,E[[O[iV~?[F[[[[BZYY i) =;Ii@Xb5= N))NN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035878.403165 s, next control iter: 1743035878.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9377", header.stamp.nsec: 0"0 temperature: 13.571669"* salinity: 33.375019", density: 1025.000000"* values[0]: 0.570503"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035878.803165 s.rAlI~,fgy'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743035878.803270F (some fields omitted in printout)AP@A.P@AV~? AGA9%"AAiNA"AZAbAjArAzAAAñxkAnp sA@i@A<AbA knAQ?AA<*A9?2A2)׽:AJUBA9?JA2)׽RAJU󼙘٘i)I9@i@Y G Jږ<JJJJ elevatorAngleAction: 0.066830< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743035880.063298F (some fields omitted in printout)A33333Q@AD(&Q@A?V~? A\AW%"AA=iNA"AZAbAjArAzAAA--I\A!sAvj@A A A6_A?AAs@<*A9?2A5Mֽ:Ak_BA9?JA5MֽRAk_Y*@5_yĹ ٓH@X?P?wtn '?@>Ȭ? ?ė?)*@ I٘i)I9j@YG J&<J<JJJDE&Kx> YcU~?yopSA_ȭEZ7SI7Ah98B)B3E[[}[V~?[3[[[[BZYY i;^=) `;IiӉ@j0= l_))l_l_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035880.083165 s, next control iter: 1743035880.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035880.483165 s.y_I~,z'AJ"J*J2J:JBJnJvJA\hQ@A.[Q@A0V~? AscAA^%"AAQiNA"AZAbAjArAzAAA@A)sA0k@A,xA𖆽AUZA H?AA2<*A'9?2A3ֽ:AUBA'9?JA3ֽRAU٘i)I90k@Y$G JL<JJJJGE&K YuU~?y,wSA˭E7777֌h9)߯B6E[[|[V~?[\9[[[[BZYY i) 65;Ii@W.= N))NNQ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035880.503165 s, next control iter: 1743035880.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9379, header.stamp.nsec: 00 temperature: 13.571071* salinity: 33.375034, density: 1025.000000* values[0]: 0.571763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035880.903165 s.ȍI~,9z'AAQQ@A.Q@AV~? A/jA%"AAIgiNA"AZAbAjArAzAAA>)ZA>sAҫk@A`A7ATA@_?A jlA=<*A9?2A_ֽ:ABA9?JA_ֽRAI٘i)I9k@YoG JU<JJJJJE&K YU~?y}KTAέE{7j7lh9)ۯB[[O!x[ܭV~?[?[[[[BZYY i) - elevatorAngleAction: 0.077816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035881.323280F (some fields omitted in printout)AGzQ@AooQ@AdV~? ApADW%"AAc}iNA"AZAbAjArAzAAAh}A$+sA!l@A¦AA9OA)?A&AmO<*A9?2A'ֽ:AkBA9?JA'ֽRAk٘i)I9!l@YG J_<JJJJLE&K Y)U~?yTAЭE77h99B)دB9E[[s[qV~?[D[[[[BZYY i) ׽:ADBA9?JAt>׽RADYl@EyKfi<ٓHW? =?`뭿6?բ?L?@?@r?)l@ I٘i)I9m@Y?G J<J!SJJJRE&K4x> YU~?y_UAE֭E{7{7,h9;B)ӯB=E[[j[V~?[O[[[[BZYY i) R: elevatorAngleAction: 0.077816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035882.583301F (some fields omitted in printout)A)\uR@ARhR@AsW~? A%A%"AAiNA"AZAbAjArAzAAAc1;YAA.sApm@Aq<AA?Ayw?AEA<*A9?2A`!׽:ABA9?JA`!׽RA٘i)I9pm@YG J<JJJJTE&K YU~?yUAحE7777h9 elevatorAngleAction: 0.077816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035883.843289F (some fields omitted in printout)Ap= S@A S@A4LW~? AA1p%"AAjNA"AZAbAjArAzAAA` ؿAn1sAn@AAUARƖAn0A?A YA"<*Aݭ9?2Aֽ:A0BAݭ9?JAֽRA0٘i)I9n@YdG J<JJJJ\E&K YV~?y VAE)7ŧ7h9=B)ƯBFE[[X[ W~?[d[[[[BZYY i) xſAJsAlo@A#}AAC+A'?A'A˥<*A9?2A1%ֽ:ANBA9?JA1%ֽRANYʭ@*y62}ٓH??g@^???)@*?)ʭ@ I٘i)I9lo@YG J'<B=J7JJJ_E&Kw> Y'V~?y}9WA*EZ7SI7h9)¯B[[KkT[qW~?[ j[[[[BZYY i) 9V~?yWAEj7Z7h9?B)BJE[[O[*W~?[o[[[[BZYY i) } elevatorAngleAction: 0.077816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743035885.103306F (some fields omitted in printout)AQS@A&ES@ArW~? AA%"AA`jNA"AZAbAjArAzAAA?AtAp@AM^:A񄜽A A`@?A@XA|<*AE9?2A2ֽ:AMBAE9?JA2ֽRAM٘i)I9p@YbG J,<JJJJdE&K YMTV~?ydXAE{7{7Bh9@B)BME[[clK[9W~?[t[[[[BZYY i)  {'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743035886.363270F (some fields omitted in printout)J"J*J2J:JBJnJvJAYT@A_<@A W~? AGA%"AA9jNA"AZAbAjArAzAAAy(]?A tA*r@A%?<AաAAf?A]޿Aƪ<*A9?2Aֽ:A|BA9?JAֽRA|Ys@yҡ?<ٓH?"?@ ? ȝ?4???)s@ I٘i)I9*r@YcG J<J'JJJmE&Kx> YxV~?yʪAYAE77j7h9AB)BSE[[=[;jW~?[[[[[BZYY i) 8 elevatorAngleAction: 0.087459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035887.623300F (some fields omitted in printout)AGT@A T@AW~? A}ǫA֨%"AARkNA"AZAbAjArAzAAA1?AtAs@A8{AA A@?A`XܿA<*A9?2Aս:APBA9?JAսRAP٘i)I9s@YyG J<JJJJuE&K YV~?y,تZAEŧ7b7h9)B[E[['+0[3W~?[h[[[[BZYY i) &))`s>`s>R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035888.483165 s, next control iter: 1743035888.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9387, header.stamp.nsec: 00 temperature: 13.568402* salinity: 33.375080, density: 1025.000000* values[0]: 0.577241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035888.883165 s.y I~,Q8|'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035888.883310F (some fields omitted in printout)A(U@A.2U@A28X~? AիA|%"AAqkNA"AZAbAjArAzAAA||Z@AryEtAu@A_;A|AA ?AٿAr2<*A9?2A׽:A~BA9?JA׽RA~٘i)I9u@YG J;<JJJJ}E&K Yg'W~?yU[AE7h9)BaE[[P"[/W~?[[[[[BZYY i) -))0>0>c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035888.903165 s, next control iter: 1743035889.283183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743035889.303165 s.^I~,gS|'AAU@AzU@AMX~? A٫A;%"AAkNA"AZAbAjArAzAAAbvj@AXLvStAv@Al<A۲A;ؾA?A-ٿA <*A~9?2AM-׽:ABA~9?JAM-׽RA٘i)I9v@Y G J<JJJJE&K Y;?W~?y9\AEŧ7b7h9EB)BdE[[[W~?[[[[[BZYY i) 9))->->*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035889.343165 s, next control iter: 1743035889.703184 s, wait time: 0.360019 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9388*, header.stamp.nsec: 0*0 temperature: 13.567990** salinity: 33.375114*, density: 1025.000000** values[0]: 0.578098*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035889.723165 s.I~,Hn|'AJ"J*J2J:J?BJ?nJ.5vJAzV@AޮU@AdX~? A2ޫAI%"AAkNA"AZAbAjArAzAAAGq@A[H!tA1w@Al<AT>A;AR?A`_\ؿAC*<*AT{9?2A8׽:AϕBAT{9?JA8׽RAϕ٘i)I91w@YsG J<JJJJE&K Y WW~?y\AE77h9)BgE[[[W~?[ĥ[[[[BZYY i)  ))P-@>P-@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035889.743165 s, next control iter: 1743035890.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035890.143165 s.U/"I~,*|'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035890.143310F (some fields omitted in printout)A ףp=V@A@1d0V@AZzX~? ARAD%"AA[kNA"AZAbAjArAzAAA٪F @ASr$tA:w@A>;ApA(þAE?A׿A1<*Ax9?2Amֽ:Al BAx9?JAmֽRAl ٘i)I9w@YG J<JJJJE&K YnW~?y~]AE7Bh9GB)BhE[[o\[ X~?[[[[[BZYY ib=) z))R>R>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035890.183165 s, next control iter: 1743035890.543175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743035890.563165 s.(I~,_ |'AJ"J*J2J:J?BJ?nJJ5vJA3333sV@AE|'fV@AX~? ANAD%"AA_kNA"AZAbAjArAzAAA_ @AS&tAԕx@AA]?AṾA`Y?AֿA<*A?u9?2AF!ֽ:A BA?u9?JAF!ֽRA Yq@ꬹy>9ٓH?D?b8`yֿ?@n??Rqn?)q@ I٘i)I9x@YLG J-<J ߼JJJE&K> YBZYY i¸>) b))npe>pe>e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035890.583165 s, next control iter: 1743035890.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9389, header.stamp.nsec: 00 temperature: 13.567577* salinity: 33.375122, density: 1025.000000* values[0]: 0.578928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035890.983165 s./I~,|'AA\V@A8jV@AǧX~? A%An%"AAlNA"AZAbAjArAzAAAIK @A a8)tAQy@A>ZALA᯾A@ϸ?A`տA/<*An9?2Aս:A#BAn9?JAսRA#٘i)I9Qy@YG Jn<JJJJE&K YW~?y ^AE77mh9HB)}BnE[[?3 [2X~?[B[[[[ZZZZBZYY i) =I)) prw>prw>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035891.003165 s, next control iter: 1743035891.383178 s, wait time: 0.380013 sW~?) rAdjusting time to match Gazebo time: 1743035891.403165 s.&6I~,|'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743035891.403306F (some fields omitted in printout)J"J*J2J:JBJnJvJAQV@A8hV@AݾX~? AAĮ%"AAG JP<B=JJJJE&K YW~?y^AE{7{7h9)wBqE[[G[EX~?[㴪[[[[ZZZZBZYY i) 6/))(>(>yý*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035891.423165 s, next control iter: 1743035891.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9390", header.stamp.nsec: 0"0 temperature: 13.567101"* salinity: 33.375149", density: 1025.000000"* values[0]: 0.579905"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035891.823165 s.f=  J>)) J> J>yb!*Y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035891.863165 s, next control iter: 1743035892.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035892.243165 s.CI~,m}'AJ"J*J2J:JBJnJvJAףp=JW@Ag}1=W@AX~? AA#%"AA3lNA"AZAbAjArAzAAAHF@AJd/tA!{@AW;A2A<2A X?A\ӿA<*A9?2AnԽ:AtBA9?JAnԽRAt٘i)I9{@YSG Jo=JJJJE&K YW~?y_AE77{7-h9IB)iBwE[[y[nX~?[߻[[[[ZZZZBZYY i) c)) > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035892.263165 s, next control iter: 1743035892.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035892.663165 s.JI~,q*}'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083850< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743035892.663298F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9391, header.stamp.nsec: 00 temperature: 13.566583* salinity: 33.375168, density: 1025.000000* values[0]: 0.581561F (some fields omitted in printout)AW@AWrW@A|Y~? AA%"AAlNA"AZAbAjArAzAAA]4{g@AA$1tA߯|@AhsM<A;A۱A(?AҿAi<*A9?2AԽ:AĻBA9?JAԽRAĻ٘i)I9|@YG JS<B=JJJJE&K Y X~?y5_AEb77h9)cB[[[X~?[7[[[[ZZZZBZYY i) ))1>1>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035892.683165 s, next control iter: 1743035893.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035893.083165 s.DQI~,RE}'AJ"J*J2J:J?BJ?nJ5vJA)\µW@A5鶨W@AtY~? A+A$%"AA.lNA"AZAbAjArAzAAAˉ@A~yK3tAU}@A<AAxA?A!ѿA<*A 9?2AXս:A<;BA 9?JAXսRA<;٘i)I9U}@Y0G J<C=JJJJE&K Yk'X~?yS y`AE7Xh9)^BzE[[U[vX~?[sª[[[[ZZZZBZYY i) +̗))a~>a~>#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035893.103165 s, next control iter: 1743035893.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035893.503165 s.WI~,@4`}'AARW@Ap{W@A5Y~? A"Ah%"AAlNA"AZAbAjArAzAAAa@Ak5tAI}@AIG<ABA&dAq?A`пAB|<*A9?2A`Xս:Aj<BA9?JA`XսRAj<٘i)I9}@YG JȞ<JJJJE&K YAX~?yq `AE777h9)ZB}E[['޾[X~?[Ū[[[[ZZZZBZYY i) ))>>׊)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035893.523165 s, next control iter: 1743035893.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9392, header.stamp.nsec: 00 temperature: 13.566119* salinity: 33.375175, density: 1025.000000* values[0]: 0.581985F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035893.923165 s.J "J 7^I~*J2J:J?,{}'ABJ?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035893.923301F (some fields omitted in printout)A{G!X@AN>=X@AMY~? AA0%"AAkmNA"AZAbAjArAzAAAB#e k@A0Ju#7tAgA~@A|Q:A]{;AQOA`?A[ϿAH<*A9?2Alս:A{<BA9?JAlսRA{<٘i)I9A~@YG J#s<JJJJE&K Y'\X~?yqaA!E{7j7h9KB)YBE[[}Ծ[X~?[Ȫ[[[[ZZZZBZYY i) b3))9w>9w>YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035893.943165 s, next control iter: 1743035894.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035894.343165 s.@< >))>>ЩYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743035894.363165 s, next control iter: 1743035894.743184 s, wait time: 0.380019 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9393*, header.stamp.nsec: 0*0 temperature: 13.565815** salinity: 33.375179*, density: 1025.000000** values[0]: 0.582567*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035894.763165 s.6kI~,ذ}'AJ"J*J2J:J#?BJ#?nJa5vJǍX@AX@A@Y~? AA%"AA^mNA"AZAbAjArAzAAA$+@AbmI:tA%~@AxA=A3%A`?A#̿AǤl;*A)9?2Aaֽ:Am<BA)9?JAaֽRAmJJJE&K> YrX~?yaA%&EZ7i9LB)VBE[[[X~?[3Ϊ[[[[ZZZZBZYY iR!R) U))hR>R>yٽ^7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035894.783165 s, next control iter: 1743035895.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035895.183165 s.rI~,c}'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.226680@ elevatorAngleAction: -0.051301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035895.183273F (some fields omitted in printout)A(\X@A?RDX@A Y~? AtA%"AA[mNA"AZAbAjArAzAAAVR4vY@AJN;tAͿ~@APAd;=AiA}?AQʿA *A=9?2AZֽ:Ah<BA=9?JAZֽRAh<٘i)I9~@Y G J:C=JJJJE&K Y`X~?yaA)E{7C i9)[[b[Y~?[Ъ[[[[BZYY i=R) 4D))ټ>ټ>y罽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035895.203165 s, next control iter: 1743035895.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035895.603165 s.=4yI~,Ț}'AJ"J*J2J:J4?BJ4?nJs5vJAQX@AEX@A(Y~? A A8l%"AA,mNA"AZAbAjArAzAAA8 @AW =tA~@AgH`A}e=A A?A^hȿA*A29?2Aҽ:A=BA29?JAҽRA=٘i)I9~@YG JTJJJJE&K YLX~?yfaA+EZ7 i9)WBE[[ 箾[Y~?[SӪ[[[[BZYY i) 2)) 8>8>yGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035895.623165 s, next control iter: 1743035896.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9394 , header.stamp.nsec: 0 0 temperature: 13.565637 * salinity: 33.375191 , density: 1025.000000 * values[0]: 0.582833 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035896.023165 s.ZI~,{~'AAHz.Y@AC!Y@AVY~? A AB%"AA7mNA"AZAbAjArAzAAA ue@AJ>tA>b~@A[<Ai=AK[ԽA/?A@/ƿAO@*A9?2A ҽ:AX=BA9?JA ҽRAX=٘i)I9b~@YG JJJJJE&K Y:X~?y^8aA.E77mi9)YBE[[Z[.Y~?[ժ[[[[BZYY i) fg!))>>y0鲪Y`,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035896.043165 s, next control iter: 1743035896.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035896.443165 s.9ÆI~,F]~'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035896.443296F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= cY@AXVY@AY~? AAu%"AAtmNA"AZAbAjArAzAAA7@AՌp?tAr~@AIw<Ab'=A_LA !?A`ĿA {*AH9?2Aҽ:A>=BAH9?JAҽRA>=٘i)I9~@YG J\JJJJE&K Y)Y~?y aA D1E)7ŧ7i9)\BE[[[hEY~?[ت[[[[BZYY i) 5))a>a>y1+êY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035896.463165 s, next control iter: 1743035896.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9395, header.stamp.nsec: 00 temperature: 13.565613* salinity: 33.375210, density: 1025.000000* values[0]: 0.582660F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035896.863165 s.+I~,>7~'AAY@A`⏌Y@A Y~? AGA%"AAnNA"AZAbAjArAzAAA14j!@AQ~@tAo}@An<A|u=AUA?A)ÿAƑ*A|9?2Axӽ:Ad=BA|9?JAxӽRAd=Y;@5#ycq=zo<ٓH k?P?@̂?@`6 ?f@ɲlڍ??);@ II٘i)I9}@YVG JJ{=JJJE&Ko> YXY~?yY`A#3E77i9)_BE[[eD[[Y~?[ ڪ[[[[BZYY ihDf) t))jrQ>Q>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035896.883165 s, next control iter: 1743035897.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035897.283165 s.=RI~,R~'AJ"J*J2J:J?BJ?nJ[5vJA(\Y@AsCSY@AZ~? AA%"AAuCnNA"AZAbAjArAzAAAp,t+ @A/tAtAj}@A;A=A4d3A ]?A@QAC/*A9?2AwmԽ:A'K=BA9?JAwmԽRA'K=٘i)I9}@YG JhJJJJE&K Y:Y~?yA`A6E7{7.i9)cBE[[Y[{rY~?[!ܪ[[[[BZYY i) aN;Ii!@7)< ?))|??{֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035897.303165 s, next control iter: 1743035897.683181 s, wait time: 0.380016 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 93962, header.stamp.nsec: 020 temperature: 13.5656982* salinity: 33.3752372, density: 1025.0000002* values[0]: 0.5822282F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035897.703165 s.׺I~,m~'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255916@ elevatorAngleAction: -0.056218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743035897.703274F (some fields omitted in printout)AQZ@AxY@A20Z~? ACAP%"AA8jnNA"AZAbAjArAzAAA^؞ @A/PBtA߉|@AAj=AA-?A@AP*A9?2Aӽ:A=BA9?JAӽRA=٘i)I9|@YG JB=JJJJE&K YVY~?yw_A9E7i9)hBE[[{)~[yY~?[ު[[[[BZYY i) ;Ii@< | ?)) | ?| ? ۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035897.723165 s, next control iter: 1743035898.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035898.123165 s.6I~,X~'AJ"J*J2J:JBJnJvJAG:Z@A8-Z@AIZ~? AA<%"AA#nNA"AZAbAjArAzAAA! t0b!@AM,CtA.{@AXcA=f=AYGA@?A@A4ʬ*A9?2A ӽ:A: =BA9?JA ӽRA: =٘i)I9{@Y\G J(C=JJJJE&K YrY~?yw_A;E{7X#i9)lBE[[j[Y~?[ߪ[[[[BZYY i) ;Ii0@>< ]?))]?]?t۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035898.143165 s, next control iter: 1743035898.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035898.543165 s.II~,â~'AA= ףpZ@A×cZ@AcZ~? AA4%"AA.nNA"AZAbAjArAzAAAG/Q!@A H6CtAXg{@Av|AB=Ao@<A9Q?AsA*A:?2AԽ:A2=BA:?JAԽRA2=٘i)I9g{@YG JʮJJJJE&K YY~?y_A>E77&i9)qB[[BW[ YIY~?yE^A=AE777*i9)uBE[[cC[Y~?[[[[[BZYY i) 0YT;Ii@`< B?))>pB?B?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035898.983165 s, next control iter: 1743035899.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035899.383165 s.صI~,/~'AA(Z@AZ@AZ~? AOAWe%"AAoNA"AZAbAjArAzAAAFC`Uj9#@A5WDtA5;z@Aؼ;A=AªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035900.243165 s, next control iter: 1743035900.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035900.643165 s.xI~,*)'AJ"J*J2J:J?BJ?nJ5vJA ףp}[@AGvep[@AZ~? AAE%"AA|oNA"AZAbAjArAzAAA g%@A=EtA$x@Ap/<Aa=Aj=A?AAn*A T:?2Aƍҽ:A<BA T:?JAƍҽRA<٘i)I9x@YCG JJJJJȮE&K Y"Z~?y ]AKEŧ7b78i9)BE[[6[/Z~?[[[[[BZYY i) GIi@< +?))+?+?y.#%Y YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9399, header.stamp.nsec: 00 temperature: 13.566160* salinity: 33.375263, density: 1025.000000* values[0]: 0.580447F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743035900.663165 s, next control iter: 1743035901.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035901.063165 s.I~,_ D'AA3333[@A &([@AZ~? AA6A%"AAVoNA"AZAbAjArAzAAAߗ%@A{wEtAx@A(49A=Av >A`,?AV}sAi*AS:?2Aͧӽ:Aj<BAS:?JAͧӽRAjy=,~49ٓH?'*o?@J!?`?p?ः&??)Z@ I٘i)I9x@YG JJԼJJJˮE&Kp> Y#8Z~?y\A >NE7777nA?AE?Aʇ*AQ:?2AԧԽ:A3<BAQ:?JAԧԽRA3<٘i)I9w@YG JlJJJJͮE&K Y"TZ~?yW\AQE7@i9)BE[[v[`Z~?[[[[[BZYY i) Ii?=< ,5?))@,5?,5?MYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035901.523165 s, next control iter: 1743035901.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9400, header.stamp.nsec: 00 temperature: 13.566260* salinity: 33.375278, density: 1025.000000* values[0]: 0.579904F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035901.903165 s.I~,y'AAQ\@A\@A3[~? AAA%"AAgoNA"AZAbAjArAzAAATBL&@A EtAs w@AA~]=AV}3>A]?A%?AoZ*At:?2Aҽ:A'<BAt:?JAҽRA'<٘i)I9 w@YhG J}JJJJЮE&K Y"pZ~?yv[ATE77Ci9JB)BE[[LOg[xZ~?[x[[[[BZYY i) .XIiQ?Ò< :?)):?:?@YAhoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035901.923165 s, next control iter: 1743035902.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035902.323165 s.{I~,:'AJ"J*J2J:JBJnJvJAGzT\@AntG\@AM[~? A<AG%"AApNA"AZAbAjArAzAAAO}k'@AsOYEtAv@ANA~=AtG>A@f?AM?A~*A\~:?2ARҽ:Aħ<BA\~:?JARҽRAħ<٘i)I9v@Y'G JB=JJJJӮE&K Y$Z~?yH[AVEb7b7.Gi9QB)B[[[Z~?[[[[[BZYY i?) fIi?IЍ< ??)) ????YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035902.363165 s, next control iter: 1743035902.723178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9401., header.stamp.nsec: 0.0 temperature: 13.566368.* salinity: 33.375309., density: 1025.000000.* values[0]: 0.579484.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035902.743165 s.WI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743035902.743300F (some fields omitted in printout)Aףp=\@A1}\@Ag[~? AAQO%"AAtBpNA"AZAbAjArAzAAAg?i)(@Afq EtAIv@AAA- ~=ATZ>A@?A`?Aπ*A:?2AdRҽ:A@ <BA:?JAdRҽRA@ <٘i)I9Iv@YG J'C=JJJJծE&K Y!Z~?yL[AYE777Ji9PB)BE[[ [Z~?[ [[[[BZYY i) ׳Ii?f< ֶD?))ֶD?ֶD?Y睁YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035902.783165 s, next control iter: 1743035903.143180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035903.163165 s.J "J *J 2J :J K?BJ K?nJ 5vJ z}I~,q'AA\@A^\@A[~? AAZ%"AAipNA"AZAbAjArAzAAA>WPi1(@AuDtAu@A<A~=Am>Aeu?AY?A?*A:?2A!ҽ:A<BA:?JA!ҽRAy~=<ٓH?wͿ?@z?`#?Qy?ͯ`O? ?)``< I٘i)I9u@YG JJ:ϻJJJخE&Ko> YZ~?yZAjn>\E{7{7YNi9)BE[[D%*;[HZ~?[[[[[BZYY i) FʻIi{?ނ< I?))9oI?I?FY8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035903.183165 s, next control iter: 1743035903.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035903.583165 s.I~,S'AA)\\@A캷\@A[~? A=Ah%"AASpNA"AZAbAjArAzAAA6d)@AmK!DtAqu@Ax<A{x=A >A`(i?A?Aʡ*Asw:?2A ӽ:A`=BAsw:?JA ӽRA`=٘i)I9qu@YbG JJJJJۮE&K Y Z~?y ZA^Ej7j7Qi9OB)BE[[#<[AZ~?[[[[[BZYY i) Ii?y< N?))N?N?y&$װYA\?A0?A7*A:?2Aѽ:A=BA:?JAѽRA=٘i)I9u@YG JzJJJJݮE&K YZ~?yKZAaE)7ŧ7Ui9)BE[[t9-=[pZ~?[[[[[BZYY i) Ii?En< rS?))rS?rS?YY oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035904.043165 s, next control iter: 1743035904.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035904.423165 s.uI~,'AA{Ga]@A;T]@A[~? AA%"AApNA"AZAbAjArAzAAAz(*@A5~BtAit@At;A`=AP>AL?A 牼?Aހ*A:?2A;?ҽ:Ag=BA:?JA;?ҽRAg=٘i)I9t@YG JˁJJJJE&K Y[~?y YAdE77{7Yi9LB)B¹E[[r=[[~?[U[[[[BZYY i) Iiز?d< Y?)) Y?Y?Ad:?A@I?A *A:?2Aǵҽ:A=BA:?JAǵҽRA=٘i)I9*t@YG JJJJJE&K Y1[~?y YAfEŧ7b7\i9)BŹE[[%=[G([~?[[[[[BZYY i) Q$Ii?%\< 4^?))4^?4^?ṪY󹁾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035904.883165 s, next control iter: 1743035905.243175 s, wait time: 0.360010 s1[~?)  rAdjusting time to match Gazebo time: 1743035905.263165 s.I~,,P'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075317< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743035905.263281F (some fields omitted in printout)A]@A~]@A=\~? AYA`%"AA.qNA"AZAbAjArAzAAA$+@A!%AtAs@AafA.=A!>A$?A8?A*A:?2Aӽ:A2N=BA:?JAӽRA2N=Y$=>y>+=%egٓH@0? Կ}H??`??`?@ B`ی?)$= I٘i)I9s@YZG JbJO<JJJE&K/p> YTL[~?y DYA>iE77C`i9)B[[ =[kA[~?[[[[[BZYY i) 3Iiס?(O< Qc?))oQc?Qc?Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035905.283165 s, next control iter: 1743035905.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 94042, header.stamp.nsec: 020 temperature: 13.5665842* salinity: 33.3753322, density: 1025.0000002* values[0]: 0.5782302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035905.683165 s.lI~,k'AJ"J*J2J:JBJnJvJA(\^@A]@A\~? AA/%"AATqNA"AZAbAjArAzAAAZ^r,@An:(@tARs@AqtA=A/>A@e ?A |?A*Az:?2AcԽ:A~V=BAz:?JAcԽRA~V=٘i)I9Rs@YG J`JJJJE&K Y g[~?y4XAlE{7{7ci9KB)BȹE[[\=[Z[~?["[[[[BZYY i) QCIi?=C< l{h?))(l{h?l{h?ªYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035905.683165 s, next control iter: 1743035906.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743035906.103165 s.!I~,'AAQ8^@A#F+^@AT6\~? A A*%"AA{qNA"AZAbAjArAzAAAg -@Ag&?tAr@A\AbԐ=AR>A@?A ?AH*A:?2Aҽ:A=BA:?JAҽRA=٘i)I9r@YG J*JJJJE&K Y[~?yWXAnE777ngi9)B˹E[[>[;t[~?[[[[[BZYY i) RIi?j8< Tm?)) Tm?Tm?yǪY,oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035906.123165 s, next control iter: 1743035906.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035906.523165 s.'I~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:JBJ@ elevatorAngleAction: -0.075317nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035906.523300F (some fields omitted in printout)AHzn^@AA a^@AO\~? A A6$%"AA>qNA"AZAbAjArAzAAAh-@Ay=tAcr@A/JX;A œ=A>A.?Ad?A*A:?2A4ҽ:A =BA:?JA4ҽRA =٘i)I9cr@YG JJJJJE&K Yx[~?yy-XAqEb77ki9JB)BιE[[E'>[׍[~?[[[[[BZYY iLx) RbIiy?.< r?))r?r?D˪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035906.543165 s, next control iter: 1743035906.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9405, header.stamp.nsec: 00 temperature: 13.566669* salinity: 33.375355, density: 1025.000000* values[0]: 0.577823F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035906.943165 s.Yd.I~,F]'AAq= ף^@A˖^@Ah\~? A A,K%"AAqNA"AZAbAjArAzAAAu}?.@AeAM?A?A•*Ad:?2Aqҽ:A9=BAd:?JAqҽRA9=٘i)I9q@Y6G JJJJJE&K Y.[~?yWAtEŧ7ni9IB)BѹE[[<>[[~?[n[[[[BZYY i) qIi?!&< 8x?))8x?8x?wΪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035906.963165 s, next control iter: 1743035907.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035907.363165 s.J "J *J 2J :J ?BJ ?nJ 5vJ NJ5I~,>׀'AA^@Ad^@A\~? AAu%"AAqNA"AZAbAjArAzAAA S?.@A}B;tAXq@A[<A^=Ag>A?AR?Aqu*A:?2Aӽ:A6+=BA:?JAӽRA6+=YhX>e>yY=<ٓH`?@ǢڿA??? 5?(?X?)hX> I٘i)I9Xq@YG JJ<JJJE&Kq> Y[~?yjWAe>vE{7{7.ri9)BԹE[[Q>[[~?[[[[[BZYY i) xIino?<<  q}?))Cq q}? q}?kѪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743035907.383165 s, next control iter: 1743035907.763183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9406&, header.stamp.nsec: 0&0 temperature: 13.566776&* salinity: 33.375370&, density: 1025.000000&* values[0]: 0.577272&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035907.783165 s.W;I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235368@ elevatorAngleAction: -0.084214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035907.783297F (some fields omitted in printout)A(\_@A*Q_@A\~? ASA%"AArNA"AZAbAjArAzAAAko/@AJI9tAp@A'<A=Aq>At?A@?A젤*A:?2AVԽ:A\=BA:?JAVԽRA\=٘i)I9p@YG JJJJJE&K Y[~?yCWAyE7777ui9)¯B[[ef>[A[~?[%[[[[BZYY i) Ii]?} < :[?))ǂ:[?:[?y[ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035907.803165 s, next control iter: 1743035908.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035908.203165 s.CI~, 'AJ"J*J2J:J?BJ?nJ5vJAQE_@A,{8_@A޳\~? AA%"AA:rNA"AZAbAjArAzAAA0@A X@8tAEDp@AhA=A>A pN?A ?A*Aߠ:?2AQӽ:A=BAߠ:?JAQӽRA=٘i)I9Dp@Y;G J¤JJJJE&K Y(\~?yVA|E{7Yyi9HB)ƯB׹E[[{>[[~?[<ު[[[[BZYY i) IixL?o< ?)) ??٪YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743035908.223165 s, next control iter: 1743035908.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035908.623165 s.XII~,a''AAGz_@ASAEm_@A\~? AA%"AA`rNA"AZAbAjArAzAAAiM0@AwjIS6tAo@A3AȠ=Ah>A&?A*?Aiť*A:?2Aӽ:A.=BA:?JAӽRA.=٘i)I9o@YG JJJJJE&K Y\~?y7VA~E77|i9DB)ٹE[[s>[\ \~?[%ܪ[[[[BZYY i) W'Ii=?=; J?))J?J?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035908.643165 s, next control iter: 1743035909.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9407 , header.stamp.nsec: 0 0 temperature: 13.566944 * salinity: 33.375397 , density: 1025.000000 * values[0]: 0.576740 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035909.043165 s.PI~,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: -0.084214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035909.043285F (some fields omitted in printout)A= ף_@AR(_@A\~? A:A;%"AA:rNA"AZAbAjArAzAAA p˗0@Ak4tA-o@AՇA+ =A?A`7?A?Aϩ*A+:?2AՋԽ:A=BA+:?JAՋԽRA=٘i)I9-o@YG JEJJJJE&K Y{7\~?y>UAE7i9CB)ʯBܹE[[o>[&\~?[٪[[[[BZYY i)  Ii0?^; c?))c?c?mYh$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035909.063165 s, next control iter: 1743035909.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035909.463165 s.YWI~,]'AAffff_@AK[_@A>\~? A;A t%"AA,rNA"AZAbAjArAzAAAkb0@A3tA›n@A_;DAx=A?A*?A?A=*AU:?2AԽ:Axc=BAU:?JAԽRAxc=YA>?yu=DٓHǃ?35`P{? ?Ж?`t?贿`E` ?)A> I٘i)I9n@Y9G JJ<JJJE&Ks> YO\~?yaUA?E7777i9)ϯB[[g>[#@\~?[uת[[[[BZYY i) rIi?; G?))?rG?G?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035909.483165 s, next control iter: 1743035909.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9408, header.stamp.nsec: 00 temperature: 13.567059* salinity: 33.375385, density: 1025.000000* values[0]: 0.576180F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035909.883165 s.y]I~,Dx'AJ"J*J2J:JBJnJvJA(`@AI`@AQ]~? AAܯ%"AArNA"AZAbAjArAzAAA_*1@Ao1tAn@A<A=A ?A@ҟ?A?Aɽ*A{:?2A)ս:A]=BA{:?JA)սRA]=٘i)I9n@YG JJJJJE&K Y+h\~?yXTAE77i9BB)үB߹E[[ܨ>[\Y\~?[Ԫ[[[[BZYY i) mIi ?wʱ; ?))΃??FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035909.903165 s, next control iter: 1743035910.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035910.303165 s.TdI~,og'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257438@ elevatorAngleAction: -0.084214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743035910.303276F (some fields omitted in printout)AQ`@AiD`@A.-]~? AA%"AA*rNA"AZAbAjArAzAAABr1@Aδ/tA?am@A<A=AB?Axn?A0?A$Ƽ*A_:?2Aӽ:A3X=BA_:?JAӽRA3X=٘i)I9am@YyG JuJJJJE&K Y\~?yݪTAE7Di9)ׯBE[[G>[r\~?[Ҫ[[[[BZYY i) PɴIis>; u?)) u?u?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035910.323165 s, next control iter: 1743035910.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9409., header.stamp.nsec: 0.0 temperature: 13.567234.* salinity: 33.375401., density: 1025.000000.* values[0]: 0.575531.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035910.723165 s.kI~,H'AJ"J*J2J:JU?BJU?nJ~5vJAz`@A/Lz`@AD]~? AWAO0%"AA0sNA"AZAbAjArAzAAA9"l1@A#,tAl@Ay<A =A?A[\~?[Ϫ[[[[BZYY i) %Ii>$; -2?))-2?-2?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035910.743165 s, next control iter: 1743035911.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035911.143165 s.U/rI~,*Ɂ'AA ףp`@AJ^c`@AB\]~? AAt%"AA:sNA"AZAbAjArAzAAAolt2@Aξ*tA l@A~@^<Ai=A?A ?A E?AAhм*AH:?2A?ӽ:A=BAH:?JA?ӽRA=٘i)I9 l@YG J9ϼC=JJJJ E&K Y4\~?yԪSAE777oi9@B)߯BE[[s>[\~?[˪[[[[BZYY i) )üIi> 8u; ?))??`YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035911.163165 s, next control iter: 1743035911.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035911.563165 s.xI~,k 'AJ"J*J2J:J>?BJ>?nJe5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743035911.563325F (some fields omitted in printout)A3333`@A4(`@Ats]~? AA%"AA=^sNA"AZAbAjArAzAAAG2@A$5V(tAZk@A;Am=A;6!?A`?A"?Aм*A|:?2AԽ:A=BA|:?JAԽRA=Yq>Q!?ydm=_;ٓH?t@)?`)???& I٘i)I9Zk@Y=G JмB=J=<JJJE&Ks> Y\~?yϪ(SAQ!?E{7j7i9=B)BE[[ǐ>[ս\~?[Ȫ[[[[BZYY i) bʼIi8>D; ?))zu??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035911.603165 s, next control iter: 1743035911.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9410, header.stamp.nsec: 00 temperature: 13.567433* salinity: 33.375412, density: 1025.000000* values[0]: 0.574828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035911.983165 s.I~,'AA\(a@A>xa@Af]~? A)A%"AA7sNA"AZAbAjArAzAAA0$V2@Aq+&tAOj@A/ӻA]=Aq&?A ?A?Arμ*Ar:?2Aoս:A`=BAr:?JAoսRA`=٘i)I9j@YG JϼC=JJJJE&K Y\~?yʪRAE777i9[\~?[Ū[[[[BZYY i) ѼIil>(; k?))=k?k?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035912.003165 s, next control iter: 1743035912.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035912.403165 s.&I~,'AJ"J*J2J:J?BJ?nJ25vJAQ^a@A&7Qa@A]~? A$AR%"AAͣsNA"AZAbAjArAzAAApvK2@A[#tAi@A3kA[=AE+?A@RV?A@?Aμ*A:?2AԽ:A>=BA:?JAԽRA>=٘i)I9i@YjG JzμJJJJE&K Y\~?ysŪ:RAEb77/i9;B)BE[[ߤ>[8\~?[n[[[[BZYY i) +ټIi.>A: %1?)) %1?%1?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035912.423165 s, next control iter: 1743035912.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9411", header.stamp.nsec: 0"0 temperature: 13.567636"* salinity: 33.375423", density: 1025.000000"* values[0]: 0.574083"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035912.823165 s.I~,:4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035912.823302F (some fields omitted in printout)AGza@Ana@A~]~? AܫA%"AAsNA"AZAbAjArAzAAA}o 3@A-!tAPi@ApAd=A1?A'?A?A3Ѽ*A:?2AԽ:A'8=BA:?JAԽRA'8=I٘i)I9Pi@YG JϼJJJJE&K Y_ ]~?yDQAE7Ġi9)B[[3>[]~?[[[[[BZYY iv) eIih=8: :?)):?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035912.863165 s, next control iter: 1743035913.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035913.243165 s.I~,mO'AJ"J*J2J:JBJnJvJAףp=a@A@5a@A]~? AثA%"AAsNA"AZAbAjArAzAAA_7H/Y3@A8tAh@AAT=Ao5?A?Aa?Aּ*Aw:?2Aս:A0=BAw:?JAսRA0=٘i)I9h@Y G JtӼB=JJJJE&K Y*#]~?yLQAE777Zi9:B)BE[[/?[N ]~?[u[[[[BZYY i) ƞIi^=8: ̤?))̤?̤?YPYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035913.263165 s, next control iter: 1743035913.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035913.663165 s.I~,qj'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9412, header.stamp.nsec: 00 temperature: 13.567838* salinity: 33.375435, density: 1025.000000* values[0]: 0.573336F (some fields omitted in printout)Ab@ACYa@A]~? AAԫAJ%"AA' tNA"AZAbAjArAzAAA<(y3@A&tAg@A`;ACn=A:?A`ܗ?AH&?Afۼ*Ai:?2Auս:A"=BAi:?JAuսRA"=Y{?;?ym=;ٓH?W?ID??ެ? ƶ Bp?t?){? I٘i)I9g@Y% G JؼJ};JJJE&Kt> Y-8]~?y7PA;?E{7j7i98B)BE[[!?[@8]~?[A[[[[ZZ¸BZYY i¸ =) 2ۼII?il纉 瓧?))}x瓧?瓧?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035913.683165 s, next control iter: 1743035914.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035914.083165 s.DI~,S'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243055> elevatorAngleAction: 0.083025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743035914.083306F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5b@AND(b@A]~? AϫA%"AA*tNA"AZAbAjArAzAAAr3@ATtA.g@AZW<A=Ad??AS?A?A*A\:?2A>ս:AP!=BA\:?JA>սRAP!=٘i)I9.g@Y G JݼC=JJJJE&K Y-M]~?yYWPAEZ7i95B)BE[[_ ?[P]~?[ٰ[[[[ZZBZYY i) KϼII?iވG1/ L?)) L?L?yaYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035914.103165 s, next control iter: 1743035914.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035914.503165 s.I~,;4'AARkb@Ahx^b@AW^~? A˫A%"AAJtNA"AZAbAjArAzAAA+]Z4@Aq$>3tA]f@AS`|<A=AD?Af ?A`(?A*Az:?2A6ӽ:A=BAz:?JA6ӽRA=٘i)I9]f@Y4 G JJJJJ!E&K Y-b]~?y|OAE77{7i94B)BE[[M_?[g]~?[?[[[[ZZBZYY i) FqüI3 I?iF` h ?))h ?h ?y)S=vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035914.523165 s, next control iter: 1743035914.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9413, header.stamp.nsec: 00 temperature: 13.568085* salinity: 33.375458, density: 1025.000000* values[0]: 0.572545F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035914.923165 s.;I~,'AJ"J*J2J:JBJnJvJA{Gb@AoB@b@AJ#^~? A,ƫAX%"AAjtNA"AZAbAjArAzAAA.b\4@A([7AtAxe@A<A>Κ=A3J?A0?Afp?A3_*A:?2AԽ:A<BA:?JAԽRA<٘i)I9xe@Y G JB=JJJJ#E&K Y0w]~?ybOAE77i93B)BE[[?[h]~?[p[[[[ZZBZYY i) `I I?i`3 կ?))կ?կ?yWk=w֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035914.943165 s, next control iter: 1743035915.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035915.343165 s. elevatorAngleAction: 0.083025< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035915.343296F (some fields omitted in printout)Ap= b@Ao!b@A7^~? A9A%"AAtNA"AZAbAjArAzAAAqTq4@Ap[#Z;tABd@A_Ay=AlO?Ax?A -?A*A):?2AYս:A&k<BA):?JAYսRA&k<٘i)I9d@Y# G JC=JJJJ&E&K Y0]~?yNAE7)7Di9)B[[?[Ö]~?[q[[[[ZZBZYY i) RII?i~_9  ?))??nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035915.363165 s, next control iter: 1743035915.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9414*, header.stamp.nsec: 0*0 temperature: 13.568374** salinity: 33.375469*, density: 1025.000000** values[0]: 0.571588*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035915.763165 s.8I~,#'AJ"J*J2J:JS?BJS?nJo5vJA c@A{ b@A?L^~? A$A%"AA/tNA"AZAbAjArAzAAA==E 4@AF! tAKc@A:JA"4=AjT?A*-?A?A@"м*AԆ:?2Aս:A;BAԆ:?JAսRA;Y?T?y4=PJٓH ƍ?@ ? 3?o?`?򗦿@C`e?)? I٘i)I9c@Y G JJ۽JJJ)E&Kt> YB]~?y=NAT?EZ7SI7ڹi9.B)BE[[w"?[]~?[Q[[[[ZZBZYY i>=) II?i>K< f?)) {f?f?}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035915.783165 s, next control iter: 1743035916.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035916.183165 s.I~, 'AA(\Bc@Aǁ5c@A;`^~? AﶫA:~%"AAtNA"AZAbAjArAzAAA\o&5@A4 tAi9c@AA(<AZ?Aj?A?AO*A:?2A"ֽ:Ah/BA:?JA"ֽRAh/٘i)I99c@YJ G JJJJJ+E&K YT]~?ynNAE{7{7oi9-B)BE[[+E(?[L]~?[[[[[ZZBZYY i) fIH?id /?)) /?/?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035916.223165 s, next control iter: 1743035916.583186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743035916.603165 s.:4I~,&'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073361< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743035916.603305F (some fields omitted in printout)AQxc@A ސFkc@As^~? AA%"AAtNA"AZAbAjArAzAAA +Q5@ADptAQb@AbNA.<A~(_?A@?Aqg?A*A:?2AԽ:AOBA:?JAԽRAO٘i)I9b@Y G JwJJJJ.E&K Yg]~?y61NAEb77i9*B)BE[[.?[]~?[s[[[[ZZBZYY i) @ڊI{H?iuξV" ?))??}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035916.623165 s, next control iter: 1743035917.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9415 , header.stamp.nsec: 0 0 temperature: 13.568638 * salinity: 33.375462 , density: 1025.000000 * values[0]: 0.570781 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035917.023165 s.ZI~,|A'AAHzc@ACc@A*^~? A$A\N%"AAUuNA"AZAbAjArAzAAA5@Ak]tAYb@AA5Ad?d?A>?A ?AZ9*A:?2Aflս:A]rBA:?JAflսRA]r٘i)I9Yb@Y G J^cJJJJ1E&K Yy]~?yMAEi9)B)BE[[3?[]~?[[[[[ZZBZYY iP=) )IJH?i]澉-o ڽ?))ڽ?ڽ?yO=Ś(YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035917.063165 s, next control iter: 1743035917.423182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743035917.443165 s.@I~,d]\'AJ"J*J2J:JBJnJvJAq= c@Ajc@A^~? AA%"AAV uNA"AZAbAjArAzAAA@=5@AsAb@AC<AؕAui?A`-?Ad?Ap*A:?2Aս:A랼BA:?JAսRA랼٘i)I9b@Y G JfJJJJ3E&K Y]~?y/}MAE7777/i9)B[[9?[^~?[ˆ[[[[ZZBZYY i) gjIH?i_< l?))l?l?y=r)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035917.483165 s, next control iter: 1743035917.843185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9416, header.stamp.nsec: 00 temperature: 13.568758* salinity: 33.375484, density: 1025.000000* values[0]: 0.570347F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035917.863165 s.+I~,>w'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035917.863285F (some fields omitted in printout)Ad@A d@A^~? AޠA'%"AA Yk]~?yvMAn?E7i9(B)E[[??[1^~?[Ā[[[[BZYY ij=) XIH?i  ?))??yj=(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035917.883165 s, next control iter: 1743035918.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035918.283165 s.3RI~,'AJ"J*J2J:JBJnJvJA(\Od@A>uRBd@A^~? AA/%"AAXuNA"AZAbAjArAzAAA946@A4sAa@AX<A5.As?A z=?A`#?A>w:*A^:?2Aֽ:A|BA^:?JAֽRA|漙٘i)I9a@Y G JBJJJJ9E&K YK ^~?yo NAE{7Zi9$B)BE[[Q|E?[91^~?[z[[[[BZYY i=) bGIH?ieȻ d?)) d?d?y,=.j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035918.323165 s, next control iter: 1743035918.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9417., header.stamp.nsec: 0.0 temperature: 13.568704.* salinity: 33.375496., density: 1025.000000.* values[0]: 0.570250.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035918.703165 s.ӺI~,'AAQd@ATxd@A^~? A#A %"AAsuNA"AZAbAjArAzAAAj6@A==RsAb@A?;A elevatorAngleAction: 0.067352< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.420025J2 time: 1743035919.123286"JF (some fields omitted in printout)*J2J:JBJnJvJAGd@A խd@A^~? AAI%"AAuNA"AZAbAjArAzAAAu޺j6@A*sACb@A8A tA}?A`U?A "?A2<*A\:?2AlOս:A]BA\:?JAlOսRA]٘i)I9Cb@Y G J<C=JJJJ>E&K Y /^~?y`bNAE77{7i9)B[[\Q?[LZ^~?[}m[[[[BZYY i) _$IH?i40 ,?)),?,?yƊ=*Y3'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035919.143165 s, next control iter: 1743035919.523177 s, wait time: 0.380012 s /^~?)` rAdjusting time to match Gazebo time: 1743035919.543165 s.II~,'AA= ףd@Asdd@A*^~? AA%"AAuNA"AZAbAjArAzAAA66@AEisAb@A<:yAqA{?Aa?A`?A"j<*AV:?2ATkս:AݺBAV:?JATkսRAݺ٘i)I9b@Y G JTM<JJJJAE&K Y?^~?yYNAĮEŧ7b7i9"B) B E[[YW?[Dn^~?[f[[[[BZYY i) #IH?i< ?))??U*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743035919.563165 s, next control iter: 1743035919.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9418, header.stamp.nsec: 00 temperature: 13.568517* salinity: 33.375500, density: 1025.000000* values[0]: 0.570498F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035919.963165 s.I~,+'AJ"J*J2J:J ?BJ ?nJ$5vJAffff&e@AݔZe@A_~? AAn%"AAruNA"AZAbAjArAzAAA8 7@AlsAc@AuAUA?A?A@L?A,"<*AQ:?2Aս:A8BAQ:?JAսRA8YvZP?9?yQ@vٓHY? ovkj?/k?>ͪ`u??)vZP? I٘i)I9c@Y* G J6~<J%JJJDE&K5v> YaN^~?y3RNA9?ǮEi9) B[[lH]?[^~?[_[[[[BZYY iCi=) ~IH?iKL ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035919.983165 s, next control iter: 1743035920.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035920.383165 s.I~,4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057103< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743035920.383297F (some fields omitted in printout)A(\e@A֎Oe@A _~? Aa|A%"AAcuNA"AZAbAjArAzAAAwrj67@A|n>5sA}c@AxAױA}dž?As?A@?AC<*AM:?2Auֽ:A7BAM:?JAuֽRA7٘i)I9}c@Yt G J<JJJJFE&K Y\^~?yJMOAʮE777Ei9B)B E[[Bc?[n^~?[X[[[[BZYY i) DIH?iYT 4?))4?4?*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743035920.403165 s, next control iter: 1743035920.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9419", header.stamp.nsec: 0"0 temperature: 13.568275"* salinity: 33.375519", density: 1025.000000"* values[0]: 0.571044"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035920.803165 s.A I~,g3'AJ"J*J2J:J/?BJ/?nJI5vJAe@AT݄e@A#_~? AuASf%"AAuNA"AZAbAjArAzAAA nf7@APvFsAc@Aq;ASAl?A{?A?Ae<*AO:?2Ay׽:AU BAO:?JAy׽RAU ٘i)I9c@Y G J4<JJJJIE&K YPk^~?yCOA̮Eŧ7ŧ7i9)B[[Gi?[^~?[|Q[[[[BZYY i) mɻIH?i e+ ?))?? *YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743035920.823165 s, next control iter: 1743035921.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035921.223165 s.gI~,HN'AAze@Are@A93_~? AcoA%"AAX vNA"AZAbAjArAzAAA]fI7@A0hGsAԈd@Ab<A!A7?A`\U?A,?AS<*AmQ:?2Au׽:A_ BAmQ:?JAu׽RA_ ٘i)I9d@Y G J<JJJJLE&K Yy^~?y;PAϮE7{7pi9B)BE[[Uo?[^~?[ J[[[[BZYY i) tЪIH?in p?))p?p?y0j=C*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743035921.243165 s, next control iter: 1743035921.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035921.643165 s.uI~,*i'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057103< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743035921.643322F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpe@A ge@A)B_~? AhAe%"AAV"vNA"AZAbAjArAzAAA7@A9sAe@Ar<AݚAڎ?A@?A xs?A<*AS:?2A׽:ABAS:?JA׽RA٘i)I9e@Yl G Jԧ<JJJJNE&K YB^~?y3nPAҮEj7j7i9)B[[ku?[^~?[sB[[[[BZYY i) IH?iuf f?))f?f?*YFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9420, header.stamp.nsec: 00 temperature: 13.567935* salinity: 33.375519, density: 1025.000000* values[0]: 0.571721F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743035921.663165 s, next control iter: 1743035922.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035922.063165 s. I~,R 'AA33333f@A)&f@AP_~? AbAX%"AA8vNA"AZAbAjArAzAAA7@AB\fsAre@A <AAg?A?A ??A*<*A'V:?2AE׽:A8BA'V:?JAE׽RA8Yj?P?yjQ<ٓH? a@?g? X}?q??)j? I٘i)I9e@Y G J#<J4:JJJQE&KTy> Y*^~?y+PAP?ԮEZ7i9B)BE[[zu{?[Z^~?[:[[[[BZYY i) F[ItH?ieg& 3?))3?3?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035922.083165 s, next control iter: 1743035922.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035922.483165 s.u_'I~,임'AJ"J*J2J:JBJnJvJA\hf@AVfJ[f@A^_~? A/[Al%"AAWNvNA"AZAbAjArAzAAA %8@A3sA4:f@AfAA?AX?A@?A6<*AX:?2A]ֽ:ABAX:?JA]ֽRA٘i)I9:f@Y G J<JJJJTE&K Y^~?y# elevatorAngleAction: 0.066147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743035922.903290F (some fields omitted in printout)AQf@Aݳf@ASl_~? AFTA%"AAWcvNA"AZAbAjArAzAAA{_hB8@A8͚sAif@AFAAo?A-#?A7?A@<*AZ:?2A8ֽ:AfBAZ:?JA8ֽRAf٘i)I9f@Yy G J<JJJJVE&K Y^~?yQAڮE777i9)B[[ԃ?[^~?[*[[[[BZYY i) źIVH?iJ4 (?))(?(?3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035922.943165 s, next control iter: 1743035923.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743035923.323165 s.4I~,SԄ'AJ"J*J2J:J?BJ?nJ5vJAGzf@Ah>nf@A|y_~? AGMAhz%"AAwvNA"AZAbAjArAzAAAƎMj8@AUCAusAag@A AA?A@?P?A@Fu?A@<*AY:?2Aiֽ:A6BAY:?JAiֽRA6٘i)I9ag@Y G JI<JJJJYE&K Y^~?y RAܮE7[i9B)ۯBE[[ ?[ _~?["[[[[BZYY i) 1I'GH?i ɪ9 ^?))^?^?B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035923.343165 s, next control iter: 1743035923.723184 s, wait time: 0.380019 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9422., header.stamp.nsec: 0.0 temperature: 13.567262.* salinity: 33.375542., density: 1025.000000.* values[0]: 0.573206.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035923.743165 s.W;I~,q'AAףp= g@A2f@A/_~? A4FA%"AAIvNA"AZAbAjArAzAAANz̐8@AN9#sA+g@A8A͉AF?Ax?A"?A/q<*AAW:?2A׽:AоBAAW:?JA׽RAо٘i)I9g@Y' G J<JJJJ\E&K Y^~?y pRA߮E7777i9B)ԯBE[[?[_~?[j[[[[BZYY i) Ѯ9I=7H?inw= f?))f?f?yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035923.763165 s, next control iter: 1743035924.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035924.163165 s.}BI~,r 'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743035924.163344F (some fields omitted in printout)A@g@AW>2g@Ai_~? A ?A%"AA3vNA"AZAbAjArAzAAA޵8@AĞqsAoh@A<AA7c?A N?A5?A2<*AT:?2Az׽:AdBAT:?JAz׽RAdYuX?d?y1<ٓH@d?<@@Z,? ?@Z xΰ?G@S?)uX? I٘i)I9oh@Yw G Jt<J<JJJ^E&Ky>  j9Y^~? j9yRAd?E77j9)ЯB[[(?['_~?[[[[[BZYY i) 4:I&H?iR{E j?))j?j?r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035924.183165 s, next control iter: 1743035924.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035924.583165 s. HI~,&S%'AA)\ug@AAhg@A)_~? A7A%"AAevNA"AZAbAjArAzAAA96|8@A;[sA!h@A~'<A"A?A?A`#?A"<*A+R:?2A1׽:ABA+R:?JA1׽RA켙٘i)I9h@Y G J|<JJJJaE&K YM^~?ye%SAE{7{7j9B)˯BE[[(?[)5_~?[{ [[[[BZYY i) s;I{H?iIL ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035924.603165 s, next control iter: 1743035924.983187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9423, header.stamp.nsec: 00 temperature: 13.566937* salinity: 33.375542, density: 1025.000000* values[0]: 0.573889F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035925.003165 s.w PI~,H4@'AJ"J*J2J:JBJnJvJARg@Akzg@Am_~? A0A%"AAvNA"AZAbAjArAzAAA_:d8@AsA=[i@Aٹ<A]A?A^?ASX?A\<*A-O:?2Ah׽:ABA-O:?JAh׽RA鼙٘i)I9[i@YG Jه<JJJJdE&K Y^~?ySAE)7)7j9)ǯB[[D?[B_~?[[[[[BZYY i) xQ;IH?iأQ .?)).?.?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035925.043165 s, next control iter: 1743035925.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035925.423165 s. uVI~,['AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743035925.423309F (some fields omitted in printout)A{Gg@A^} Y^~?y٩TAs?E777pj9)B[[?[d_~?[ [[[[BZYY i) g;IG?i _ ?))??6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035926.283165 s, next control iter: 1743035926.663180 s, wait time: 0.380015 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 94256, header.stamp.nsec: 060 temperature: 13.5663986* salinity: 33.3755616, density: 1025.0000006* values[0]: 0.5750366F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035926.683165 s.ljI~,g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743035926.683267F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\h@AMg'uh@A_~? AA%"AAbwNA"AZAbAjArAzAAA'g[~u9@At sAk@AkUyAA]A?A iX?A ?A<*A::?2Ahֽ:ABA::?JAhֽRA٘i)I9k@YG J<JJJJoE&K Y^~?yFѩTAEZ7SI7j9)B[[Ɵ?[n_~?[ܩ[[[[BZYY i) ;IG?iDe 2@))2@2@yu=q*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743035926.683165 s, next control iter: 1743035927.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743035927.103165 s.qI~,ƅ'AAQh@Ad]Fh@Aq_~? A A%"AA)wNA"AZAbAjArAzAAA!;9@ACsAֈk@APmA5ÃA?Aq?A:?Af<*A4:?2Aֽ:ABA4:?JAֽRA٘i)I9k@YYG J<JJJJqE&K Yx_~?yȩ8UAEŧ7b7j9 B)BE[[h?[Sx_~?[ө[[[[BZYY i) ?Aj ?A`a?A,3<*A-:?2A@׽:ABA-:?JA@׽RA٘i)I9k@YG Jn<JJJJtE&K Y _~?yUAE77j70j9)B[[5?[_~?[\ʩ[[[[BZYY i) Ji elevatorAngleAction: 0.074984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035927.943303F (some fields omitted in printout)Aq= #i@ASi@A_~? AA%"AAl'wNA"AZAbAjArAzAAA99@AGsAgl@A4;AᇽAN?A`p0?An?A <*AN':?2Aϛ׽:AFiBAN':?JAϛ׽RAFi٘i)I9gl@YG J<B=JJJJwE&K Ym_~?yUAE777!j9 B)BE[[??[._~?[[[[[BZYY i) *'"'AAYi@AyLi@A_~? AAD%"AA2wNA"AZAbAjArAzAAA;n'29@AUИܒsA%l@AXqf<AA?AQ?A?AL<*A9!:?2A׽:ABA9!:?JA׽RAYcx??y*f<ٓH@u?@߻^u??_?͡"P?͌?n?)cx? I٘i)I9l@Y#G J<C=J&/JJJyE&Kx> Y_~?yϮCVA?E)7ŧ7[%j9B)BE[[:g?[x_~?[[[[[BZYY i) 1 elevatorAngleAction: 0.074984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743035929.203298F (some fields omitted in printout)AQi@A i@A_~? A*Au%"AAwGwNA"AZAbAjArAzAAApCc9@AnҽKsAvm@A <A3Aν?A?AL?AZN<*A%:?2AQ׽:AYBA%:?JAQ׽RAY٘i)I9m@YG J<JJJJE&K YY_~?yXVAEŧ7b7,j9)B[[6?[ݜ_~?[X[[[[BZYY i) P elevatorAngleAction: 0.084026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035930.463280F (some fields omitted in printout)Afffffj@A`Yj@A`~? Ad̪AE&"AA`wNA"AZAbAjArAzAAAoS8.:@AjzsAw;o@AAyAh?A@0?A`+?A t<*A:?2Aֽ:A<BA:?JAֽRA<Y??yt[ٓH@?`[?`8?>˲@5?@??)? I٘i)I9;o@YG J<B=JtJJJE&KHx> Yg%_~?yXA? E{7j7F7j9)B[[pO?[_~?[2[[[[BZYY i) ~?A><*A9?2Aֽ:ABA9?JAֽRA٘i)I9o@YG J<C=JJJJE&K Y-&_~?yFzXA E77:j9)B[[t?[~_~?[h}[[[[BZYY i) j9)B[[}?[u_~?[s[[[[BZYY i)  elevatorAngleAction: 0.084026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035931.723283F (some fields omitted in printout)J"J*J2J:JBJnJvJAzk@Axaj@A`~? A_AU&"AAsrwNA"AZAbAjArAzAAAɝ~O:@AlsAp@Asu/<AxA?Aꈴ?A\?A&<*A9?2A׽:ABA9?JA׽RA٘i)I9p@YG J<JJJJE&K Y'_~?yhNYAE{7j7Bj9B)|BE[[?[_~?[i[[[[BZYY i) V Yd&_~?yW$ZA?Ej7Z71Ij9)sB[[nN?[_~?[V[[[[BZYY i)  'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743035932.983311F (some fields omitted in printout)A\k@Aqk@A`~? A3A&"AA }wNA"AZAbAjArAzAAAõ ) elevatorAngleAction: 0.084026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743035934.243276F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=Jl@Av2=l@A/!`~? AA&"AAwNA"AZAbAjArAzAAAff:@AvNsAtt@AGfA宽A?A`~>A@S{?A<*AK9?2Atֽ:AܿBAK9?JAtֽRAܿ٘i)I9tt@YG J|<JJJJE&K Y_~?y4[A"Eŧ7b7Wj9)^B[[X"?[_~?[.[[[[BZYY i)  Y_~?yW+W\A?%E)7[j9B)WBE[[sV?[_~?[$[[[[BZYY i) , elevatorAngleAction: 0.084026< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743035935.503277F (some fields omitted in printout)ARl@Ayl@A`~? AkA&"AA|wNA"AZAbAjArAzAAA@\:@Aȴ?sAuv@A$~k<AұAS?AʫAi?A<*At9?2Ay׽:A_BAt9?JAy׽RA_٘i)I9uv@YG JO<JJJJE&K Y!_~?yC]A*E)7ŧ7Gbj9B)NBE[[?[_~?[m[[[[BZYY i) G3U:@A_u:sA w@Av<A-߲AT?AzA^?A<*A߻9?2AU׽:AYBA߻9?JAU׽RAY٘i)I9 w@YhG J <JJJJE&K Y- _~?y]]A D-E{7{7ej9)IB[[&?[_~?[[[[[BZYY i=)  elevatorAngleAction: 0.093080< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743035936.763287F (some fields omitted in printout)Ǎm@A!7m@A`~? ASAy &"AAqwNA"AZAbAjArAzAAA6\[D:@AӚ1sAx@A%eAA+?A:AA?A<*A9?2A[tֽ:ABA9?JA[tֽRAY ?X?ymfٓH`ѿ Y?5?:ѿ`;`N?l@?) ? I٘i)I9x@Y?G J<JĿJJJE&K!x> Yz^~?y@^A?2E77j7mj9)=B[[NZ?[G_~?[[[[[ZZZZ¸>BZYY i¸>fߩ) ƹ7y@AqfUAxA"?A`RA`9/?A'AAn@AkGqn@A_~? A,A &"AAOwNA"AZAbAjArAzAAAVқ9@AW*vBsAg||@AF<A{q3A?A`|ſA?AQ<*A9?2Aֽ:ABA9?JAֽRAYѝ??yn3F<ٓH`׿@U@*?5?[׿҄k? ׈??)ѝ? I٘i)I9||@YG J<J*=JJJE&KZw> Y^~?y=֨`A??Eŧ7b7~j9)B[[N?[L_~?[fƨ[[[[ZZZZBZYY iZ) 5vJ ;AI~,m'AAG:o@A"T-o@AZ_~? AAK&"AA2wNA"AZAbAjArAzAAAG[9@Ǎa sA}@A4;A99;A@AU˿A+p?AiK4<*A9?2AMֽ:A1o<BA9?JAMֽRA1o<٘i)I9}@YG J]<C=JJJJůE&K Y^~?yaAHEb77j9)B[[@[$_~?[ǫ[[[[ZZZZBZYY iR) ~JJJʯE&Kbx> Y^~?yaA[@ME{7ݐj9)BE[[@[+_~?[[[[[BZYY i_k) >zWp@A_~? A2A/&"AApvNA"AZAbAjArAzAAA?T9@A+J rAB~@A5vJA ףp}p@A+dpp@A_~? APA'&"AAvNA"AZAbAjArAzAAAE9@A7?$rA9}@Ay<Aq=Ap{@A]ӿAp?A=k*Ay9?2Aս:A=BAy9?JAսRA=٘i)I9}@YfG JNJJJJկE&K Yh^~?y``AXE72j9 B)BE[[Ba @[^~?[+z[[[[BZYY i) wr YX^~?y`A @ZE77{7Ǣj9)!B[[ @[{^~?[hr[[[[BZYY iR=j) .@))p<>@p<>@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035943.103165 s, next control iter: 1743035943.463181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743035943.483165 s.J "J *J 2J :J 5?BJ 5?nJ >5vJ _wI~,މ'AA\p@A/-p@A_~? AةA&"AAvNA"AZAbAjArAzAAAWA8@A,rA|@A;A=A @A@ԿAh?AS*A9?2Azֽ:A}=BA9?JAzֽRA}=٘i)I9|@YG JYJJJJگE&K YjI^~?y&`A]Ej7Z7]j9 B)'BE[[H@[^~?[j[[[[BZYY i) o;ImD?iYQ ?@))?@?@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035943.523165 s, next control iter: 1743035943.883185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9442, header.stamp.nsec: 00 temperature: 13.383625* salinity: 33.391640, density: 1025.000000* values[0]: 0.709850F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035943.903165 s.&}I~,!'AAQq@Aʢq@A͐_~? A~ѩAvp&"AA}vNA"AZAbAjArAzAAAX۰8@ArAG|@AgɊAڭ=A@{ @A տA?A;*Ak9?2A6ֽ:AJ8 =BAk9?JA6ֽRAJ8 =٘i)I9G|@YG JB=JJJJݯE&K Y9^~?yRx_A`Eb77j9)+B[[ @[:^~?[fc[[[[BZYY i) ;I}\D?i K ZA@))ZA@ZA@tӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035943.923165 s, next control iter: 1743035944.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035944.323165 s.vI~,%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743035944.323284F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzTq@A,`pGq@A_~? A_ʩAe&"AAOvNA"AZAbAjArAzAAANṶ8@AHsJrA{@ABaA:=A @A ĎֿA`?A *A89?2A4׽:AN=BA89?JA4׽RAN=٘i)I9{@Y8G JqC=JJJJE&K YO*^~?ypf_AbE77j7j9B)1BE[[s@[ev^~?[,\[[[[BZYY i) |;IKD?iٿD B@))B@B@yjժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035944.343165 s, next control iter: 1743035944.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9443., header.stamp.nsec: 0.0 temperature: 13.383888.* salinity: 33.391651., density: 1025.000000.* values[0]: 0.708759.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035944.743165 s.WI~,/'AAףp=q@A ~1}q@Aw_~? ASéAΆ&"AAivNA"AZAbAjArAzAAA5vJAq@A7 q@Aj_~? A\A&"AAvvNA"AZAbAjArAzAAA Y,=8@Ab{rAz@A!AF=Aj@A;8ؿA@7?A]B*A79?2A ֽ:AB=BA79?JA ֽRAB=YX@^@yD=St"ٓH`@0`H&@]?4C n? $??)X@ I٘i)I9z@YG J3B=J=<JJJE&K;x> Y^~?yb^A^@hEj7Z7j9B)=BE[[z@[;M^~?[:N[[[[BZYY i) BV;I,D?iO@8 F@))F@F@'ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035945.183165 s, next control iter: 1743035945.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035945.583165 s.#I~,3Se'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743035945.583288F (some fields omitted in printout)A)\q@A"3q@A]_~? A{A&"AAbvNA"AZAbAjArAzAAACTL8@A=lrA z@Ae:AsL=A@A ٿA2?Ac*A#9?2A_ֽ:AXC=BA#9?JA_ֽRAXC=٘i)I9 z@Y0G JC=JJJJE&K Y]~?y[8^AjEb77Hj9)AB[[7@[7^~?[G[[[[BZYY i) 3;ID?i>W3 G@))G@G@(ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035945.603165 s, next control iter: 1743035945.983187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9444, header.stamp.nsec: 00 temperature: 13.384147* salinity: 33.391663, density: 1025.000000* values[0]: 0.707605F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035946.003165 s.w I~,H4'AJ"J*J2J:J%5?BJ%5?nJ=5vJAR+r@AG>xr@AN_~? AA&"AAMvNA"AZAbAjArAzAAAj'7@AڏdrAdwy@AC<AXH=A@AoٿAD?Am*A9?2Ak@ֽ:A=BA9?JAk@ֽRA=٘i)I9wy@YG J汼JJJJE&K Y+]~?y,U]AmEZ7SI7ݻj9B)HBE[[F@[$"^~?[@[[[[BZYY i) :ID?i',  I)) II@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035946.023165 s, next control iter: 1743035946.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035946.423165 s.uI~,'AA{Gar@Aۋh;Tr@Ak@_~? AAk&"AA7vNA"AZAbAjArAzAAA.$7@A׷MrAx@AHL<A=A+5@AgڿAY?A\*Aw9?2ACֽ:A<BAw9?JACֽRA<٘i)I9x@Y|G JJJJJE&K YN]~?yZNj]ApE77rj9B)MBE[[ND@[ ^~?[:[[[[BZYY i) :I D?i 0% OG))OGfJ@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035946.443165 s, next control iter: 1743035946.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9445, header.stamp.nsec: 00 temperature: 13.384450* salinity: 33.391674, density: 1025.000000* values[0]: 0.706373F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035946.843165 s.ݬI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743035946.843278F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= r@A r@Aw1_~? A^A"&"AA!vNA"AZAbAjArAzAAAJ]Ώ7@Am CrAXx@AA<Ak=A0@AeۿA?AL&*A9?2Axֽ:A=<BA9?JAxֽRA=<٘i)I9Xx@Y&G JJJJJE&K Yq]~?yG]ArEj7j9B)TBE[[@[]~?[4[[[[BZYY i) I۹IC?isg @E))@Eu'L@y0eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035946.863165 s, next control iter: 1743035947.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035947.263165 s.I~,4Њ'AAr@Ar@A"_~? AښA֢&"AA vNA"AZAbAjArAzAAAfiQ'a7@AlIIIrAw@A^:Aˆ=A@A`V-ܿA`?A╼*A9?2AAֽ:AF<BA9?JAAֽRAF~e?Sa:?@_ְ@KT?A?)@ I٘i)I9w@YG J.JJJJE&KEx> Yo]~?yPA\A@uE)7)7j9B)YBE[[K@[]~?[.[[[[BZYY i) INC?iSl? wqD))wqD>M@๪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035947.283165 s, next control iter: 1743035947.663182 s, wait time: 0.380017 so]~?)PA.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9446., header.stamp.nsec: 0.0 temperature: 13.384695.* salinity: 33.391693., density: 1025.000000.* values[0]: 0.705269.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035947.683165 s.lI~,R'AJ"J*J2J:JBJnJvJA(\s@Aur@AD_~? AoA5!&"AAuNA"AZAbAjArAzAAA[6317@A- t^rA[w@Aw $A X=Al;@AܿA ?AT*A9?2A:׽:AN<BA9?JA:׽RAN<٘i)I9[w@YG J&JJJJE&K Yo]~?y;N\AxE7772j9)]B[[@[5]~?[([[[[BZYY i) 0"IC?ib 1B))1B4O@uYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035947.683165 s, next control iter: 1743035948.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035948.103165 s.I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066211< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743035948.103292F (some fields omitted in printout)AQ8s@ASF+s@A_~? AA&"AAuNA"AZAbAjArAzAAA6@AܨrA%v@A`)A뿂=A+@A@ݿA2?A*Ak9?2AN׽:AN$<BAk9?JAN׽RAN$<٘i)I9v@YGG JBJJJJE&K Yl]~?y4[A{Eŧ7b7j9B)bBE[[O @[]~?[#[[[[BZYY i) VIC?i#W eA))eA P@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035948.123165 s, next control iter: 1743035948.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035948.523165 s.I~,{!'AJ"J*J2J:JBJnJvJAHzns@As as@A_^~? A臩A&"AAuNA"AZAbAjArAzAAAIhw6@A)orAzv@A^AZځ=A@AAp޿Ab?AR*A9?2A ׽:A`<BA9?JA ׽RA`<٘i)I9zv@YG JJJJJE&K Ykq]~?y.[A}E{7{7]j9B)gBE[[J!@[]~?[[[[[BZYY i䬙) qIC?iI R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035948.543165 s, next control iter: 1743035948.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9447, header.stamp.nsec: 00 temperature: 13.384939* salinity: 33.391689, density: 1025.000000* values[0]: 0.704266F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035948.943165 s.`dI~,d]<'AAq= ףs@Ad˖s@AQ^~? ÁAZ&"AAXuNA"AZAbAjArAzAAA{6@Ah$&rA@ v@A OAc=AU@A'߿A`˔?A*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9 v@YG J\JJJJE&K Yj]]~?yo(>[AE7777j9B)mBE[[I#@[}]~?[[[[[BZYY i) IC?i: ^>))^>.S@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035948.963165 s, next control iter: 1743035949.343184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743035949.363165 s.I~,y>W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743035949.363267F (some fields omitted in printout)J"J*J2J:JBJnJvJAs@Aus@A^~? A{A&"AA:uNA"AZAbAjArAzAAA?d6@AVrAМu@AP;A=A^@Av߿AC?Ae*AK9?2A?sֽ:A j<BAK9?JA?sֽRA j Y{G]~?y"ZAf@EQ9V9j9B)rB޹E[[$@[f]~?[[[[[BZYY i) ɻI/C?i1] <))<BU@hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035949.403165 s, next control iter: 1743035949.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9448&, header.stamp.nsec: 0&0 temperature: 13.385159&* salinity: 33.391708&, density: 1025.000000&* values[0]: 0.703356&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035949.783165 s.XI~,r'AA(\t@A/Qt@A ^~? AuAz&"AAsuNA"AZAbAjArAzAAA P.6@AArA?,u@Az<A]q=Ai@A@>EAg?A*A9?2AMֽ:A=BA9?JAMֽRA=٘i)I9,u@Y8G JJJJJE&K Y1]~?ySZAE77j9)uB[[RD&@[M]~?[[[[[BZYY i) I@C?i@&Ի [;))[;V@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035949.803165 s, next control iter: 1743035950.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035950.203165 s.I~,'AJ"J*J2J:J3?BJ3?nJ<5vJAQEt@AZGU8t@AӪ^~? A%pA&"AA=XuNA"AZAbAjArAzAAA (U5@A;Q8rAt@Apt<Aσ=A@A@KAҚ?A_*AK9?2Anֽ:A=BAK9?JAnֽRA=٘i)I9t@YG J↼JJJJE&K Y]~?y9ZAE777j9 B)zB۹E[[)'@[4]~?[ [[[[BZYY i) IC?ik`Ļ 9))9CX@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035950.223165 s, next control iter: 1743035950.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035950.623165 s.dI~,⧋'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743035950.623346F (some fields omitted in printout)AGzt@A Y\~?y.YA#@Ej7j7sj9)B[[e ,@[6\~?[[[[[BZYY i) 2IC?i߾ F c5))c5\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035951.483165 s, next control iter: 1743035951.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9450, header.stamp.nsec: 00 temperature: 13.385594* salinity: 33.391724, density: 1025.000000* values[0]: 0.701522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035951.883165 s.yI~,8'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075037< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035951.883289F (some fields omitted in printout)J"J*J2J:JBJnJvJA(u@ADKu@AJ^^~? A?ZAc&"AAqtNA"AZAbAjArAzAAA5@A׬ژrAs@ADnA*=AJ%@AFA@']?A*AJ9?2AuF׽:A=BAJ9?JAuF׽RA=٘i)I9s@YG JC=JJJJE&K Y\~?yXAE77{7j9'B)BѹE[[*-@[3\~?[[[[[BZYY i) TzBIC?iǾ 3))36^@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035951.903165 s, next control iter: 1743035952.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035952.303165 s.VI~,wg'AAQu@AGDu@AGJ^~? AUA&"AAdtNA"AZAbAjArAzAAAT8C4@A #ⳕrAr@AAZ=A&@A7Ad?A*A9?2A|ֽ:As#=BA9?JA|ֽRAs#=٘i)I9r@YG J(JJJJE&K Yߨ\~?y,tXAE{7j9(B)BιE[[/@[\~?[[[[[BZYY i) QIC?iC~\ n2))n2_@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035952.323165 s, next control iter: 1743035952.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9451., header.stamp.nsec: 0.0 temperature: 13.385819.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.700586.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035952.723165 s. I~,H.'AJ"J*J2J:JBJnJvJAzu@Azu@A5^~? A PAAg&"AAըtNA"AZAbAjArAzAAAu*4@AࠒrA+r@A:N;A01=A`'@A A?A/*AJ9?2Aֽ:A: =BAJ9?JAֽRA: =٘i)I9r@YUG J̑JJJJE&K Y>\~?yXXAE773j9)B[[w0@[\~?[[[[[BZYY iE) IvaI1~C?i[4 10))10)a@~ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035952.743165 s, next control iter: 1743035953.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035953.143165 s.T/I~,)I'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743035953.143318F (some fields omitted in printout)A ףpu@A>eu@AD!^~? A$KA|&"AAɉtNA"AZAbAjArAzAAA0EvV4@A#XޡrAq@AbM<AZ=A)@AA $?Az*Ar9?2A86ֽ:A=BAr9?JA86ֽRA=٘i)I9q@YG JJJJJE&K Yy\~?yWAEŧ7b7j9*B)B˹E[[1@[\~?[u[[[[BZYY i) pI\{C?iR /))/1b@yͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035953.163165 s, next control iter: 1743035953.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743035953.563165 s.I~,V d'AJ"J*J2J:J<3?BJ<3?nJ;5vJA3333u@Aӝ'u@AJ ^~? A\FA2'&"AAAjtNA"AZAbAjArAzAAA44@AJ8rA q@A\<A^=AZ*@A`A_?A&*Ao9?2A3ֽ:A=BAo9?JA3ֽRA=Yrh@n*@yX=n<ٓHSݿ d?b@Ũ? 沿f??)rh@ I٘i)I9 q@YG J̠J"t<JJJE&Kx> Y`\~?yvUWAn*@E777^j9+B)BȹE[[R3@[%e\~?[k[[[[BZYY i)  IyC?i+'պ  .)) .(d@&ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035953.583165 s, next control iter: 1743035953.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9452, header.stamp.nsec: 00 temperature: 13.386065* salinity: 33.391727, density: 1025.000000* values[0]: 0.699608F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035953.983165 s.I~,~'AA\(v@A}v@A]~? AAAR&"AAAJtNA"AZAbAjArAzAAAƓb3@AX^}mrA=p@Au8<AV=AЮ+@A@YA ^?A*A9?2A}ֽ:AF=BA9?JA}ֽRAF=٘i)I9p@Y`G JJJJJE&K YG\~?yhVAE77j9/B)BĹE[[ݿ4@[yJ\~?[[[[[BZYY i) YIwC?i罉jP ,)),6e@y'`ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035954.003165 s, next control iter: 1743035954.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035954.403165 s.&&I~,͙'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743035954.403288F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^v@A4Qv@Am]~? A5=A&"AA)tNA"AZAbAjArAzAAAQ?M3@A.ɇ!rAo@A:AVZ=A -@A@ɝAF?A`*A9?2Arֽ:A=BA9?JArֽRA=٘i)I9o@Y G JƢJJJJ E&K  k9Yo.\~? k9yZVAEk90B)BE[[*6@[/\~?[[[[[BZYY i) 2IvC?i-d  +)) +f@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035954.423165 s, next control iter: 1743035954.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9453", header.stamp.nsec: 0"0 temperature: 13.386332"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.698520"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035954.823165 s.,I~,6'AAGzv@A6Kov@A]~? A8A3&"AAtNA"AZAbAjArAzAAAÏR3@AnvrApo@A^,AU=Ae.@A@A`?A *Aq9?2AB׽:Aut=BAq9?JAB׽RAut=٘i)I9po@YG JjJJJJ#E&K Y^\~?yL$VAEk9)B[[+7@[*\~?[[[[[BZYY i) dŖIvC?iy<~ļ8 V)))V)_qh@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035954.843165 s, next control iter: 1743035955.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035955.243165 s.3I~,uό'AJ"J*J2J:JBJnJvJAףp=v@Av1v@Ac]~? A4A&"AAsNA"AZAbAjArAzAAA]RBm3@A͵rAVn@AAk=AW/@A Aw#?A/+*A9?2AQ׽:A=BA9?JAQ׽RA=٘i)I9n@YfG JJJJJ%E&K YN[~?y>UAE77 k91B)BE[[8@[[~?[M[[[[BZYY i) pXIxC?i=.T: =())=(i@nߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035955.283165 s, next control iter: 1743035955.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035955.663165 s.:I~,q'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743035955.663300F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9454, header.stamp.nsec: 00 temperature: 13.386577* salinity: 33.391747, density: 1025.000000* values[0]: 0.697449F (some fields omitted in printout)Aw@Aw.v@A]~? A0A&"AAsNA"AZAbAjArAzAAA{i2@A crAEXn@AزTA&=A1@A@]A O?A}*A9?2A׽:Atx=BA9?JA׽RAtx=YH"@k0@yޥ=eUٓHX{׿@{ x? ? *`t?)H"@ I٘i)I9Xn@YG JJJ<JJJ(E&K*x> Y[~?yݧOUA0@E{7j7Hk93B)BE[[^:@[[~?[=[[[[BZYY i) uIyC?if>p: &))&Qk@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035955.683165 s, next control iter: 1743035956.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035956.083165 s.DAI~,S'AJ"J*J2J:J2?BJ2?nJ8;5vJA)\5w@A-`(w@AC]~? A,AW' &"AAsNA"AZAbAjArAzAAAUG2@A;BI|rAm@AXOA%=AC2@AA c|?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YG JƱJJJJ+E&K Y[~?y٧TAE77k92B)įBE[[#;@[[~?[`ާ[[[[BZYY i) fI;|C?ii7>=: +_%))+_%l@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035956.103165 s, next control iter: 1743035956.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035956.503165 s.GI~,D4 'AARkw@AC|^w@ARq]~? A(As &"AAsNA"AZAbAjArAzAAA>bA2@A zrA$m@A&<Aք=A3@AA?Ac*AO9?2Au)ֽ:A=BAO9?JAu)ֽRA=٘i)I9$m@YTG JB=JJJJ-E&K Y[~?y֧pTAEb7sk94B)ʯBE[[3'=@[ة[~?[ܧ[[[[BZYY i) |IC?it>; v#))v#?.n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035956.543165 s, next control iter: 1743035956.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9455, header.stamp.nsec: 00 temperature: 13.386879* salinity: 33.391750, density: 1025.000000* values[0]: 0.696292F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035956.923165 s.<NI~,;'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035956.923288F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gw@A]=w@A%Z]~? A!%A &"AA^sNA"AZAbAjArAzAAA&L01@Ar͎nxrA+l@A3}<Ay=A4@A@A`?A'ɼ*A29?2AZս:Aa=BA29?JAZսRAa=٘i)I9l@YG J_żC=JJJJ0E&K YV[~?yKӧTAE7 k9)ЯB[[>@[[~?[:ۧ[[[[BZYY i) mܻIC?i>)H; "))"0o@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035956.963165 s, next control iter: 1743035957.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743035957.343165 s.4y; W!))W!^q@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035957.363165 s, next control iter: 1743035957.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9456*, header.stamp.nsec: 0*0 temperature: 13.387168** salinity: 33.391750*, density: 1025.000000** values[0]: 0.695036*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035957.763165 s.7[I~,p'AJ"J*J2J:JBJnJvJA x@Aw@A+]~? ABAZE!&"AA,sNA"AZAbAjArAzAAAjP*l1@AR8' Y][~?yͧSAu7@Eŧ7b74 k97B)ޯBE[[zDA@[Y[~?[ا[[[[BZYY i) }ʼIڎC?i>k; u))u@nr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035957.783165 s, next control iter: 1743035958.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035958.183165 s.bI~,c'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035958.183280F (some fields omitted in printout)A(\Bx@AZ5x@AA]~? A A!&"AA4rNA"AZAbAjArAzAAAzj!$#1@A=GrrA}j@AWAHð=A8@A A`/?A@ʼ*Aϑ9?2AX׽:Aj=BAϑ9?JAX׽RAj=٘i)I9}j@YG J˼C=JJJJ8E&K YB[~?yH˧RAEZ7Z7#k98B)BE[[wB@[>[~?[ק[[[[BZYY i) ѼI|C?i>K; H))Hs@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035958.203165 s, next control iter: 1743035958.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035958.603165 s.:4iI~,'AJ"J*J2J:J1?BJ1?nJ5:5vJAQxx@AfFkx@A2\~? AA!&"AArNA"AZAbAjArAzAAA:0@AzH]-jprAi@AkA±=A%:@AAI?A5ɼ*A9?2A:<׽:A=BA9?JA:<׽RA=٘i)I9i@YPG JɼJJJJ;E&K Y'[~?yȧ0RAE7777^'k99B)BE[[C@[$[~?[#ק[[[[BZYY i) VؼIC?i; ?7; ^))^W>u@NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035958.643165 s, next control iter: 1743035959.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9457 , header.stamp.nsec: 0 0 temperature: 13.387498 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.693681 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035959.023165 s.ZpI~,|'AAHzx@AFx@A\~? AA"!&"AAPrNA"AZAbAjArAzAAAݲEa0@A%AnrA)i@A0}A2ϲ=AGt;@APA d?A̼*A9?2A׽:A=BA9?JA׽RA=٘i)I9)i@Y G JʼJJJJ>E&K Y [~?yƧQAE7{7*k9:B)BE[[VE@[ [~?[֧[[[[BZYY iо) 7IfC?i?'; f{))f{Ov@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035959.043165 s, next control iter: 1743035959.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035959.443165 s.vI~,^܍'AJ"J*J2J:Jj1?BJj1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200832 time: 1743035959.443371F (some fields omitted in printout)Aq= x@A/x@A\~? AXAf4"&"AAnrNA"AZAbAjArAzAAAZܗJG0@A]lrA|h@AJ Aij=A-<@A"A`?A8Ѽ*A9?2Aֽ:Ag=BA9?JAֽRAg=٘i)I9|h@Y~ G JUμJJJJ@E&K YXZ~?yħDQAïE{7j7.k9)B[[ F@[.Z~?[-֧[[[[BZYY i) vIޮC?i0?i; ))))x@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035959.463165 s, next control iter: 1743035959.843267 s, wait time: 0.380102 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9458, header.stamp.nsec: 00 temperature: 13.387818* salinity: 33.391750, density: 1025.000000* values[0]: 0.692388F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035959.863165 s.+}I~,>'AAy@A(\ y@A\~? AAh"&"AAG`rNA"AZAbAjArAzAAA@ A]/@ADBbkrAg@AqI;Aa=A=@AGA6?AYּ*AJ9?2A>ֽ:A|=BAJ9?JA>ֽRA|=Y/@$=@y)=;J;ٓHeƿ ?ք ԰?>3.i?@?)/@ I٘i)I9g@Y G JzӼJ;JJJCE&Kw> YZ~?y§PA=@ƯE7b72k9;B)BE[[`H@[Z~?[է[[[[ZZ¸BZYY i¸+=) lۼIC?i elevatorAngleAction: 0.082857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743035960.703298F (some fields omitted in printout)AQy@AeF xy@A8\~? A A="&"AA@rNA"AZAbAjArAzAAA*) .@AẵhrAHf@A0<A=A{@@A@ʊA`L?A*AR9?2A>ս:Am =BAR9?JA>սRAm =I٘i)I9Hf@Y' G JqB=JJJJHE&K YZ~?yOA˯Ej7J9k9) BE[[J@[ПZ~?[֧[[[[ZZBZYY i) @VüIC?iZ?" < )) 1|@y=sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035960.723165 s, next control iter: 1743035961.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743035961.123165 s.B)BE[[PM@[ lZ~?[֧[[[[ZZBZYY i) DI0C?i?#< O0))O0f~@VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035961.563165 s, next control iter: 1743035961.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9460, header.stamp.nsec: 00 temperature: 13.388523* salinity: 33.391743, density: 1025.000000* values[0]: 0.689412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035961.963165 s.xI~,}'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082857< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743035961.963292F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff&z@A\U]z@A4\~? A!A}@#&"AAqNA"AZAbAjArAzAAA'o-@AdrAc@A}CA 3=A|}D@A.Ap?A<̼*A9?2Aֽ:A}ط;BA9?JAֽRA}ط;Yn6@tD@yē3=CٓH *EҦ>c?@@p)y?)n6@ I٘i)I9c@Y G JB=JؽJJJPE&Kw> Y8JZ~?y滧NAtD@ӯEb77 Dk9?B) BE[[TN@[QZ~?[fק[[[[ZZBZYY i\6=) PsIC?i|?$,< ))Q'@$|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035961.983165 s, next control iter: 1743035962.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035962.383165 s.إI~,''AA(\z@A%Oz@AA\~? A|A[b#&"AA|qNA"AZAbAjArAzAAA,g,@AcrA1c@AVA"<AE@A@WA@+?Ab*A֭9?2Afkֽ:A$BA֭9?JAfkֽRA$٘i)I91c@YF G JC=JJJJSE&K Y.Z~?yClNA֯E7777Gk9)&BE[[_O@[ 8Z~?[0ا[[[[ZZBZYY i) ϣID?i?j5< r))raր@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035962.403165 s, next control iter: 1743035962.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9461", header.stamp.nsec: 0"0 temperature: 13.388885"* salinity: 33.391750", density: 1025.000000"* values[0]: 0.687923"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035962.803165 s.vAI~,wg'AJ"J*J2J:J0?BJ0?nJ85vJAz@Aɬz@A\~? AA#&"AA VqNA"AZAbAjArAzAAA+@AxbrAдb@A-`AF0-<AG@A`AJ?AME{*A9?2A9cֽ:A$BA9?JA9cֽRA$٘i)I9b@Y G JؔJJJJVE&K YZ~?y0NAدE{74Kk9)*B[[DQ@[iZ~?["٧[[[[ZZBZYY i) ӊID?iו??< ))@ՂYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035962.823165 s, next control iter: 1743035963.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035963.223165 s.gI~,HΎ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073346< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743035963.223284F (some fields omitted in printout)Azz@Aj~z@A[~? AA#&"AAD/qNA"AZAbAjArAzAAAq(w?1+@A.brAWb@AWA’A`H@A,A ͼ?A3*AJ9?2Aֽ:A'nBAJ9?JAֽRA'n٘i)I9Wb@Y G J\JJJJXE&K YY~?yMAۯEŧ7b7Nk9@B)-BE[[R@[ Z~?[<ڧ[[[[ZZBZYY i*=) I)D?iО?HK< ! ))! 2@y=Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035963.243165 s, next control iter: 1743035963.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035963.643165 s.wйI~, *'AJ"J*J2J:JBJnJvJA ףpz@Adz@A[[~? AA#&"AAYqNA"AZAbAjArAzAAAOPN*@A++yarAb@A <A&{AnHA`s?A?Aݻ*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G JaJJJJ[E&K Y`Y~?y\MAޯEb77_Rk9AB)0BE[[S@[Y~?[|ۧ[[[[ZZBZYY i) 5djI4;D?i?9W< 7` ))7` ߂@yl =)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035963.663165 s, next control iter: 1743035964.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9462, header.stamp.nsec: 00 temperature: 13.389119* salinity: 33.391766, density: 1025.000000* values[0]: 0.687033F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035964.063165 s.I~,[ 'AA33333{@AX+&{@A[~? AAC#&"AAOpNA"AZAbAjArAzAAAnatP7)@A`_]`rAa@A,<A&!AGANA0?A+6*A9?2Aֽ:ABA9?JAֽRAY<@%GyAo<ٓHm? "? `8y?@ޡ?p??)<@ I٘i)I9a@Y G JB=J'6JJJ^E&KGx> YY~?yMA%GE77Uk9)2BE[[%U@[Y~?[ܧ[[[[BZYY ip(k=) .XIND?i?`< A ))A @yB=(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035964.103165 s, next control iter: 1743035964.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035964.483165 s.v_I~,'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: 0.4199552 time: 1743035964.483279F (some fields omitted in printout)J"J*J2J:JBJnJvJA\h{@A/1[{@A[~? AAG#&"AA,pNA"AZAbAjArAzAAA5n\)@A1[`rAa@Ah<A.AEA[A@f?A/:*A9?2A[ֽ:A"BA9?JA[ֽRA"㼙٘i)I9a@Y G JnC=JJJJaE&K Y͠Y~?y㹧 NAE7Yk9BB)E[[pV@[Y~?[zާ[[[[BZYY i=) S\GIaD?i:?@i< m ))m $9@y=si*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035964.503165 s, next control iter: 1743035964.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9463, header.stamp.nsec: 00 temperature: 13.389226* salinity: 33.391773, density: 1025.000000* values[0]: 0.686639F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035964.903165 s.I~,9'AAQ{@Aa{@À[~? AA #&"AApNA"AZAbAjArAzAAA nX(@A8;_rA b@AJ;AUAVDA 2eAH?AJ;*A9?2AUeֽ:A:pBA9?JAUeֽRA:p٘i)I9 b@Y G JՂ;JJJJcE&K YY~?y'6NAEŧ7b7]k9)E[[W@[Y~?[2[[[[BZYY i) ^5IvD?iO?{s< U))U@y7Id=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035964.923165 s, next control iter: 1743035965.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035965.323165 s.wI~,)T'AJ"J*J2J:JBJnJvJAGz{@AHN&n{@Af[~? AA#&"AAkpNA"AZAbAjArAzAAA"w"(@A;_rAiGb@A߻ADtAJCAlAɣ?A3<*Ax9?2Aֽ:AoBAx9?JAֽRAo٘i)I9Gb@Y G J<JJJJfE&K Y9hY~?ykaNAE777`k9CB)0B}E[[X@[Y~?[ [[[[BZYY i) R$ID?i elevatorAngleAction: 0.067374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035965.743295F (some fields omitted in printout)Aףp= |@AX0{@AL[~? A&A_#&"AASDpNA"AZAbAjArAzAAAvE'@AC!l_rAb@AszANAeBArA`䂘?A˸k<*A9?2Aս:A }BA9?JAսRA }٘i)I9b@Y G J=N<JJJJiE&K YKY~?yNAE77Idk9).BzE[[AZ@[vpY~?[ [[[[BZYY i) wID?i?>< )):@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035965.763165 s, next control iter: 1743035966.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035966.163165 s.y}I~,q'AJ"J*J2J:JBJnJvJA@|@AJ)2|@A2[~? AA$&"AApNA"AZAbAjArAzAAAyA&@A[MO_rAU c@A,A<A"@AtAڛ?Aۉ<*At9?2Aս:A2BAt9?JAսRA2YqC@@yU8p݁ٓH ڞ?YC? zN?`Y1@?)qC@ I٘i)I9 c@Y- G Jm<JMJJJkE&K?w> Y/Y~?yջNA@E77gk9)+BwE[[[@[DXY~?[2[[[[BZYY ii=)  rID?iJ?"ɉ< U))U@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035966.183165 s, next control iter: 1743035966.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743035966.583165 s.I~,S'AA)\u|@Ah|@A[~? AA$&"AAoNA"AZAbAjArAzAAA?NI&@AK_rAc@AA^Ac?A\uAhKxAPm<*A9?2ASֽ:AOcBA9?JASֽRAOc٘i)I9c@Yw G Jt<JJJJnE&K YY~?yLOAE)7b7tkk9)'B[[\@[`@Y~?[}[[[[BZYY i) j)I D?im?GZ< ))@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035966.603165 s, next control iter: 1743035966.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9465, header.stamp.nsec: 00 temperature: 13.389089* salinity: 33.391762, density: 1025.000000* values[0]: 0.687486F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035967.003165 s.J "J *J 2J :J /?BJ /?nJ 85w I~vJ,H4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743035967.003271F (some fields omitted in printout)AR|@Aty|@AZ~? AA$&"AA'oNA"AZAbAjArAzAAAbS%@AKb_rAd@Akz;AA>AsA{AlB<*Al9?2Aֽ:A[ BAl9?JAֽRA[ ٘i)I9d@Y G Jћ<JJJJqE&K YX~?y$OAE77 ok9DB)#BtE[[ ^@[(Y~?[[[[[BZYY i) mɻID?ie?t< ))(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035967.023165 s, next control iter: 1743035967.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035967.423165 s.uI~,ۏ'AA{G|@AF};|@AZ~? AfA$&"AAæoNA"AZAbAjArAzAAA78<"%@A^$_rAǎd@AP`<AAɭ<A VoA@>A}<*A9?2Ar׽:A{BA9?JAr׽RA{٘i)I9d@Y G Jc<JJJJsE&K YX~?yK PAE77{7rk9)BqE[[M_@[Y~?[t[[[[BZYY i) vIE?i0?< ))Ȉ@yt;j=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035967.443165 s, next control iter: 1743035967.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9466, header.stamp.nsec: 00 temperature: 13.388912* salinity: 33.391747, density: 1025.000000* values[0]: 0.688442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035967.843165 s.I~,'AJ"J*J2J:J=0?BJ=0?nJ85vJAp= }@A& }@AZ~? AA#&"AAgoNA"AZAbAjArAzAAA(ͺp$@Av_rAe@A<AhޚA"];AhA3A<*Aԭ9?2A"׽:ABAԭ9?JA"׽RA٘i)I9e@Yp G Jԧ<B=JJJJvE&K YX~?yrlPAE775vk9)BnE[[`@[X~?[[[[[BZYY i) IIE?i?;< ))f@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035967.863165 s, next control iter: 1743035968.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035968.263165 s.I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057115< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743035968.263272F (some fields omitted in printout)AL}@ADX?}@A Z~? AA*#&"AAXoNA"AZAbAjArAzAAA"#@AC,A`rA7e@A-*<A(A;:AK_A尿A~<*A9?2Aֽ:ABA9?JAֽRAYI@ $:y]&_+<ٓH  ? ?@u}Ϳ@s X?: ? \??)I@ I٘i)I9e@Y G J<C=J+=JJJyE&K>x> YtX~?y{§PA$:EZ7Z7yk9)BkE[[a@[X~?[[[[[BZYY i) 6[I9E?i?b'< #))#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035968.283165 s, next control iter: 1743035968.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9467., header.stamp.nsec: 0.0 temperature: 13.388705.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.689497.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035968.683165 s.l I~,g+'AJ"J*J2J:JBJnJvJA(\}@Adu}@A(Z~? AQA6#&"AA0oNA"AZAbAjArAzAAA686#@A:D`rA?f@AyA)2A8ASA.AZ<*A19?2AYhֽ:ABA19?JAYhֽRA٘i)I9?f@Y" G J<JJJJ{E&K YX~?yħ:QAE{7{7_}k9)BhE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #54q/6^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i v=) T!)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035968.683165 s, next control iter: 1743035969.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743035969.103165 s.I~,F'AAQ}@A F}@AU}Z~? AHA#&"AA oNA"AZAbAjArAzAAAS w"@AJ VarAf@AIJAA@2A7A@EAAfAvE<*A9?2A@%ֽ:AFBA9?JA@%ֽRAF٘i)I9f@Y} G J<JJJJ~E&K YmX~?yƧQAEŧ7b7k9)BeE[[SDd@[X~?[[[[[BZYY i) uźIVE?i@< .)) .%D@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035969.123165 s, next control iter: 1743035969.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035969.523165 s.I~,{a'AJ"J*J2J:J0?BJ0?nJ995vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743035969.523297F (some fields omitted in printout)AHz}@A쉮 }@AcZ~? AsA#&"AAnNA"AZAbAjArAzAAA|!@Aʀ brAgg@A!aAA"6Am;AνA*<*A:?2A8:AݫBA:?JA8RAݫ٘i)I9gg@Y G Jٮ<B=JJJJE&K Y RX~?yȧRAE77k9) B[[4~e@[ĠX~?['[[[[BZYY i) ]<ItE?i @< .))@ѿ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035969.543165 s, next control iter: 1743035969.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9468, header.stamp.nsec: 00 temperature: 13.388496* salinity: 33.391712, density: 1025.000000* values[0]: 0.690601F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035969.943165 s.YdI~,F]|'AAq= #~@Ah[~@AIZ~? AA#&"AAtnNA"AZAbAjArAzAAAPTa!@AX}brAg@A=AA5A3A@pAX<*A:?2Adý:ABA:?JAdýRA٘i)I9g@Y, G J<C=JJJJE&K Y6X~?yʧnRAE7k9)BbE[[nf@[/X~?[o[[[[BZYY i) &9IE?i@R< L))L|@y4i=*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035969.983165 s, next control iter: 1743035970.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035970.363165 s.J "J *J 2J %I~:J0?BJ0?,>'AnJ95vJAY~@AVGL~@A$0Z~? A4A#&"AAsnNA"AZAbAjArAzAAA> @A(crA:yh@AaAA"4A&AUA!<*A~:?2A!Ž:ABA~:?JA!ŽRAYMO@4yٓHW ?@1?@ӿh*Г?`?rU@?)MO@ I٘i)I9yh@Y| G J<J<JJJE&KK> YX~?y\ͧRA4 E{7{7k9)B_E[[g@[uX~?[[[[[BZYY i) ^:I+E?i&@Z< k))k←@*Y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035970.383165 s, next control iter: 1743035970.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9469&, header.stamp.nsec: 0&0 temperature: 13.388282&* salinity: 33.391701&, density: 1025.000000&* values[0]: 0.691622&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035970.783165 s.Y+I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743035970.783291F (some fields omitted in printout)A(\~@A}.P~@AZ~? AA-l#&"AAmnNA"AZAbAjArAzAAAk4* @AUdrAMh@A6O<ARA͙3A;A¿At<*A:?2AvȽ:A8BA:?JAvȽRA8٘i)I9h@Y G J<JJJJE&K YX~?yЧ$SA E7777Jk9)B]E[['i@[b`X~?[k[[[[BZYY i) ¥;IE?i@$< /h))/hϵ@ӵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035970.823165 s, next control iter: 1743035971.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035971.203165 s.3I~,͐'AJ"J*J2J:JBJnJvJAQ~@AZGU~@AY~? AqAL#&"AAFnNA"AZAbAjArAzAAASu@A>uerApji@AJz<A烽AJV2A A`ĿA]f<*Aܰ:?2A5˽:ABAܰ:?JA5˽RA켙٘i)I9ji@YG Jp<JJJJE&K YW~?yҧSAE77ߒk9)BZE[[]j@[KX~?[ [[[[BZYY i) ,P;IE?i @ r< S))S꿩P@γ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035971.243165 s, next control iter: 1743035971.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035971.623165 s.X9I~,a'AAG~@Ak^~@AY~? AFA*#&"AA nNA"AZAbAjArAzAAA@AJfrAi@A elevatorAngleAction: 0.066143< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743035972.043306F (some fields omitted in printout)A= ף0@A7^#@A5Y~? A@ A#&"AAmNA"AZAbAjArAzAAA|Tg,·@AchrAMj@Aa;y;AwłAT/AAǿA:<*AF:?2AϽ:AT_BAF:?JAϽRAT_򼙘٘i)I9Mj@YG Jdž<JJJJE&K YVW~?yUا6TAE{7j7 k9)B[[l@["X~?[[[[[BZYY iA=) ¦;I:F?i$@o< W3))W3濩@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035972.083165 s, next control iter: 1743035972.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035972.463165 s.ZGI~,'AAfffff@A[Y@AY~? Aa A "&"AAKmNA"AZAbAjArAzAAA0P@A UirAJj@AAA.A@~A ɿA֊<*A:?2Arѽ:A#BA:?JArѽRA#٘i)I9j@YG J <JJJJE&K Y}W~?yۧTAEZ7Z7k9CB)BTE[[;m@[PX~?[[[[[BZYY i) ;I)_F?i)@ ^< ))㿩@α*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035972.483165 s, next control iter: 1743035972.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9471, header.stamp.nsec: 00 temperature: 13.387933* salinity: 33.391678, density: 1025.000000* values[0]: 0.693430F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035972.883165 s.yMI~,<8'AJ"J*J2J:JBJnJvJA(@Aq@AY~? AA5"&"AA0mNA"AZAbAjArAzAAA&V@AzWvjrAf4k@AJpAA{3-AϋA s˿A><*Ap:?2Aҽ:ABAp:?JAҽRA٘i)I94k@Y&G J8<JJJJE&K YzW~?yݧTAE7S75k9)BQE[[~o@[W~?[[[[[BZYY i)  ;IF?i/@< ))Ῡ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035972.923165 s, next control iter: 1743035973.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743035973.303165 s.STI~,jgS'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743035973.303268F (some fields omitted in printout)A@Ab@AY~? AA["&"AANmNA"AZAbAjArAzAAA(@A5lrAk@Ae~iAwA<+A&gA`%>ͿAZ<*An:?2A0Խ:ABAn:?JA0ԽRA٘i)I9k@YlG J<JJJJE&K Y_W~?yGUAE77{7ʤk9)BNE[[Cp@[BW~?[[[[[BZYY i) ! elevatorAngleAction: 0.075809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743035974.563289F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333s@A)9'f@AT5Y~? ATA!&"AA.mNA"AZAbAjArAzAAA<L@A' YW~?yjZVA'#Eb77k9)ۯB[[:s@[W~?[<*[[[[BZYY i) 0 elevatorAngleAction: 0.075809< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035975.823287F (some fields omitted in printout)AGz@AWo@AnX~? A"A2!&"AAlNA"AZAbAjArAzAAA3TUB@A҄wrASn@AcAǦA\#A@SAӿA<*A7N:?2Aֽ:A BA7N:?JAֽRA ٘i)I9Sn@Y G J<JJJJE&K YV~?ypWA+E7Jk9AB)ϯB@E[[4w@[}W~?[7[[[[BZYY i) W<_W>yrAn@AFAJAt"AAjԿA<*A G:?2AJֽ:ABA G:?JAJֽRA٘i)I9n@Y\G J<JJJJE&K YwV~?yWA.Ek9)ʯB=E[[Yx@[lW~?[<[[[[BZYY i>=) n YV~?y3XAE!1E777uk9)ƯB[[Hy@[[W~?[A[[[[BZYY i) } elevatorAngleAction: 0.084956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743035977.083285F (some fields omitted in printout)A)\µ@A8@AX~? A-A|a &"AA>?lNA"AZAbAjArAzAAA&2 @A6}rAo@A 0A֙A AAmֿAj<*A 6:?2Aֽ:A BA 6:?JAֽRA ٘i)I9o@YG J<JJJJE&K YV~?y'XA4E77 k9@B)B:E[[z@[KW~?[sF[[[[BZYY i)  elevatorAngleAction: 0.084956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200822 time: 1743035978.343353F (some fields omitted in printout)Ap= W@A'GJ@A dX~? A&:Av&"AA?kNA"AZAbAjArAzAAAhO@Ax9ErAq@ATz<ADArAA _ٿA <*AA:?2A׽:AkXBAA:?JA׽RAkX٘i)I9q@YG Jߤ<JJJJE&K YA"&"AA¶kNA"AZAbAjArAzAAA%l@AGrAr@A#J<AAAAٿAxN<*A{:?2AE׽:ABA{:?JAE׽RAY]i@y諒1K<ٓH` ^7?@mԪ?`?`+?_?~?)]i@ I٘i)I9r@YXG J<JJJJE&Ky> Y'V~?y];ZA>E7)7`k9)B1E[[9@[w W~?[Z[[[[BZYY i) “ elevatorAngleAction: 0.084956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035979.603283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AbE@A#X~? AGARs&"AAukNA"AZAbAjArAzAAAt%Y@AK?0rALs@ALA A+AA\ۿAw<*A:?2Aֽ:ADvBA:?JAֽRADv٘i)I9Ls@YG J<JJJJE&K YFU~?y'[ADE7{7k9>B)B.E[[n@[XV~?[pe[[[[BZYY i) S7'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743035980.863328F (some fields omitted in printout)A@AB@AW~? AZVAX&"AAkNA"AZAbAjArAzAAAXtG ?AE|rAxLu@AɷA;IAW<A=A@ݿAj<*A?9?2A ׽:AoBA?9?JA ׽RAoY8o@]4yHyٓH @?@"?o / h?`!?v2?)8o@ I٘i)I9Lu@YKG J<B=J XJJJɰE&Kx> YۿU~?y#9o\A4LEj7SI7Kk9=B)B)E[[o@[TV~?[u[[[[BZYY i) O<*A9?2Av׽:AtBA9?JAv׽RAt٘i)I9u@YG J"<C=JJJJ̰E&K YU~?y?\ANEŧ7b7k9)B&E[[@[HV~?[o{[[[[BZYY i)  elevatorAngleAction: 0.084956< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743035982.123292F (some fields omitted in printout)AG:@A-@AթW~? A5fA&&"AAjNA"AZAbAjArAzAAA^qp?A0*rA[Sw@ATr<AA4A`HA߿A5<*A9?2A[׽:A9BA9?JA[׽RA9٘i)I9Sw@YG J<C=JJJJѰE&K Y~U~?yL]ATE{7j7 k9?AFWrANx@A<AADAA@A<*A9?2A@׽:A6BA9?JA@׽RA6٘i)I9x@YG J<JJJJ԰E&K Y_sU~?ySK^AVE77{7k9=B)|B$E[[@[iV~?[[[[[ZZZZ¸>BZYY i¸> K)  KA*A|s AEGA`A=*A9?2A^ֽ:ABA9?JA^ֽRA٘i)I9y@YG J.<JJJJٰE&K Y!MU~?y_9_A\Eŧ7b7k9)aBE[[ą@[~V~?[ [[[[ZZZZBZYY i) ;BA9?JA'ֽRAzW>;Y|@3y<1ϼZ B<ٓH~`k?g?h`}@p?r?)?? ?)|@ I٘i)I9|@YG J<Jd>JJJE&K> Y*U~?yz`A3fE7! l9-B)HBE[[Q@[UV~?[z[[[[ZZZZBZYY iJ) v9?2Aےֽ:A#*<BA>9?JAےֽRA#*<٘i)I9#}@YG J<JJJJE&K YT~?ys`AiEb77 l9)DB[[|@[OLV~?[[[[[ZZZZBZYY i) SnJJJE&Kx> YT~?yaAtE77{7 l9)[[@[)V~?[/Ψ[[[[BZYY icj) B16= ܒ))ܒX@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035987.603165 s, next control iter: 1743035987.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9486, header.stamp.nsec: 00 temperature: 13.384645* salinity: 33.391445, density: 1025.000000* values[0]: 0.709849F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035988.003165 s.y @I~,P4'AJ"J*J2J:J5?BJ5?nJ>5vJAR+@A;y@AV~? AwA&"AAZiNA"AZAbAjArAzAAARhMAA<ڿmrA{{}@ABAy=A!AK>ؿA`AȎ1*A9?2Aֽ:AV=BA9?JAֽRAV=٘i)I9{}@YGG JJJJJE&K YT~?y`AyEj7j76"l9.B)BBE[[@[sV~?[ڨ[[[[BZYY i) =BA9?JAAGֽRA>=٘i)I9%}@YG JLB=JJJJE&K YT~?y_`A|ES77%l9)EB[[L@[`V~?[[[[[BZYY i)  Y4T~?yXɨ_AXE77{7,l9)KB[[a@[JV~?[[[[[BZYY i) o[;Ii̘@C= 30))30΃@"ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035989.283165 s, next control iter: 1743035989.663178 s, wait time: 0.380013 s*4T~?)*Xɨ2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 94882, header.stamp.nsec: 020 temperature: 13.3849992* salinity: 33.3914382, density: 1025.0000002* values[0]: 0.7084342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035989.683165 s.lZI~,Rk'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035989.683261F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A@AV~? A٩Ai&"AA; iNA"AZAbAjArAzAAAxmA4rAV{@A};A5=AA`ԿA@Az*A9?2AӜֽ:A=BA9?JAӜֽRA=٘i)I9{@Y1G JסC=JJJJE&K Y{T~?yѨX_AE)7ŧ70l9.B)QBE[[S@[DV~?[[[[[BZYY i) <;Ii\@LD= 3))3N@yժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035989.683165 s, next control iter: 1743035990.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743035990.103165 s.aI~,̚'AAQ8@AtϺF+@AV~? A A&"AAhNA"AZAbAjArAzAAA&xAy%rA`&{@ABA]=AA ԿA"=A*Ah9?2A ׽:A>H=BAh9?JA ׽RA>H=٘i)I9&{@YG JΧJJJJE&K YxrT~?y٨^AEb7b7!4l9)UB[[v@[U~?[[[[[BZYY i) :NJ;Ii@T@E=  ݅)) ݅@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035990.123165 s, next control iter: 1743035990.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035990.523165 s.J "J *J 2J :J [5?BJ [5?nJ +>5vJ gI~,|'AAHzn@ACR a@A{V~? AcAPM&"AAhNA"AZAbAjArAzAAA@A8ƠrAIz@A\AbX=AbA(ӿApAK*A9?2A?P׽:A =BA9?JA?P׽RA =٘i)I9z@YG JNJJJJE&K YiT~?yB^AE777l9)YB E[[@[JU~?[[[[[BZYY i) X;Ii@nF= G))G"@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035990.563165 s, next control iter: 1743035990.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9489, header.stamp.nsec: 00 temperature: 13.385107* salinity: 33.391441, density: 1025.000000* values[0]: 0.707970F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035990.943165 s.XdnI~,B]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199182 time: 1743035990.943299F (some fields omitted in printout)Aq= ף@A5̖@AEqV~? AA[&"AAhNA"AZAbAjArAzAAAAil&rAz@AAh=AA 8FҿAA*A9?2A_E׽:A=BA9?JA_E׽RA=٘i)I9z@Y,G JTJJJJ E&K Y_T~?y'^AE{7{7L;l9)]B[[@[YU~?[c[[[[BZYY i) ];Ii @G= _))_@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035990.963165 s, next control iter: 1743035991.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035991.363165 s.uI~,u>ו'AJ"J*J2J:JBJnJvJAو@Aÿ@A`gV~? ADA,&"AA9hNA"AZAbAjArAzAAA{^}ArA"sy@AA=Ae6A@dѿAdA*A9?2Aֽ:A#=BA9?JAֽRA#=Y9@Ny¨=ٓH`EͿj?`嫁Ϳ@÷J[?)9@ I٘i)I9sy@YG JJ:;JJJ E&Kix> Y YT~?y]ANE777>l9/B)dBE[[@[U~?[ [[[[BZYY i) :IiQ@H= ~))~5@ ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035991.383165 s, next control iter: 1743035991.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9490&, header.stamp.nsec: 0&0 temperature: 13.385339&* salinity: 33.391415&, density: 1025.000000&* values[0]: 0.706966&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035991.783165 s.Y{I~,'AA(\@AްmQ@A]V~? AA&"AAhNA"AZAbAjArAzAAAp= A>@OrAKx@A+:Aj(=A%A AпA Aֱ*A}9?2Aֽ:A=BA}9?JAֽRA=٘i)I9x@YwG JJJJJE&K YRT~?yS]AE77wBl9)hB[[睐@[zU~?[][[[[BZYY i) t2:Ii@H= z))z⿩@ תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035991.803165 s, next control iter: 1743035992.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035992.203165 s.I~, '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: -0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743035992.203294F (some fields omitted in printout)AQE@A8@A UV~? AdA &"AAhNA"AZAbAjArAzAAA봡l A1%nWsABx@Al?<A=A5A`@ϿA %A*Ap9?2A@+FI= e2v))e2vI@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035992.223165 s, next control iter: 1743035992.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743035992.623165 s.WI~,]''AAGz@At%m@ALV~? A AVq&"AAvhNA"AZAbAjArAzAAA =9 A9sAw@A<Au"=A߿A CuͿA MA*AO9?2AzJֽ:A=BAO9?JAzJֽRA=٘i)I9w@YG J:JJJJE&K YMET~?y \AE77Il9)qB[[@[U~?[d![[[[BZYY i) Ii@+6J= q))qҪ@6ЪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743035992.643165 s, next control iter: 1743035993.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9491, header.stamp.nsec: 00 temperature: 13.385577* salinity: 33.391415, density: 1025.000000* values[0]: 0.705938F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035993.043165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ I~,B'AA= ף@AAJ@ADV~? AA&"AA hNA"AZAbAjArAzAAAPa A)ݦN sA/w@Ae=<A=AnܿA`U˿A@rAhG*A9?2A'ֽ:A^m=BA9?JA'ֽRA^m=I٘i)I9w@Y`G J;JJJJE&K Y>T~?yX\AE777Ml90B)xB E[[:@[U~?['[[[[BZYY i) .Ii@`K= m))m \@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035993.063165 s, next control iter: 1743035993.443185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743035993.463165 s.ZI~,]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743035993.463280F (some fields omitted in printout)Affff@Aܠ[ى@AK=V~? AzAD&"AAchNA"AZAbAjArAzAAAR- A sA,v@A 8:A =AHڿAbɿA@PA*A99?2Aֽ:AK)=BA99?JAֽRAK)=Yw{@JEڿy=ĝ:ٓH,?@߅*I籿`@S?@y?)w{@ I٘i)I9v@YG JnJUqJJJE&KLx> Y:T~?y[AEڿE7Pl9)|B[[Ò@[U~?[x.[[[[BZYY i) yLIi`K= MRi))MRi@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035993.483165 s, next control iter: 1743035993.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9492, header.stamp.nsec: 00 temperature: 13.385823* salinity: 33.391399, density: 1025.000000* values[0]: 0.704924F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035993.883165 s.yI~,Mx'AJ"J*J2J:JBJnJvJA(@Ah@Ae6V~? AE%A% &"AA~hNA"AZAbAjArAzAAAT ~xT A&sAu@AW AW=AM׿A`ǿApAj*A 9?2A F׽:A H<BA 9?JA F׽RA H<٘i)I9u@YG JJJJJE&K Y7T~?y&S[AESI7SI7aTl9)B[[M@[U~?[ 5[[[[BZYY i) ݄Ii@K= e))e o@(ĪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743035993.903165 s, next control iter: 1743035994.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743035994.303165 s.XI~,g'AAQ@AD@A0V~? A-A &"AAlthNA"AZAbAjArAzAAAE- AasAxu@AZeAp:=AԿA ƿAA]*Ao9?2AY׽:Aaz<BAo9?JAY׽RAaz<٘i)I9xu@YfG JљJJJJE&K YU3T~?y/ZAE77Wl9)B[[o֓@[aU~?[;[[[[BZYY i) gIin@'L= `))`j@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035994.323165 s, next control iter: 1743035994.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9493., header.stamp.nsec: 0.0 temperature: 13.386021.* salinity: 33.391392., density: 1025.000000.* values[0]: 0.703997.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035994.723165 s.I~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066393< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743035994.723287F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A&z@A'*V~? A4A;{ &"AAkhNA"AZAbAjArAzAAAgqP}A0xasAt@A6:ZA)=AUҿA ,ĿAvA*Ax9?2A{*׽:A3<BAx9?JA{*׽RA3<٘i)I9t@YG JJJJJ"E&K Y/T~?y@8ZAE7777[l91B)B E[[_@[U~?[0B[[[[BZYY i䛚) "&»Ii@L= r\))r\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035994.743165 s, next control iter: 1743035995.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743035995.143165 s.V/I~,*ɖ'AA ףp@AhZbe@A$V~? A<A& &"AAbhNA"AZAbAjArAzAAAp,;AMp5#sA@t@AEAk6=AϿA@^Q¿A\ A̔*AH9?2Aֽ:A<BAH9?JAֽRA<٘i)I9t@YG JJJJJ%E&K Y+T~?y@/ZAE77"_l9)B[[@[.U~?[H[[[[BZYY i) Ii@M= *X))*X| @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035995.163165 s, next control iter: 1743035995.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035995.563165 s.I~,J 'AJ"J*J2J:JBJnJvJA3333@A&'@AV~? ADAjF &"AAZhNA"AZAbAjArAzAAA tA!Z(sAt@A;Ab=AdMͿAvAy An>*A9?2A{ֽ:A3<BA9?JA{ֽRA3 }~??)@ I٘i)I9t@YG J2J#JJJ'E&K Y*T~?yIYA=ͿE{7{7bl9)B[[q@[U~?[YO[[[[BZYY i) Ii~@ToM= S))S@ڻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035995.583165 s, next control iter: 1743035995.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9494, header.stamp.nsec: 00 temperature: 13.386240* salinity: 33.391384, density: 1025.000000* values[0]: 0.703150F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035995.983165 s.I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743035995.983287F (some fields omitted in printout)A\(@A"@AV~? ALA &"AAShNA"AZAbAjArAzAAA!AS,sAcs@At<AZ=A)ʿAG0A@I4AfM*A9?2AUֽ:Ad=BA9?JAUֽRAd=٘i)I9s@Y7G JJJJJ*E&K Y)T~?yRxYAE)7b7Lfl93B)B E[[@[dU~?[U[[[[BZYY i) h~Ii{@jM= O))O@yĻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035996.023165 s, next control iter: 1743035996.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035996.403165 s.&I~,'AJ"J*J2J:JBJnJvJAQ^@AASQ@AV~? ATA? &"AAMhNA"AZAbAjArAzAAA>\1eA1sA s@An<Aψ=Ad%ȿAiA EAHm*An9?2A%wֽ:A=BAn9?JA%wֽRA=٘i)I9 s@YG JsJJJJ-E&K Y(T~?yc[YAE7777il9*B)B[[@[U~?[\[[[[BZYY i) D Ii@^M= NK))NK @^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035996.423165 s, next control iter: 1743035996.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9495", header.stamp.nsec: 0"0 temperature: 13.569673"* salinity: 33.375004", density: 1025.000000"* values[0]: 0.575803"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743035996.823165 s.I~,:4'AAGz@Am@AV~? A\Ar &"AALHhNA"AZAbAjArAzAAA< DAM6sAr@A;AbÉ=AwſAA@!UA9ю*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9r@YG JӐJJJ FJ0E&K Y(T~?y0dXAE7{7wml9)B[[ ȿ[U~?[#c[[[[BZYY i) .Ii@N= G))GGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035996.863165 s, next control iter: 1743035997.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743035997.243165 s.I~,mO'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743035997.243299F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=ʋ@Az2@AV~? AdA6&"AAChNA"AZAbAjArAzAAA;eANR;sA]r@AIAsE=Ah¿AʻAaA7*A9?2A-׽:A]=BA9?JA-׽RA]=٘i)I9r@YYG JJJJJ2E&K Y''T~?yleXAE77 ql9)B[[?ſ[]U~?[i[[[[BZYY i) $>Ii@N= B))BBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035997.263165 s, next control iter: 1743035997.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743035997.663165 s.I~,qj'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9496, header.stamp.nsec: 00 temperature: 13.569899* salinity: 33.374989, density: 1025.000000* values[0]: 0.575224F (some fields omitted in printout)A@Ad@AV~? AlA'9&"AA?hNA"AZAbAjArAzAAA: A,Nk@sAq@Ad3aAS=AAA`lA*A9?2A&`׽:A>`=BA9?JA&`׽RA>`=Y>@/2yWP=aٓH@묱? ? ?b?\t`2& ?)>@ I٘i)I9q@YG JbJ߻;JJJ5E&Knx> Y)T~?yuXA2EZ7Z7tl9)B E[[ÿ[U~?[Np[[[[BZYY i) MIi!@a?N= ;w>));w>;w>tªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035997.683165 s, next control iter: 1743035998.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743035998.083165 s.DI~, S'AJ"J*J2J:JA?BJA?nJi5vJA)\5@As(@A V~? AtAӛ&"AA Y5T~?y$VA,İEŧ7b7l9)B[[s[U~?[#[[[[BZYY i) )Iiɠ@%M=  ))) ) )yլ?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743035999.803165 s, next control iter: 1743036000.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036000.183165 s.I~,Z 'AA(\B@Au׃5@A V~? AUA&"AA:hNA"AZAbAjArAzAAA3sAže^sAߟn@A35<ABb=AA|ޡ?ArA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9n@Y;G JJJJJEE&K Y:T~?yEUAǰE777"l9)B[[k붿[U~?[[[[[BZYY i) Iib@JM= $))$$֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036000.203165 s, next control iter: 1743036000.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036000.603165 s.J "J *J 2J ?4 I~:J?BJ?,К&'AnJ5vJAQx@ANGk@AV~? AeA&"AA;hNA"AZAbAjArAzAAAAIi)@M= } ))} } ڪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036000.623165 s, next control iter: 1743036001.003185 s, wait time: 0.380020 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9499 , header.stamp.nsec: 0 0 temperature: 13.570621 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.573444 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036001.023165 s.ZI~,{A'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036001.023298F (some fields omitted in printout)AHz@A @A V~? ArAL&"AA>hNA"AZAbAjArAzAAAnAgsAm@Aj'Ac=A=As?A `A[*AӬ9?2AD׽:A=BAӬ9?JAD׽RA=٘i)I9m@YG JJJJJJE&K Y&DT~?yTA̰E777Ml9)B[[ݡ[VU~?[[[[[BZYY i) ʣIi@L= 3))33/ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036001.043165 s, next control iter: 1743036001.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036001.443165 s.5I~,5]\'AJ"J*J2J:JBJnJvJAq= @A PS֍@AV~? A{A&"AABhNA"AZAbAjArAzAAA?OA:g|lsAl@AlA=AAv?ASA*A9?2AR׽:A@=BA9?JAR׽RA@=٘i)I9l@Y8G J;JJJJME&K YHT~?yKĩTAϰEZ7Z7l9)įB[[;}[3U~?[1[[[[BZYY i) TIi@@!M= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036001.463165 s, next control iter: 1743036001.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9500, header.stamp.nsec: 00 temperature: 13.570885* salinity: 33.374969, density: 1025.000000* values[0]: 0.572794F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036001.863165 s.+I~,>w'AA@Ard @AV~? AA&"AADFhNA"AZAbAjArAzAAA?O l*A "qsADcl@AcPAT=AA 7K?A`DAp*Ad9?2A׽:A=BAd9?JA׽RA=Y@"$y=QٓH/???4N?m  D `}?)@ I٘i)I9cl@YG JJ|<JJJPE&K)x> YPT~?y̩TA$ҰExl9,B)ɯBE[[Y[gU~?[[[[[BZYY i) Iiy@ L= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036001.883165 s, next control iter: 1743036002.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036002.283165 s.2R$I~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036002.283300F (some fields omitted in printout)A(\O@AsCSB@AOV~? A~ŪAv&"AANKhNA"AZAbAjArAzAAAv 7A,EvsAk@AKMA=AA?A3Aོ*AQ9?2Aֽ͚:A7=BAQ9?JAֽ͚RA7=٘i)I9k@YG J/B=JJJJRE&K Y*XT~?y>թSA԰E777 l9-B)ίBE[[)5[U~?[[[[[BZYY i) Ii@\K= wZ))wZwZ2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036002.303165 s, next control iter: 1743036002.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9501., header.stamp.nsec: 0.0 temperature: 13.571145.* salinity: 33.375000., density: 1025.000000.* values[0]: 0.572095.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036002.703165 s.غ*I~,'AAQ@AV`x@AoV~? AvͪA&"AA!QhNA"AZAbAjArAzAAAw/A7qt{sA6%k@Ak <AQ=A}A?A`JAǼ*A9?2A-ֽ:A=BA9?JA-ֽRA=٘i)I9%k@YG Jc¼C=JJJJUE&K Y_T~?yݩ3SAװEŧ77l9)ԯB[[[U~?[[[[[BZYY i) VYIiu@J=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036002.723165 s, next control iter: 1743036003.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036003.123165 s.41I~,Pǘ'AJ"J*J2J:JBJnJvJAGẎ@A{jխ@A#V~? AgժAP?&"AAWhNA"AZAbAjArAzAAAђb7(AMjMsA[zj@Aw<A=ACA?A+ Aϼ*A9?2Aֽ:A<=BA9?JAֽRA<=٘i)I9zj@YG J˼JJJJXE&K Y^gT~?y/RAڰE77{78l9)ٯB[[꧿[!U~?[ĩ[[[[BZYY i) ̮ȼIi8@J= S))SS YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036003.143165 s, next control iter: 1743036003.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036003.543165 s.I8I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036003.543279F (some fields omitted in printout)A= ף@AR(@A;(V~? AOݪA%"AA_hNA"AZAbAjArAzAAA xAYg!sAi@Ah<AS=A*᛿A?AA];Ҽ*A9?2A+ֽ:AT=BA9?JA+ֽRAT=٘i)I9i@YJG JмJJJJ[E&K YnT~?yPRAܰE{7j7ͦl9)ޯB[[å[U~?[M˩[[[[BZYY i) 8мIi)@rJ= x))xxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036003.563165 s, next control iter: 1743036003.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9502, header.stamp.nsec: 00 temperature: 13.571450* salinity: 33.374977, density: 1025.000000* values[0]: 0.571338F (some fields omitted in printout)nT~?) rAdjusting time to match Gazebo time: 1743036003.963165 s.>I~,]'AJ"J*J2J:JBJnJvJAffff&@AZ@A-V~? A0A` %"AAKghNA"AZAbAjArAzAAA^!A{sAi@A;Ao)=A-A@w?AUAѼ*A9?2A<ֽ:A59=BA9?JA<ֽRA59=Yś@y(=@;ٓH@?T?O??c?`C?=+w? ?)ś@ I٘i)I9i@Y G JdҼJ*0<JJJ]E&K!x> YJyT~?yQA߰Eb7b7cl9.B)BE[[[V~?[ѩ[[[[BZYY i) Z<׼Ii1@5I= &_))&_&_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036003.983165 s, next control iter: 1743036004.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036004.383165 s.EI~,8'AA(\@ASO@A4V~? AAp%"AABphNA"AZAbAjArAzAAAd A񊸎sAjh@AAu=AwqA`Y?AqA}ϼ*A]9?2A׽:AEi=BA]9?JA׽RAEi=٘i)I9jh@Ys G JмJJJJ`E&K YT~?yaQAE{7j7l9)B[[z[ V~?[ש[[[[BZYY i) r޼Iig@3H= ^))^^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036004.403165 s, next control iter: 1743036004.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9503&, header.stamp.nsec: 0&0 temperature: 13.571749&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.570544&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036004.803165 s.~ALI~,g3'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084445< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743036004.803297F (some fields omitted in printout)J"J*J2J:JBJnJvJA둏@AT݄@A:V~? AAI%"AAzhNA"AZAbAjArAzAAA { AzsA}g@A@fA.=A,A`8?A Aμ*A89?2A9׽:A8_=BA89?JA9׽RA8_=٘i)I9g@Y G JBϼJJJJcE&K YT~?y6PAE7777l9)B[[AS[V~?[<ީ[[[[ZZ¸BZYY i¸P=) nrҼIi˛@^kG= N-))N-뾩N-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036004.843165 s, next control iter: 1743036005.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036005.223165 s.gSI~,HN'AAzǏ@A@@A BV~? AAz@%"AAhNA"AZAbAjArAzAAAE9 A35sA-g@AwA)=A A@c?AltA м*A(9?2A׽:A8=BA(9?JA׽RA8=٘i)I9g@Y G JoϼB=JJJJeE&K YAT~?yfrPAE#l9/B)BE[[C+[V~?[[[[[ZZBZYY i) pƼIi]@F= V))V⾩V:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036005.243165 s, next control iter: 1743036005.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036005.643165 s.xYI~,*i'AJ"J*J2J:JBJnJvJA ףp@AWe@AIV~? AEA%"AAڏhNA"AZAbAjArAzAAA?Ӵ} A)WsAJf@AA<=AA?AUMA4*AS9?2Aֽ:A<BAS9?JAֽRA<٘i)I9Jf@Y) G JlC=JJJJhE&K YT~?yOAEZ7Z7l90B)BE[[[ V~?[[[[[ZZBZYY i) \pIi@F= >پ))>پ>پ/YtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9504, header.stamp.nsec: 00 temperature: 13.572066* salinity: 33.374973, density: 1025.000000* values[0]: 0.569727F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743036005.663165 s, next control iter: 1743036006.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036006.063165 s.`I~,p 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036006.063309F (some fields omitted in printout)A33333@A%&@ARV~? A A%"AAhNA"AZAbAjArAzAAA]k+ A0쓡sApe@AAm6;A"=AA@ ?A %&A*Au9?2Apֽ:AR<BAu9?JApֽRAR YT~?ygOAE{7{7Ml9)B[[ܘ[(V~?[[[[[ZZBZYY i) ͮIi@^E= nRѾ))nRѾnRѾyV=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036006.103165 s, next control iter: 1743036006.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036006.483165 s.v_gI~,잙'AJ"J*J2J:JBJnJvJA\h@At [@AZV~? AA~%"AAhNA"AZAbAjArAzAAAE\ A06sAgd@AF<AFq=AA5?AmA8w*A9?2AiRֽ:Am<BA9?JAiRֽRAm<٘i)I9d@Y! G J B=JJJJmE&K YyT~?y:'/OAE7777l91B) B!E[[[0V~?[[[[[ZZBZYY i) (Ii@C= ^Ⱦ))^Ⱦ^ȾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036006.503165 s, next control iter: 1743036006.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9505, header.stamp.nsec: 00 temperature: 13.572417* salinity: 33.375000, density: 1025.000000* values[0]: 0.568770F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036006.903165 s.mI~,͹'AAQ@A"O@AcV~? A A %"AADhNA"AZAbAjArAzAAA[ AA^ЪsAc@A-r<A|-=AAU?A %A)Ҽ*A9?2A]ֽ:An;BA9?JA]ֽRAn;٘i)I9c@Y G JC=JJJJpE&K YlT~?y /NAE77xl9)B[[%[8V~?[5[[[[ZZBZYY i) Ii.@B= ))9sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036006.923165 s, next control iter: 1743036007.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036007.323165 s.vtI~,%ԙ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036007.323292F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzԐ@A½2oǐ@AmV~? A"AUX%"AAhNA"AZAbAjArAzAAARADjasAA4c@A-v<AU<AN[A?AԦAW*A69?2A"hֽ:A޺BA69?JA"hֽRA޺٘i)I94c@YG G J¼JJJJsE&K Y_T~?y6eNAE777 l92B)B%E[[_[AV~?[O[[[[ZZBZYY i) j⋼Ii@B= \))\\YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036007.343165 s, next control iter: 1743036007.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9506*, header.stamp.nsec: 0*0 temperature: 13.572745** salinity: 33.374996*, density: 1025.000000** values[0]: 0.567900*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036007.743165 s.W{I~,d'AAףp= @A|a2@AwV~? A)A%"AAhNA"AZAbAjArAzAAA,vI AL sAwb@AuA<AA2?ADxAw*A9?2ARֽ:ABA9?JARֽRA٘i)I9b@Y G JJJJJuE&K YRT~?y>MAEl9)B[[3[JV~?[_ [[[[ZZBZYY i) >Ii @qA= N))NN2IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036007.763165 s, next control iter: 1743036008.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036008.163165 s.x}I~,q 'AJ"J*J2J:JBJnJvJA@@AH52@AV~? AN1Ap6%"AAihNA"AZAbAjArAzAAAAA_ !fsA]b@A?APAP~A?ABGAxT*Ag9?2A%ֽ:A[BAg9?JA%ֽRA[YmC@J~y?ٓHw??]v?ow?hŠ?`Q? -?)mC@ I٘i)I9]b@Y G JZRB=JIGJJJxE&KMv> YT~?yF NAJ~Eŧ7b79l93B) B(E[[S[TV~?[^[[[[ZZBZYY iz=) amIiʕ@9?= ))')YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036008.183165 s, next control iter: 1743036008.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036008.583165 s.I~,S%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061036< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036008.583286F (some fields omitted in printout)A)\u@AMh@AV~? A8Ac%"AAhNA"AZAbAjArAzAAAՠAYؼsAp)b@AA1ᶼA'*yA?A Awa*A9?2Aֽ:ABA9?JAֽRA٘i)I9)b@Y G J C=JJJJ{E&K Y;U~?y}MNAE{7j7l9)"B[[ۋ[]V~?[V[[[[ZZBZYY iF=) ZIi@E@>= O))OOQ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036008.603165 s, next control iter: 1743036008.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9507, header.stamp.nsec: 00 temperature: 13.572908* salinity: 33.375011, density: 1025.000000* values[0]: 0.567414F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036009.003165 s. I~,n4@'AJ"J*J2J:JB?BJB?nJP5vJAR@Akz@AOV~? A?A%"AA*iNA"AZAbAjArAzAAAsKNwA1@sA,b@A|IA6 A#sAq?AAA9*A9?2Ab0ֽ:A[ԼBA9?JAb0ֽRA[ԼI٘i)I9b@Y G JJJJJ}E&K YU~?yT NAE77cl95B)$B,E[[C[gV~?[F[[[[BZYY i) %'HIi@== V))VV=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036009.043165 s, next control iter: 1743036009.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036009.423165 s.uI~,['AA{G@A;ԑ@AkV~? AFAn%"AA iNA"AZAbAjArAzAAA᰼hAϠsA'b@AeArY7AsnA@K?AAm;*A=9?2Amֽ:A)BA=9?JAmֽRA)뼙٘i)I9'b@Y G J;JJJJE&K Y%!U~?yH\+NAE77{7l9)[[)}[@rV~?[-![[[[BZYY i) `5Iiݒ@N;= ԋ))ԋԋyʔ=lv*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036009.443165 s, next control iter: 1743036009.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9508, header.stamp.nsec: 00 temperature: 13.572886* salinity: 33.375000, density: 1025.000000* values[0]: 0.567305F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036009.843165 s.ݜI~,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: 0.071912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036009.843314F (some fields omitted in printout)Ap= @A~W @AV~? ANA%"AA)iNA"AZAbAjArAzAAAMBAu%ZsALb@Ab<AUL[A7LiA\$?AMhAx;*A9?2A%ֽ:AVzBA9?JA%ֽRAVz٘i)I9Lb@Y G J;JJJJE&K Y0U~?yc6NAEb77l96B)#B/E[[K[}V~?['[[[[BZYY i) 7"IiB@5;= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036009.863165 s, next control iter: 1743036010.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036010.263165 s. I~,Eؐ'AAL@A?@A V~? ATAxy%"AA1=iNA"AZAbAjArAzAAAnK\ZaAe!RN/sAՇb@Adv<AyAcA K?A`m*A?)<*A_9?2Aֽ:AsBA_9?JAֽRAsY@9dyNyw<ٓH??ݛ` ?@9m?`4?@ Ҏ? ?)@ I٘i)I9b@Y G J> <J?JJJE&K7x> Y\BU~?yjNA9dEb7#l9)"B[[[V~?[,[[[[BZYY iuh=) 6Ii@TF9= |t))|t|t*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036010.303165 s, next control iter: 1743036010.663182 s, wait time: 0.360017 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 95092, header.stamp.nsec: 020 temperature: 13.5727722* salinity: 33.3750082, density: 1025.0000002* values[0]: 0.5675612F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036010.683165 s.lI~J"J,o'A*J2J:JK?BJK?nJZ5vJA(\@Avu@AV~? A[A%"AAFQiNA"AZAbAjArAzAAA暻J3ANesAb@ANX<AAB^A ?AAr\<*A29?2Afֽ:A BA29?JAfֽRA ٘i)I9b@Y G Jr@<JJJJE&K YTU~?ycqNA EZ7SI7l98B)!B3E[[[dV~?[2[[[[BZYY i) Iij@A7= l@c))l@cl@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036010.683165 s, next control iter: 1743036011.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036011.103165 s.I~,ƚ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056753< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036011.103292F (some fields omitted in printout)AQ@AAF@A{V~? AbAk%"AA fiNA"AZAbAjArAzAAA@MA"ӄbsAz@c@As;A5AYA@T?A A <*A9?2Apֽ:A2BA9?JApֽRA2٘i)I9@c@YO G J9w<JJJJE&K YeU~?y>x1OA E77Nl9)B[[7}}[V~?[,8[[[[BZYY i)  IiD@6= pQ))pQpQ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036011.143165 s, next control iter: 1743036011.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036011.523165 s.I~,|'AJ"J*J2J:JBJnJvJAHz@Ak @AV~? AmiA%"AAy{iNA"AZAbAjArAzAAAAs|AsAc@A AϷATA^?A`gA<*A 9?2Amֽ:AgMBA 9?JAmֽRAgM٘i)I9c@Y G Jw<JJJJE&K YwU~?yOAE77{7l9)B6E[[y[0V~?[=[[[[BZYY i=) SƻIiL@a4= @))@@y6h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036011.563165 s, next control iter: 1743036011.923181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9510, header.stamp.nsec: 00 temperature: 13.572538* salinity: 33.375019, density: 1025.000000* values[0]: 0.567995F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036011.943165 s.\dI~,S]'AAq= #@AtA}@AV~? ApA7e%"AAiNA"AZAbAjArAzAAA)8AƃRsAZKd@AnA;AOA %?A,#A<*AE9?2Awս:A7BAE9?JAwսRA7٘i)I9Kd@Y G J=<JJJJE&K Y`U~?yOAEyl9)B[[߬t[V~?[cC[[[[BZYY i) ›Ii@R3= t.))t.t.yh=J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036011.983165 s, next control iter: 1743036012.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036012.363165 s.I~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036012.363280F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@A}L@AW~? AvA%"AAQiNA"AZAbAjArAzAAAvF#A҈sAd@AynAAȀJA?A`A<*AA9?2Aֽ:ABAA9?JAֽRAYŨ@*8Jy/*oٓH u?? N?4n?Fn?΍?)Ũ@ I٘i)I9d@YL G JDZ<J$JJJE&Kw> Y@U~?y5BPA8JEŧ7b7l99B)B9E[[Lp[8V~?[H[[[[BZYY i) 󉈻Ii֊@1= 0))00yf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036012.383165 s, next control iter: 1743036012.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9511&, header.stamp.nsec: 0&0 temperature: 13.572223&* salinity: 33.375042&, density: 1025.000000&* values[0]: 0.568712&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036012.783165 s.^I~,2'AA(\@A[rP@AW~? A }Ae%"AAiNA"AZAbAjArAzAAA +AĥsAAwe@AAK뚽A#EAn?A2Ag߱<*A9?2A#uֽ:A BA9?JA#uֽRA ٘i)I9we@Y G JA<JJJJE&K YU~?yuPAE7l9;B)B=E[[{k[2V~?[HN[[[[BZYY i) cTIiW@)/= ^ ))^ ^ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036012.803165 s, next control iter: 1743036013.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036013.203165 s.I~,M'AJ"J*J2J:JBJnJvJAQœ@A:@A&W~? AbA%"AAiNA"AZAbAjArAzAAA*p<A>rsAU f@AK;A/Af?Asr?AEAfW<*Aܰ9?2Acֽ:An_BAܰ9?JAcֽRAn_٘i)I9 f@Y G JH<JJJJE&K YU~?yQAEb79l9) B[[|g[V~?[S[[[[BZYY i) RIi@B.= f))ffA*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036013.223165 s, next control iter: 1743036013.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036013.623165 s.XI~,ag'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036013.623286F (some fields omitted in printout)AG@An@A57W~? AAm%"AAtiNA"AZAbAjArAzAAAC"Ar>NsANf@AZ<AYߗAS:A,2?AAI<*AѴ9?2A׽:AiBAѴ9?JA׽RAi٘i)I9f@YY G JT<B=JJJJE&K YU~?y{QAE777l9*Ii@t+=  S)) S S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036014.063165 s, next control iter: 1743036014.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036014.463165 s.YI~,'AAfffff@AG \Y@AuYW~? AŕAQ~%"AA#jNA"AZAbAjArAzAAA~mU˿ASsAlg@A^5<A_6AJ/A ?A@VA?<*A9?2Aֽ:ABA9?JAֽRAY@m)0y4<ٓH7? 7N? QE?uӣ?t??`4?)@ I٘i)I9g@Y G J<J <JJJE&K'x> YV~?yϪGRA)0"EZ7SI7m9)BCE[[0Z[rW~?[ic[[[[BZYY i) 9Ii@)= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036014.483165 s, next control iter: 1743036014.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9513, header.stamp.nsec: 00 temperature: 13.571511* salinity: 33.375046, density: 1025.000000* values[0]: 0.570170F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036014.883165 s.yI~,M'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036014.883298F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@Acd@A,kW~? AA %"AA9>jNA"AZAbAjArAzAAA?l*Af4TsA?h@AԺA(A*A4*?AA<*A)9?2Axoֽ:A"BA)9?JAxoֽRA"٘i)I9?h@YY G JѦ<JJJJE&K Y]V~?yfRA D%Eb77m9>B)BGE[[#U[W~?[h[[[[BZYY i) K:Iir@f&= K))KK8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036014.903165 s, next control iter: 1743036015.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036015.303165 s.TI~,ogӛ'AAє@A0eĔ@AD}W~? A|A.%"AAUYjNA"AZAbAjArAzAAAЅ=L?AWIrsAh@A>AߏA%A ?A`Aާ<*A?9?2A#0ֽ:ABA?9?JA#0ֽRA٘i)I9h@Y G Jҧ<JJJJE&K Y/.V~?ySA(E{7{7$ m9)B[[7KQ[%W~?[m[[[[BZYY i) E;Ii@m%= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036015.323165 s, next control iter: 1743036015.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9514*, header.stamp.nsec: 0*0 temperature: 13.571171** salinity: 33.375076*, density: 1025.000000** values[0]: 0.570880*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036015.723165 s.I~,H'AJ"J*J2J:J%?BJ%?nJ>5vJAz@A= ף@AW~? A,A&%"AAujNA"AZAbAjArAzAAAښ%?A"&*XtAXi@A~AcAC A?AZA`<*A(9?2A1ֽ:A{BA(9?JA1ֽRA{٘i)I9Xi@YG Jݦ<JJJJE&K YCV~?yrSA*Em9?B)BJE[[OL[35W~?[r[[[[BZYY i) ,S;IiZ@em#= p))pp*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036015.743165 s, next control iter: 1743036016.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036016.143165 s.V/I~,* 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743036016.143275F (some fields omitted in printout)A ףp=@Awe0@AW~? AA۸%"AAAjNA"AZAbAjArAzAAAY?A]tA$i@Ak7AA&A+?ATA<*A9?2Afuֽ:ApBA9?JAfuֽRAp٘i)I9i@YXG Jw<JJJJE&K YYV~?y-SA-EZ7Nm9@B)BME[[PH[DW~?[zw[[[[BZYY i)  ;Ii%}@"= >;))>;>;F*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036016.163165 s, next control iter: 1743036016.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036016.563165 s.I~,_ $'AJ"J*J2J:J=?BJ=?nJW5vJA3333s@AD(f@AŵW~? A2A&M%"AAjNA"AZAbAjArAzAAA,TI?A=L5tACcj@AmAAAK?A`N߿A<*A9?2Aֽ:ACBA9?JAֽRACY{I@iyhٓH?7?`&e?N??@-P`?){I@ I٘i)I9cj@YG J<J\<JJJE&K(x> YWqV~?y ƪ1TA0E77j7m9)BPE[[;C[TW~?[F|[[[[BZYY i8d=) ";Ii&y@|t= t<))t<t<-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036016.583165 s, next control iter: 1743036016.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9515, header.stamp.nsec: 00 temperature: 13.570810* salinity: 33.375084, density: 1025.000000* values[0]: 0.571597F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036016.983165 s.I~,>'AA\@A}雕@ATW~? AA%"AAijNA"AZAbAjArAzAAAơ˃?AtR tA(j@A? <A܆AA8?A޿A9<*A9?2A"׽:AahBA9?JA"׽RAah񼙘٘i)I9j@YG JS<JJJJE&K Y߈V~?yʪTA2E77ym9)B[[{`?[dW~?[[[[[BZYY i) 8;Iiu@!= =))==*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036017.003165 s, next control iter: 1743036017.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036017.403165 s.&I~,Y'AJ"J*J2J:Jk?BJk?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076363< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036017.403292F (some fields omitted in printout)AQޕ@A7hѕ@A=W~? AA|%"AAMjNA"AZAbAjArAzAAAvYy?Ag tA Rk@Af|<AJ0Al A@ ?AݿAsZ<*A9?2A}5׽:A#BA9?JA}5׽RA#򼙘٘i)I9Rk@Y8G J<JJJJE&K YhV~?yϪTA5E77{7m9AB)BSE[[:[uW~?[[[[[BZYY i) O;IiBr@ =  c=)) c= c=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036017.423165 s, next control iter: 1743036017.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9516", header.stamp.nsec: 0"0 temperature: 13.570505"* salinity: 33.375103", density: 1025.000000"* values[0]: 0.572250"F (some fields omitted in printout)"hV~?)"Ϫ rAdjusting time to match Gazebo time: 1743036017.823165 s.I~,6t'AAGz@Ap@A}W~? AA%"AAkNA"AZAbAjArAzAAA)zxO?A13tAk@A:S<A놽ABA'm?AݿAs<*A9?2A׽:A^NBA9?JA׽RA^N٘i)I9k@Y|G J0<JJJJE&K YV~?yԪDUA8E{7 m9CB)BXE[[_U6[W~?[J[[[[BZYY i) 3ItA2l@Abn;A}A5A` ?AXܿA:(<*A9?2Aֽ:ABA9?JAֽRA٘i)I92l@YG J<JJJJE&K YxV~?y٪UA:E7779$m9)B[[1[W~?[ӎ[[[[BZYY i)  elevatorAngleAction: 0.076363< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743036018.663338F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9517, header.stamp.nsec: 00 temperature: 13.570192* salinity: 33.375092, density: 1025.000000* values[0]: 0.572831F (some fields omitted in printout)A@A"r@AX~? A˫A:W%"AAFkNA"AZAbAjArAzAAAºXy@A6_tAl@A:AxAdA ?AۿA<*A9?2AVQֽ:ABA9?JAVQֽRAY@{!ywGٓH@@?7?ˬݿ`N?荣?K?D ?)@ I٘i)I9l@YG J_<B=J JJJE&Kw> YyV~?yݪUA!=Eb7b7'm9)ޯB[E[[cF-[IW~?[7[[[[BZYY i) 9>!mKhtA!m@AirAA:A D?A@7ڿAeՓ<*Aļ9?2Ah*ֽ:ABAļ9?JAh*ֽRA٘i)I9!m@YSG J%<C=JJJJE&K YvW~?yZVA@E7777d+m9DB)ۯB^E[[([ݹW~?[[[[[BZYY i) 0)) 0I>0I>A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036019.123165 s, next control iter: 1743036019.483181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036019.503165 s.7I~,L4'AAR@A*zޖ@AEX~? AԫA"%"AA8kNA"AZAbAjArAzAAA@A7.tAm@AxiAA2A?A ڿA<*AV9?2Aս:A BAV9?JAսRA ٘i)I9m@YG J<B=JJJJE&K YwW~?yVABE77.m9)ׯBaE[[,$[W~?[˛[[[[BZYY i) h;@))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036019.523165 s, next control iter: 1743036019.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9518, header.stamp.nsec: 00 temperature: 13.569874* salinity: 33.375111, density: 1025.000000* values[0]: 0.573468F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036019.923165 s.:>I~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076363< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743036019.923286F (some fields omitted in printout)A{G!@AB:<@Ar[X~? A2٫AH%"AAkNA"AZAbAjArAzAAA`x&ϱ@As&-*tA&n@AE̻AAuپA?A:ٿAX<*A9?2A:ս:A BA9?JA:սRA ٘i)I9n@YG J#<C=JJJJñE&K Yt3W~?yWAEEŧ7b72m9EB)ԯBdE[[[W~?[[[[[BZYY i) xO))%>%>*Ym$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036019.943165 s, next control iter: 1743036020.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036020.343165 s.))[8>[8>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036020.383165 s, next control iter: 1743036020.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9519*, header.stamp.nsec: 0*0 temperature: 13.569529** salinity: 33.375134*, density: 1025.000000** values[0]: 0.574150*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036020.763165 s.5KI~,0'AJ"J*J2J:JBJnJvJǍ@A@AX~? AAa%"AAkNA"AZAbAjArAzAAA`劲 @AΦ$tAPo@AI__<A2 A ľAL?A ׿A <*A9?2Ayֽ:A(BA9?JAyֽRA(Yõ@Yľy_<ٓH??͐O׿?`͍??`? ?)õ@ I٘i)I9o@YG J<JIJJJɱE&Ku> YfW~?y\WAľJEb79m9GB)ίBhE[[i[SX~?[[[[[BZYY i) mn))yJ>J>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036020.803165 s, next control iter: 1743036021.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036021.183165 s.RI~,kK'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243758> elevatorAngleAction: 0.076363< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743036021.183270F (some fields omitted in printout)A(\—@AO[#@AX~? AAQ%"AA lNA"AZAbAjArAzAAAF:A @A2Kq&tAo@A(v<ArA6A`?A/ֿAޘ<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9o@YG J<JJJJ˱E&K YЀW~?y9XAMEO=m9)˯BkE[[[PX~?[߫[[[[BZYY i) L})) P\>P\>$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036021.203165 s, next control iter: 1743036021.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036021.603165 s.:4YI~,f'AJ"J*J2J:JBJnJvJAQ@A]E@AbX~? ApAM%"AAn.lNA"AZAbAjArAzAAAltS7@A(tAp@A$ <A;A-A`?AտA<*A9?2A'Խ:A BA9?JA'ԽRA ٘i)I9p@Y!G J<JJJJαE&K YW~?yXAPE)77@m9HB)ǯBnE[[1 [)X~?[[[[[BZYY im=) Pl))xo>xo>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036021.643165 s, next control iter: 1743036022.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9520 , header.stamp.nsec: 0 0 temperature: 13.569198 * salinity: 33.375160 , density: 1025.000000 * values[0]: 0.574803 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036022.023165 s.Z`I~,|'AAHz.@Au!@AX~? A%An%"AAHQlNA"AZAbAjArAzAAA\)/@An= +tA5p@A))P >P >*Yk(YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036022.043165 s, next control iter: 1743036022.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036022.443165 s.8fI~,B]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036022.443299F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= c@A!%V@AX~? AAHt%"AA|tlNA"AZAbAjArAzAAAlzr@A8 :-tA{1q@AGA AA`9.?AGԿAZ<*A9?2A{Խ:AaBA9?JA{ԽRAa٘i)I91q@YG J<JJJJӱE&K Y^W~?yeYAUEŧ77Hm9)B[[W[VQX~?[[[[[BZYY i) ))g>g>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036022.463165 s, next control iter: 1743036022.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9521, header.stamp.nsec: 00 temperature: 13.568827* salinity: 33.375153, density: 1025.000000* values[0]: 0.575517F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036022.863165 s.+mI~,>'AA@A;э@AsX~? A A/%"AAlNA"AZAbAjArAzAAA9^@A#:MiP/tAq@A~AȦA㑾AI`?A oӿA2<*A9?2AԽ:ABA9?JAԽRAY@pDyס`ٓH? ? ѿ@?Ѣ? ?ҏ"?)@ I٘i)I9q@Y%G J'<JJJJJֱE&KDt> YwW~?yYADXE7777Km9)BtE[[y[MeX~?[j[[[[BZYY i) ))Iu>>y=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036022.883165 s, next control iter: 1743036023.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036023.283165 s.J :RtI~"J*J2J,ҝ'A:Jn?BJn?nJ5vJA(\Ϙ@AJP˜@A=Y~? AfAo%"AAlNA"AZAbAjArAzAAAKY@ @A5;O1tAZr@A.0AޡAFA?A೐ҿAWV<*A/9?2A}ս:ABA/9?JA}սRA٘i)I9Zr@YG J<JJJJٱE&K YX~?yz;ZAZE{7:Om9RB)BwE[[]([yX~?[ƽ[[[[BZYY i) ))WY>Y>p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036023.303165 s, next control iter: 1743036023.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9522., header.stamp.nsec: 0.0 temperature: 13.568430.* salinity: 33.375156., density: 1025.000000.* values[0]: 0.576276.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036023.703165 s.պzI~, 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259211> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036023.703275F (some fields omitted in printout)AQ@Af?@A?+Y~? AA%"AAlNA"AZAbAjArAzAAAbL, 1@A%R63tAr@A0A{FA_yA`F?A;ѿA'1<*A9?2A7Խ:ABA9?JA7ԽRA٘i)I9r@YG JX<JJJJܱE&K Y X~?yZA]E)7ŧ7Rm9)BzE[[[JX~?[ [[[[BZYY i) m)) Z>Z>s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036023.743165 s, next control iter: 1743036024.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036024.123165 s.5I~,T'AJ"J*J2J:JBJnJvJAG:@AϤM-@AuCY~? A|Aht%"AAmNA"AZAbAjArAzAAAȖV@AY5tAs@A҄(<AA_dA?A`3пAU<*A9?2AԽ:ABA9?JAԽRA٘i)I9s@Y6G JU<JJJJޱE&K Y;X~?yg[A`E77dVm9SB)B}E[[ S[EX~?[7Ī[[[[BZYY i) {))̯>̯>U*Y-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036024.163165 s, next control iter: 1743036024.523176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036024.543165 s.II~,"'AA= ףp@Asdc@A[Y~? AMA;%"AAw)mNA"AZAbAjArAzAAA^X~@AHC6tAt@Ag|<A(٩AOA?ArϿA_ŵ<*Ax9?2A+ս:AM[BAx9?JA+սRAM[٘i)I9t@YG J<JJJJE&K YVX~?y }[AcEYm9)BE[[ؾ[X~?[IǪ[[[[BZYY i) w))M>M>K*YNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036024.563165 s, next control iter: 1743036024.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9523, header.stamp.nsec: 00 temperature: 13.568052* salinity: 33.375168, density: 1025.000000* values[0]: 0.577056F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036024.963165 s.xI~,='AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036024.963296F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A28J^@AmtY~? AA!%"AANmNA"AZAbAjArAzAAAAoÈ@Aה^8tAt@A4K<AìA#;A??A@j οA<*A9?2A)Qս:AKpBA9?JA)QսRAKpY+@6?)+@ II٘i)I9t@YG Jz<B=JyJJJE&Ks> YrX~?yz [A6<eE777]m9)BE[[nϾ[X~?[1ʪ[[[[BZYY i) x<))r>>H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036025.003165 s, next control iter: 1743036025.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036025.383165 s.ؕI~,/X'AA(ܙ@A9Gϙ@A)Y~? AzAm%"AAsmNA"AZAbAjArAzAAA t|@A߰A9tAkYu@A:;AoA6'A/d?AE̿AG<*A`9?2Am?ս:A׹BA`9?JAm?սRA׹٘i)I9Yu@YSG J<C=JJJJE&K YWX~?ye\AhE77%am9)B[[ ž[UX~?[ͪ[[[[BZYY i) #))$&>&>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036025.403165 s, next control iter: 1743036025.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9524", header.stamp.nsec: 0"0 temperature: 13.567646"* salinity: 33.375179", density: 1025.000000"* values[0]: 0.577861"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036025.803165 s.{AI~,gs'AJ"J*J2J:JBJnJvJA@AH@AY~? AAƣ%"AAmNA"AZAbAjArAzAAA&5(j@A\xV;tAgv@A$3AɧAFA?A@QkʿAؔ<*A9?2Aҽ:ABA9?JAҽRA٘i)I9v@YG J]<JJJJE&K YX~?y\AkE77dm9)BE[[)p[7X~?[Ϫ[[[[BZYY i) G)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036025.823165 s, next control iter: 1743036026.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036026.223165 s.gI~, I'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743036026.223329F (some fields omitted in printout)AzG@A&:@AY~? A Aw%"AAVmNA"AZAbAjArAzAAA,͹-2@AiyD))I>I>C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036026.243165 s, next control iter: 1743036026.623187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743036026.643165 s.rЩI~,)'AJ"J*J2J:JBJnJvJA ףp}@A4fp@AHY~? A A\M%"AAbmNA"AZAbAjArAzAAAWL\c@Ar=tA)jw@A-bAjoAߚؽA?A ƿAD<*AZ9?2Atӽ:A BAZ9?JAtӽRA ٘i)I9jw@YG J$<JJJJE&K YX~?y]ApE{7{7km9)BE[[e,[%Y~?[Ԫ[[[[BZYY i) `))Q>Q>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036026.663165 s, next control iter: 1743036027.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9525, header.stamp.nsec: 00 temperature: 13.567229* salinity: 33.375202, density: 1025.000000* values[0]: 0.578756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036027.063165 s.I~, Ğ'AA3333@AK*@AY~? A A&%"AA nNA"AZAbAjArAzAAA[Bf@AM?tA x@AA:AUڭA?AſAN<*A9?2AkԽ:ABA9?JAkԽRAYeY@جy9DٓH`??@l~@`???`v@?)eY@ I٘i)I9 x@YG JW<Js!JJJE&KPr> YX~?y:^AجsEŧ7ŧ7zom9)BE[[[BBZYY i¸>Z4) T))V%p%~>%~>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036027.083165 s, next control iter: 1743036027.463190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743036027.483165 s.x_I~,ޞ'AJ"J*J2J:JI?BJI?nJ}5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.234517@ elevatorAngleAction: -0.084084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743036027.483293F (some fields omitted in printout)A\@AMۚ@A Z~? AA%"AA 2nNA"AZAbAjArAzAAAZ_F@A=4'@tA x@A;AA:A b?A V<ÿA<*A9?2APXս:ABA9?JAPXսRA٘i)I9x@YsG J<JJJJE&K YY~?yc^AuE77{7sm9)BE[[[RY~?[M٪[[[[ZZZZBZYY i) J))<>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036027.503165 s, next control iter: 1743036027.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9526, header.stamp.nsec: 00 temperature: 13.566750* salinity: 33.375233, density: 1025.000000* values[0]: 0.579713F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036027.903165 s.ȽI~,'AAQ@A&7@A$Z~? AKA%"AAXnNA"AZAbAjArAzAAA^.' @AfgAtAdy@A=c<A,A80A"?A;GA(<*A :?2Asӽ:ANBA :?JAsӽRAN򼙘٘i)I9y@YG J<JJJJE&K Y5Y~?y!-_AxEŧ77vm9)BE[[!O[iY~?[d۪[[[[ZZZZBZYY i) V?Z~? AA9%"AAknNA"AZAbAjArAzAAAP!@A-2AtAuz@Av<ArA0üA*?A&AN<*A/!:?2A8ӽ:AmBA/!:?JA8ӽRAm٘i)I9uz@YpG J@=JJJJE&K YQY~?y_A{E777:zm9SB)BE[[q[6Y~?[[ݪ[[[[ZZZZBZYY i) 4?A SA<*A2:?2Ayҽ:A{\BA2:?JAyҽRA{\٘i)I9H{@YG JG<JJJJE&K YnY~?y!`A}E77}m9)yB[[fq[ĘY~?[2ߪ[[[[ZZZZBZYY i) ( Y\Y~?y|\`An<Ej7j7em9)sBE[[ ][6Y~?[[[[[ZZZZBZYY i;) s\J[Y~?[o[[[[ZZZZBZYY i) 5Aq\=A@n?A u$A[<*A=Y:?2Aҽ:A<BA=Y:?JAҽRA<٘i)I96}@YG J\<JJJJE&K YY~?y:`AE{7{7m9)iBE[[3k6[Y~?[[[[[ZZZZBZYY i) 9Ă?6w?`??@1(})H??)@ I٘i)I9}@YG J^;J.:>JJJ E&Km> YZ~?yaAK=Eb77Pm9)cBE[[6[:)Z~?[H[[[[BZYY il) HAN?A@f{A u*AH:?2Aӽ:A<BAH:?JAӽRA<٘i)I9}@YG J狀JJJJE&K Y3Z~?y`AEZ7Z7m9)E[[F̽[AZ~?[![[[[BZYY i?Ҋ) 7AE?Aہ?A1*Af:?2Awѽ:A=BAf:?JAwѽRA=٘i)I9}@YlG J˿JJJJE&K YOZ~?y`AEb77{m9)dB[[f@[ZZ~?[[[[[BZYY i) (&;Aw=AG />A֊?A`?Af6*Avl:?2Aѽ:Aw"=BAvl:?JAѽRAw"=٘i)I9v}@YDG JJJJJE&K YkZ~?y`AE777m9QB)eBE[[ v[sZ~?[a[[[[BZYY i) RA ?A}?AQ*Ay=mٓHo7?ʿ ?ధ?H? ~?`ū ?)@ I٘i)I9|@YG JoB=J=JJJE&Ko> YZ~?y4`A\W>E{7{7;m9NB)iBE[[l[+Z~?[[[[[BZYY i`m)  ;Ii7?g< zC?))C ozC?zC? ǪY'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036033.383165 s, next control iter: 1743036033.763236 s, wait time: 0.380071 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9532&, header.stamp.nsec: 0&0 temperature: 13.565076&* salinity: 33.375313&, density: 1025.000000&* values[0]: 0.582595&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036033.783165 s.[I~,r'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233434@ elevatorAngleAction: -0.058006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200942 time: 1743036033.783479F (some fields omitted in printout)A(\@AR@A[~? AAl`%"AA%pNA"AZAbAjArAzAAAbg)@A kDtAiI|@AiCTA=Ayl>A u?A?A/Ԓ*A*j:?2A Խ:A=BA*j:?JA ԽRA=٘i)I9I|@YG J|C=JJJJE&K YXZ~?y] _AE77Шm9)lBE[[[fZ~?[[[[[BZYY i) v;Iiӫ?[< H?))_H?H?ЪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036033.803165 s, next control iter: 1743036034.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036034.203165 s.#I~,'AJ"J*J2J:JBJnJvJAQE@A<8@A[~? AAwn%"AApNA"AZAbAjArAzAAAU9P)@A瑣CtA>{@ASA=A-9>A`l?Aд?A1*A:?2A.ҽ:A(j=BA:?JA.ҽRA(j=٘i)I9{@Y=G J#JJJJE&K YZ~?y B_AE777fm9MB)oBE[[<[Z~?[[[[[BZYY i) Ҫ;IiE?P< N?))N?N?תYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036034.223165 s, next control iter: 1743036034.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036034.623165 s.Z)I~,i⧠'AAGz@A m@A[~? AA%"AApNA"AZAbAjArAzAAAV*@A+gUCtA4{@A;AJ=A >A_?A_?A *A:?2Aѽ:A=BA:?JAѽRA=٘i)I94{@YG JGJJJJ!E&K YZ~?y ^AE{7{7m9)sBE[[#=[}Z~?[[[[[BZYY i) I1;Ii?s!G< fJS?)) fJS?fJS?ym٪YYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036034.643165 s, next control iter: 1743036035.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9533, header.stamp.nsec: 00 temperature: 13.565165* salinity: 33.375320, density: 1025.000000* values[0]: 0.582148F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036035.043165 s.0I~, 'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036035.043287F (some fields omitted in printout)A= ף@A@A[~? AAʓ%"AA0pNA"AZAbAjArAzAAA)oF*@A BtA™z@A`<A=Ah>AQ?A\?Aѻ*A:?2Aѽ:A =BA:?JAѽRA =٘i)I9z@YG JvJJJJ$E&K Y4[~?y^AE77m9LB)wB¹E[[Tcw=[L [~?[a[[[[BZYY i) [;Ii?_>< X?))X?X?!٪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036035.063165 s, next control iter: 1743036035.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036035.463165 s.Y7I~,ݠ'AAffff@A'_[ٞ@A[~? AA%"AA\qNA"AZAbAjArAzAAA!:+@A)BAtAy@Aif<A/=AZ>A9??AL?Af*Aa:?2Acҽ:A9 =BAa:?JAcҽRA9 =YX=K>y,=`g<ٓHf?@bӿ@?`te?`T~?? `̌?@?)X= I٘i)I9y@Y%G J JB<JJJ'E&K.p> Y-[~?y-^A>E77{7&m9)|B[[ =[%[~?[[[[[BZYY i) *;Ii?i1< x]?))px]?x]?ժYIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036035.483165 s, next control iter: 1743036035.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9534, header.stamp.nsec: 00 temperature: 13.565308* salinity: 33.375340, density: 1025.000000* values[0]: 0.581514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036035.883165 s.y=I~,M'AJ"J*J2J:JBJnJvJA(@A@AQ\~? AA/%"AAkCqNA"AZAbAjArAzAAA2,,@A @tA#^y@AT;As=A3>A*?A?Aζ*Aέ:?2Aӽ:AÛ=BAέ:?JAӽRAÛ=٘i)I9^y@YG JJJJJ)E&K YH[~?y]AE77m9KB)BŹE[[z=[k?[~?[[[[[BZYY i׈) v:IiS?׉%< jb?))<jb?jb?ЪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036035.903165 s, next control iter: 1743036036.283184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036036.303165 s.XDI~,g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.254371@ elevatorAngleAction: -0.066818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036036.303297F (some fields omitted in printout)AQ@A$aD@A*\~? AA%"AAWjqNA"AZAbAjArAzAAA(J,@AڔC@tA~x@AyA=A>A ?A m?A魼*A\:?2A۬ҽ:A]<BA\:?JA۬ҽRA]<٘i)I9x@YjG JXJJJJ,E&K Yb[~?yG]AE7{7Pm9)BȹE[[=[?Y[~?[0[[[[BZYY i) ;4:Iiq?< ,h?)) ,h?,h?˪Y$pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036036.323165 s, next control iter: 1743036036.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9535*, header.stamp.nsec: 0*0 temperature: 13.565469** salinity: 33.375340*, density: 1025.000000** values[0]: 0.580882*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036036.723165 s.KI~,H.'AJ"J*J2J:J?BJ?nJ5vJAz@Aez@AzD\~? A A:%"AA qNA"AZAbAjArAzAAA,l6ib-@Anl>tA9x@AƒOA% =A>A7?A `?A>Z*A:?2A9ӽ:A( <BA:?JA9ӽRA( <٘i)I99x@YG JJJJJ/E&K Y}[~?y&\AE77m9JB)B˹E[[}>[6s[~?[[[[[BZYY i) Iib? < zm?))zm?zm?BŪY6]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036036.743165 s, next control iter: 1743036037.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036037.143165 s.Y/RI~,*I'AA ףp@AKe@A]\~? A A&%"AAqNA"AZAbAjArAzAAA@c-@A;d=tAw@AsAW=A)>A?A'?A *A:?2Aӽ:Aӂ<BA:?JAӽRAӂ<٘i)I9w@YG JJJJJ2E&K Y[~?yyw\AEŧ7b7{m9IB)BιE[[ '>[J[~?[[[[[BZYY i) ٿIiaU?< r?))r?r?yՈY2"YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036037.183165 s, next control iter: 1743036037.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036037.563165 s.XI~,N d'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036037.563279F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A8'@A/w\~? A ApM%"AA/qNA"AZAbAjArAzAAA|-.@AՅA,?A?AV旼*A:?2ATԽ:A@<BA:?JATԽRA@>y!ĉ=.ٓHN?Opٿ@ij?@X?\?? 15t?)@A> I٘i)I93w@YtG J4JȥJJJ4E&K8r> Y[~?y\A>E77m9)BѹE[[.<>[[~?[v[[[[BZYY i) IimA?; |x?))>q|x?|x?ȽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036037.583165 s, next control iter: 1743036037.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9536, header.stamp.nsec: 00 temperature: 13.565625* salinity: 33.375381, density: 1025.000000* values[0]: 0.580315F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036037.983165 s._I~,~'AA\(@A @AW\~? AA w%"AAlrNA"AZAbAjArAzAAA7bm./@Ae|I+;tAv@AiP:A=A1a>A2?A?ASq*A:?2AԽ:A<BA:?JAԽRA<٘i)I9v@Y'G JYJJJJ7E&K Y[~?y{[AEŧ7b7m9)B[[}Q>[[~?[[[[[BZYY i) MIi2/?A; zq}?))c%zq}?zq}?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036038.023165 s, next control iter: 1743036038.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036038.403165 s.&fI~,͙'AJ"J*J2J:J?BJ?nJ5vJAQ^@AiQ@AY\~? A/Aȣ%"AAs*rNA"AZAbAjArAzAAAVP/@Ac߷9tA5v@A44<AS=A4>A~?A M?AX*A:?2Anҽ:AXn<BA:?JAnҽRAXn<٘i)I95v@YG JXJJJJ:E&K Yy[~?ya[AE{7{7;m9FB)BӹE[[ g>[[~?[[[[[BZYY i) 9Ii?.; ei?)) ei?ei?aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036038.423165 s, next control iter: 1743036038.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9537", header.stamp.nsec: 0"0 temperature: 13.565722"* salinity: 33.375374", density: 1025.000000"* values[0]: 0.579816"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036038.823165 s.ɐlI~,-'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202722 time: 1743036038.823587F (some fields omitted in printout)AGz@A`n@A5\~? AA%"AAAPrNA"AZAbAjArAzAAAPf.0@AኳJ,8tA5u@Au<A<=A>AZ?A W?An*A.:?2Ahӽ:A<BA.:?JAhӽRA<٘i)I9u@YG JjJJJJ[[~?['ު[[[[BZYY i) Ii ?b; ?))??%YFFF]_:Waiting for Gazebo time sync: latest Gz time: 1743036038.863165 s, next control iter: 1743036039.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036039.243165 s.sI~,~ϡ'AJ"J*J2J:J_?BJ_?nJ5vJAףp=ʠ@A5'/2@A\~? AA6%"AAurNA"AZAbAjArAzAAAJ8Ey0@A1|6tA;u@A/5<A=A5h>A`3?Ax ?Ac*A:?2AFԽ:A@<BA:?JAFԽRA@<٘i)I9;u@YAG JJJJJ?E&K YV\~?yZAE7777fm9DB)BٹE[[K>[\~?[ܪ[[[[BZYY iK)  ĻIi*?; چ?))چ?چ?fYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036039.283165 s, next control iter: 1743036039.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036039.663165 s.zI~,q'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9538, header.stamp.nsec: 00 temperature: 13.565841* salinity: 33.375389, density: 1025.000000* values[0]: 0.579319F (some fields omitted in printout)A@AU@Al\~? A$A;%"AA"rNA"AZAbAjArAzAAA(c0@Aw:44tAt@Al:Akӂ=AN ?Az ?A?A{*Aw:?2Adս:A\<BAw:?JAdսRA\?ycӂ=ȱ:ٓH?u!߿ ? s??w?W-V?H?)> I٘i)I9t@YG J.J0JJJBE&Ks> Y3\~?yPZA?ñE7m9CB)BܹE[[>[(\~?[٪[[[[BZYY i) oIiK>; 4?))vs4?4?6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036039.683165 s, next control iter: 1743036040.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036040.083165 s.DI~,S'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238176@ elevatorAngleAction: -0.076432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743036040.083285F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\5@A pA(@A ]~? A)Ant%"AA*rNA"AZAbAjArAzAAA*_ 1@Aދ*2tA Ut@AFA=A:p?A`?A x?A E*A&:?2A'ս:Au<BA&:?JA'սRAu<٘i)I9Ut@YG JrJJJJDE&K YK\~?ylYAƱEŧ7ŧ7m9)B[[>[CB\~?[?ת[[[[BZYY i) jIiѻ>uhp; H?))hH?H?CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036040.103165 s, next control iter: 1743036040.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036040.503165 s.I~,D4 'AARk@A+z^@A#]~? AA%"AArNA"AZAbAjArAzAAAkeV1@A?1tAs@A> qA4=A ?A ޫ?Aܺ?A݆}*A :?2A7sԽ:A<BA :?JA7sԽRA<I٘i)I9s@YtG JJJJJGE&K Yfd\~?y#ܪYAȱE77&m9BB)B߹E[[3>[ \\~?[Ԫ[[[[BZYY i) `Ii>G; :?)) :?:?ysYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036040.523165 s, next control iter: 1743036040.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9539, header.stamp.nsec: 00 temperature: 13.565933* salinity: 33.375397, density: 1025.000000* values[0]: 0.578859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036040.923165 s.7I~,;'AJ"J*J2J:JBJnJvJA{G@Aٗl<@A;]~? AA%"AAQ sNA"AZAbAjArAzAAAXi7 1@Aܟb/tAs@AxNA=AO?A@{?AX?A/*Ad:?2AaԽ:Ag<BAd:?JAaԽRAg<٘i)I9s@Y2G J\~JJJJJE&K Y}\~?yתIYA˱E7)7m9)BE[[>[u\~?[Ѫ[[[[BZYY i) J Iid>_s#; ͑?))͑?͑?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036040.943165 s, next control iter: 1743036041.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036041.343165 s.[\~?[Ϊ[[[[BZYY i) 30IiGN>; ?))??YVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036041.363165 s, next control iter: 1743036041.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9540*, header.stamp.nsec: 0*0 temperature: 13.566029** salinity: 33.375416*, density: 1025.000000** values[0]: 0.578457*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036041.763165 s.@I~,Ep'AJ"J*J2J:JBJnJvJA @A@Aj]~? AAst%"AA4QsNA"AZAbAjArAzAAA =.2@A. *tAr@A=;A3=A'?A?A 8?A*A:?2A)ս:Au=BA:?JA)սRAu=Y@8>?yQ={;ٓH2? E}?=?D? /?`9`|?b?)@8> I٘i)I9r@YG JRC=JJB<JJJOE&K5t> Y\~?yΪXA?бEŧ7b7m9>B)BE[[J>[̨\~?[p˪[[[[BZYY i) ?Ii>R: Z?)) wZ?Z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036041.783165 s, next control iter: 1743036042.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036042.183165 s.ˢI~,c'AA(\B@A 5@A;]~? AA}%"AAtsNA"AZAbAjArAzAAAF6\t2@AR (tAr@A]h<ADߏ=A߭ ?A@?A ?AQ'*Aõ:?2Adս:AQ =BAõ:?JAdսRAQ =٘i)I9r@Y]G JPJJJJRE&K Y#\~?yɪ3XAӱEj7j7|m9=B)BE[['o>[ \~?[ Ȫ[[[[BZYY i) ]OIiy=: #?)) #?#?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036042.203165 s, next control iter: 1743036042.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036042.603165 s.74I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036042.603290F (some fields omitted in printout)J"J*J2J:JBJnJvJAQx@A_Ek@A:]~? A#Ak%"AAsNA"AZAbAjArAzAAA,ҠJ2@AE(&tAq@A1c<Af=A~%?A@?AH?AD*Ac:?2A+ӽ:A=BAc:?JA+ӽRA=٘i)I9q@YG JJJJJJTE&K YP\~?yxĪWAֱE)7S7m9[C\~?[oĪ[[[[BZYY i) >^Iim:ٕw7 ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036042.623165 s, next control iter: 1743036043.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9541 , header.stamp.nsec: 0 0 temperature: 13.566127 * salinity: 33.375439 , density: 1025.000000 * values[0]: 0.577961 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036043.023165 s.ZI~,|'AAHz@ANB @A]~? A!A)R%"AA^sNA"AZAbAjArAzAAA+E>2@A-#tAq@A;AH=Ay*?Af?An?AF*AV:?2AԽ:Aͮ =BAV:?JAԽRAͮ =٘i)I9q@YG JB=JJJJWE&K Y\~?yovWAٱE7j7m9;B)BE[[>[j\~?[[[[[BZYY i) 7nI(I?iO y?))y?y?t̪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036043.043165 s, next control iter: 1743036043.423182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036043.443165 s.7öI~,>]ܢ'AJ"J*J2J:J?BJ?nJ5vJAq= @AdϞ֢@As]~? AܫA%"AAsNA"AZAbAjArAzAAA~_eC3@AA8-!tAp@AȥA =A[0?A@r'?A@ˆ?A *AK:?2A_ս:AX =BAK:?JA_սRAX =٘i)I9p@YnG JUC=JJJJZE&K Y ]~?ygWA۱E{7[o ]~?[[[[[BZYY i+) }I I?iýUz '?))'?'?{ϪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036043.463165 s, next control iter: 1743036043.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9542, header.stamp.nsec: 00 temperature: 13.566239* salinity: 33.375458, density: 1025.000000* values[0]: 0.577457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036043.863165 s.+I~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036043.863302F (some fields omitted in printout)A@A2 @A]~? AثA%"AAsNA"AZAbAjArAzAAAׯ|&3@A`Ӳ̏tAXp@A=TAI#=Ai5?A ?AaW?AY*A:?2Akֽ:Ar =BA:?JAkֽRAr =٘i)I9p@YG JdJJJJ]E&K Y ]~?y_VAޱE777m9:B)BE[[?[O&]~?[m[[[[BZYY i) OI I?i=wc LP?))LP?LP?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036043.883165 s, next control iter: 1743036044.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036044.283165 s.8RI~,'AJ"J*J2J:JBJnJvJA(\O@A DOB@A]~? AFԫAH%"AAtNA"AZAbAjArAzAAA$3@AGqtA7o@A#\nA̛=A:?A?A"?Aѫ*As:?2Aֽ:A8 =BAs:?JAֽRA8 =٘i)I9o@YG JQJJJJ_E&K  n9Y 8]~? n9yWZVAE77fn98B)BE[[ˬ?[>]~?[[[[[BZYY i) >I I?i&{պ %?))%?%?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036044.303165 s, next control iter: 1743036044.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 95432, header.stamp.nsec: 020 temperature: 13.5663722* salinity: 33.3754582, density: 1025.0000002* values[0]: 0.5769222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036044.703165 s.ԺI~,-'AAQ@A$x@A.^~? AϫAS%"AA@tNA"AZAbAjArAzAAA/N[ 4@A tA o@A AK=A@?Ax\?A?Aܖ*Aq:?2Ahֽ:Af=BAq:?JAhֽRAf=٘i)I9 o@Y|G JB=JJJJbE&K Y>O]~?yMUAEb7b7n95B)BE[[t ?[rW]~?[s[[[[BZYY i) I6I?i= 2?))2?2?yڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036044.723165 s, next control iter: 1743036045.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036045.123165 s.7I~,]G'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036045.123295F (some fields omitted in printout)J"J*J2J:JBJnJvJAGả@Ah׭@A}^~? A˫A%"AAatNA"AZAbAjArAzAAA\G}_IK4@ADZ6tA[{n@A;A=A%E?A2?A 7?A*A:?2ALֽ:Apa=BA:?JALֽRApa=٘i)I9{n@Y%G JC=JJJJeE&K Ygf]~?yFUAE7{7 n94B)BE[[=?[o]~?[[[[[BZYY i) ۫IuI?iMfF |߭?))|߭?|߭?BߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036045.143165 s, next control iter: 1743036045.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036045.543165 s.II~,b'AA= ף@AE@A}2^~? A3ƫADW%"AAtNA"AZAbAjArAzAAAJ4@ALEtAm@A7=<A=A2J?A?A`n?A@*A\t:?2Aֽ:AKp=BA\t:?JAֽRAKp=٘i)I9m@YG JB=JJJJgE&K Y}]~?y=>UAE)7b7' n93B)įBE[[ ?[q]~?[[[[[BZYY i) *cII?iTU  °?))°?°?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036045.563165 s, next control iter: 1743036045.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9544, header.stamp.nsec: 00 temperature: 13.566520* salinity: 33.375458, density: 1025.000000* values[0]: 0.576334F (some fields omitted in printout)>}]~?)>= rAdjusting time to match Gazebo time: 1743036045.963165 s.xI~,}'AJ"J*J2J:JBJnJvJAffff&@AH]@A*G^~? A?A%"AA5tNA"AZAbAjArAzAAAۼ4@A X?tAdGm@Au<A4=A_O?AO?At-?AKؾ*Ah:?2Awֽ:A==BAh:?JAwֽRA==YK?O?yV{=^v<ٓH?-eG? ?g? 2?V ?^?)K? I٘i)I9Gm@YiG J|C=J=JJJjE&K> Y]~?yܚTAO?E777n92B)ȯBE[[?[{]~?[[[[[BZYY i) *IH?i'4 \?))iq\?\?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036046.003165 s, next control iter: 1743036046.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036046.383165 s.I~,4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.235755@ elevatorAngleAction: -0.085532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036046.383284F (some fields omitted in printout)A(\@AyO@A[^~? A+Ac%"AAPtNA"AZAbAjArAzAAAo?+P5@A5% tAl@AV-<A=A9T?A1?A ?A*A]:?2Aֽ:A|=BA]:?JAֽRA|=٘i)I9l@YG JJJJJmE&K Yr]~?y{\TAE77Qn9)ͯB[[w$?[Z]~?[[[[[BZYY i) VI5H?iqr[ J?)) J?J?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036046.403165 s, next control iter: 1743036046.783180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9545&, header.stamp.nsec: 0&0 temperature: 13.566720&* salinity: 33.375481&, density: 1025.000000&* values[0]: 0.575684&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036046.803165 s.uAI~,sg'AJ"J*J2J:JBJnJvJA둤@A.ᄤ@Ao^~? AA|%"AAtNA"AZAbAjArAzAAA$+C5@AFr tA l@Aa:A3=AZ?A`{?A`?A{ ü*Av:?2AP(ս:AH=BAv:?JAP(սRAH=٘i)I9l@YG J¼JJJJoE&K Y]~?ySAEb7n9-B)E[[@*?[]~?[[[[[BZYY i) jIH?iXƾW} b?))b?b?KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036046.823165 s, next control iter: 1743036047.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036047.223165 s.gI~,HΣ'AAzǤ@Az]@A&^~? AA%"AAtNA"AZAbAjArAzAAAI}5@A却tA]k@A jA s=A5?_?A\?Ag?Azü*An:?2A ս:A=BAn:?JA սRA=٘i)I9]k@Y?G JpüJJJJrE&K YN]~?yzSAE7777|n9)үB[[%0?[p]~?[[[[[BZYY i) Z¼IH?ifݾF ?))??Y56YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036047.243165 s, next control iter: 1743036047.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036047.643165 s.zI~,*'AJ"J*J2J:J2?BJ2?nJX5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036047.643318F (some fields omitted in printout)A ףp@Ad@Ar^~? A(AM%"AA}uNA"AZAbAjArAzAAAZ85@Aފ_tArj@AgsA㷱=Azd?Ai>?A" ?AƼ*ALd:?2Aֽ:AS=BALd:?JAֽRAS=٘i)I9j@YG JļJJJJuE&K Y]~?yW SAEn9,B)֯BE[[5?[]~?[[[[[BZYY i) /ʼIvH?i о?))о?о?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036047.663165 s, next control iter: 1743036048.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9546, header.stamp.nsec: 00 temperature: 13.566907* salinity: 33.375496, density: 1025.000000* values[0]: 0.574985F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036048.063165 s.I~,V 'AA33333@AXc'&@Ac^~? AA%"AA}7uNA"AZAbAjArAzAAAײLj5@Ac*sArj@AFA=A̗i?A?Ab?A<̼*AiZ:?2A8ֽ:A=BAiZ:?JA8ֽRA=Y 91?Qi?y޳=GٓHa?`O@{?1?n?@C?jt;܈?) 91? I٘i)I9j@YtG J/ɼJX<JJJwE&Kt> Y]~?ydzRAQi?Eb77"n9+B)گBE[[;?[^~?[˄[[[[BZYY i) JѼI!H?ikf r?))r?r?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036048.083165 s, next control iter: 1743036048.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036048.483165 s.}_I~,'AJ"J*J2J:JBJnJvJA\h@AEk[@A^~? A䠫A&%"AASuNA"AZAbAjArAzAAAS+6@A<~sA~`i@A,EA⿵=Aܗn?A s?A?AeԼ*AP:?2Aֽ:A8=BAP:?JAֽRA8=٘i)I9`i@Y G JEмJJJJzE&K YL^~?ypsRAE77{7<&n9)B[[2A?[R#^~?[~[[[[BZYY i) |ؼIH?i Mv?)) Mv?Mv?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036048.503165 s, next control iter: 1743036048.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9547, header.stamp.nsec: 00 temperature: 13.567134* salinity: 33.375504, density: 1025.000000* values[0]: 0.574260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036048.903165 s. I~,9'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085532< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743036048.903271F (some fields omitted in printout)AQ@AB@A(^~? AA%"AAouNA"AZAbAjArAzAAAoub6@A!sAsh@A;Ac&=As?A@=?A ?A"ݼ*AU:?2Amս:Aϙ=BAU:?JAmսRAϙ=٘i)I9h@Y G JؼJJJJ}E&K Y^~?y}lQAEŧ7b7)n9&B)BE[[{G?[B8^~?[bx[[[[BZYY i) ߼IFH?i"л T?))T?T?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036048.923165 s, next control iter: 1743036049.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036049.323165 s.}I~,BT'AJ"J*J2J:J?BJ?nJ 5vJAGzԥ@ATqǥ@A^~? A+A %"AA(uNA"AZAbAjArAzAAAIn6@A+M3WsAXg@A7k<A=Ax?A?A@C\?A*AL:?2A_Aս:Az =BAL:?JA_AսRAz =٘i)I9g@Y( G J߼JJJJE&K Y#^~?ye&QAE77{7g-n9)B[[biM?[L^~?[q[[[[ZZ¸BZYY i¸ƪ=) ǦӼIH?i7-Lݻ 9?))9?9?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036049.343165 s, next control iter: 1743036049.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9548*, header.stamp.nsec: 0*0 temperature: 13.567388** salinity: 33.375496*, density: 1025.000000** values[0]: 0.573481*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036049.743165 s.WI~,qo'AAףp= @AN1@Aj^~? A%Au}%"AAuNA"AZAbAjArAzAAAU6@A;sA.g@AZ]<Ao^=A2}?A?AS?A7M*AD:?2Arս:AG2 =BAD:?JArսRAG2 =٘i)I9.g@Y G JJJJJE&K Y"5^~?y^PAE70n9%B)B E[[_S?[a^~?[9k[[[[ZZBZYY i) ǼI4H?i5` G%?))G%?G%?RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036049.763165 s, next control iter: 1743036050.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036050.163165 s.q}"I~,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: 0.083387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036050.163271F (some fields omitted in printout)A@@Ad2@As_~? AA%"AA uNA"AZAbAjArAzAAAKdqn7@ADpsAw]f@A";Ah4=A?A|Y?A`?AT*AJ:?2ARֽ:A<BAJ:?JARֽRA<٘i)I9]f@Y4 G J*B=JJJJE&K YmF^~?yW4PAEZ7SI74n9"B)B[[\Y?[t^~?[_d[[[[ZZBZYY i) AIH?i; ?))??;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036050.203165 s, next control iter: 1743036050.563175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036050.583165 s. (I~,&S'AA)\u@Aoh@A_~? AȂAl%"AAuNA"AZAbAjArAzAAAm37@Aދ sA{e@Ak7A1q=AJ?Ar?A G?AH*AR:?2Aֽ:A<BAR:?JAֽRA<٘i)I9{e@Y G J`C=JJJJE&K YW^~?yPOA E{7{7'8n9!B)B E[[}[_?['^~?[_][[[[ZZBZYY i) IħH?i8@  ?)) ? ?y=&=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036050.623165 s, next control iter: 1743036050.983188 s, wait time: 0.360023 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9549, header.stamp.nsec: 00 temperature: 13.567657* salinity: 33.375500, density: 1025.000000* values[0]: 0.572614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036051.003165 s.} 0I~,a4'AJ"J*J2J:J?BJ?nJ5vJAR@AuRz@AG#_~? Ar|A<%"AAzuNA"AZAbAjArAzAAAL>d7@AzF?sAd@AbycA9Pv=A"?A^?AL?A*AU:?2A׽:AOX<BAU:?JA׽RAOX<٘i)I9d@Y( G JJJJJE&K Yh^~?yICOA Ej7;n9B)B E[[/_e?[^~?[6V[[[[ZZBZYY i) ߌIOH?iB 9?))9?9?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036051.023165 s, next control iter: 1743036051.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036051.423165 s.u6I~,ۤ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036051.423282F (some fields omitted in printout)A{G@Aկt>Ԧ@A3_~? AvAc%"AA vNA"AZAbAjArAzAAAg[ϔ7@A]QsA-c@AzAHc2=A?A(?A ?Azμ*A0V:?2A ׽:A;BA0V:?JA ׽RA;٘i)I9c@Y G J JJJJE&K YAz^~?yBNAE{7R?n9B)BE[[ck?[D^~?[N[[[[ZZBZYY i) IՒH?iBl ?))??azYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036051.463165 s, next control iter: 1743036051.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9550, header.stamp.nsec: 00 temperature: 13.567987* salinity: 33.375523, density: 1025.000000* values[0]: 0.571643F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036051.843165 s.JJJE&K{> Y^~?y3DNA?E{7j7}Fn9B)BE[[P`w?[^~?[?[[[[ZZBZYY i,P=) IS}H?iN{m ?))h??MtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036052.283165 s, next control iter: 1743036052.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 95512, header.stamp.nsec: 020 temperature: 13.5681922* salinity: 33.3755382, density: 1025.0000002* values[0]: 0.5709262F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036052.683165 s.lJI~,^+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249815> elevatorAngleAction: 0.064606< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743036052.683291F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@Au@A__~? AbAq%"AAOvNA"AZAbAjArAzAAAC݌8@A`-,sAYb@Am7<A{OλA]?AJ?Aұ?AI*AE8:?2AN׽:A؀BAE8:?JAN׽RA؀٘i)I9Yb@Y G J,tJJJJE&K Yq^~?y+6NAEb77Jn9B)E[[c}?[^~?[M8[[[[ZZBZYY i;Ι=) {oIqH?iZ ?)) ??(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036052.683165 s, next control iter: 1743036053.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036053.103165 s.QI~,F'AAQ@AUE@Am_~? AI[Ai%"AANevNA"AZAbAjArAzAAADbG8@Aa]sAb@Am<AA?Af?A(?Ahڻ*A@:?2A>Fֽ:ArBA@:?JA>FֽRAr٘i)I9b@Y G J"JJJJE&K Y^~?y$)NAE77{7Mn9B)BE[[!?[^~?[u0[[[[ZZBZYY i) .[IJeH?indM2 b?))b?b?yY=E)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036053.123165 s, next control iter: 1743036053.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036053.523165 s.WI~,{a'AJ"J*J2J:J?BJ?nJ45vJAHz@A @Av{_~? AaTA%"AAEzvNA"AZAbAjArAzAAA UKp8@AsAa@Ar!<A Aj?Ao?Ai5?A&*A5:?2A1ֽ:AͼBA5:?JA1ֽRAͼ٘i)I9a@Y G JSB=JJJJE&K Y\^~?y NAE777=Qn9)B[[„?[J_~?[t([[[[BZYY i) GIXH?i)l$ ?))??yt2=<7*Y1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036053.543165 s, next control iter: 1743036053.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9552, header.stamp.nsec: 00 temperature: 13.568278* salinity: 33.375534, density: 1025.000000* values[0]: 0.570606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036053.943165 s.^d^I~,[]|'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075100< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036053.943315F (some fields omitted in printout)Aq= #@A]@A_~? AcMALw%"AAvNA"AZAbAjArAzAAA$8@AkEsAa@A=Ab6A|?AK?Aq?AMRR;*A+:?2Aֽ:ABA+:?JAֽRA9٘i)I9a@Y G Jj9C=JJJJE&K Y^~?y4NAE7Tn9)[[:χ?[L_~?[P [[[[BZYY i) 84IKH?iq v?))v?v?u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036053.963165 s, next control iter: 1743036054.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036054.363165 s.eI~,>'AJ"J*J2J:J?BJ?nJ*5vJAY@AiSuL@AL_~? AQFA%"AA/vNA"AZAbAjArAzAAAtA8@A?e5sAb@A(A\A?Ay?A?A;*A%":?2Aս:ABA%":?JAսRAY/%?枛?y\;)ٓH6?`-@?RG? q ?x?)/%? I٘i)I9b@Y G J_;JbJJJE&Ku> Y^~?y XNA? D!Eb77hXn9B)BE[[֊?[_~?[[[[[BZYY i"f=) 6#I=H?i~Ԝ" ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036054.383165 s, next control iter: 1743036054.763182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9553&, header.stamp.nsec: 0&0 temperature: 13.568213&* salinity: 33.375534&, density: 1025.000000&* values[0]: 0.570666&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036054.783165 s.[kI~,'AA(\@A~U.T@A_~? A+?A>%"AAvNA"AZAbAjArAzAAA5R+8@AsA^b@AxAzn|Ah?A?A?ApU;<*An:?2ARս:AQBAn:?JARսRAQ٘i)I9^b@Y G J|<JJJJE&K Yx^~?yNA$E7777[n9)B[[v?[V+_~?[[[[[BZYY i) I/H?i&o&) ?))??ժ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036054.803165 s, next control iter: 1743036055.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036055.203165 s.sI~,ͥ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743036055.203277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQŨ@A:W@AM_~? A7Aw%"AAUvNA"AZAbAjArAzAAAP(d9@A%#psAb@AVGA?A?A?Ai?Als<*A:?2ADֽ:AgBA:?JADֽRAg٘i)I9b@Y G JW<JJJJE&K YK^~?yhNA&E7_n9)B[[?[8_~?[F[[[[BZYY iݪ=) 2{I!H?i<~a. x?))x?x?/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036055.223165 s, next control iter: 1743036055.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036055.623165 s.XyI~,a'AAG@A@A_~? A0A#%"AAvNA"AZAbAjArAzAAA|)9@AdK+sA&c@A">A凑A0p?Ae?A@O?Ak&<*A:?2A`ֽ:AmBA:?JA`ֽRAm٘i)I9&c@Y? G J<JJJJE&K Y^~?y$7OA)EZ7'cn9B)BE[[&?[E_~?[[[[[BZYY i) yIH?iKeL2 ?))??y0~f=*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743036055.643165 s, next control iter: 1743036056.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9554, header.stamp.nsec: 00 temperature: 13.568038* salinity: 33.375546, density: 1025.000000* values[0]: 0.571016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036056.043165 s.J I~"J*J2J,'A:J.?BJ.?nJG5vJA= ף0@A#@Ad_~? AJ)A84%"AAvNA"AZAbAjArAzAAA`Y \J9@AT1P}sA֟c@Aa<A\AH'?A?A?AJ <*A':?2A>׽:A BA':?JA>׽RA ٘i)I9c@Y G J<JJJJE&K Y^~?yOA,E77fn9B)BE[[?[P_~?[[[[[BZYY i) ŻIH?iSj4 ô?))ô?ô?y+=*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036056.063165 s, next control iter: 1743036056.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036056.463165 s.gI~,/'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036056.463303F (some fields omitted in printout)Afffff@AG \Y@A_~? A!A%"AAvNA"AZAbAjArAzAAA]d3i9@AnsAd@Akl<A5AԨ?A#?A@?A <*A:?2Aq׽:A BA:?JAq׽RA Y??y3m<ٓH?,s ?@{?@W`:? 5??)? I٘i)I9d@Y G J<JOJJJE&Kx> Y_~?yZOA?.EZ787Rjn9)B[[H.?[.\_~?["[[[[BZYY i) ;ҧI"G?i; T?))T?T?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036056.483165 s, next control iter: 1743036056.863192 s, wait time: 0.380027 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9555, header.stamp.nsec: 00 temperature: 13.567747* salinity: 33.375568, density: 1025.000000* values[0]: 0.571606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036056.883165 s.yI~,I8'AJ"J*J2J:JT?BJT?nJp5vJA(@A-&6@A_~? A\AXV%"AAwNA"AZAbAjArAzAAA}c_9@Aw7L`sAd@At[<AWAn?A(??A s?A>5<*A:?2ALU׽:A! BA:?JALU׽RA! I٘i)I9d@Y( G J<JJJJE&K Y _~?y٩PPA1E77{7mn9)B[[C?[f_~?[;[[[[BZYY i) iIG?i.PA ?))??s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036056.903165 s, next control iter: 1743036057.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036057.303165 s.UI~,sgS'AAѩ@A#,*ĩ@A_~? AA@%"AAowNA"AZAbAjArAzAAAQU9@A?åsA/3e@A;AʜA?A[?A ?A<*AB:?2A ׽:A> BAB:?JA ׽RA> ٘i)I93e@Y~ G J&<JJJJE&K Y%_~?yNѩPA4E{7Z7}qn9 B)BE[[\?[p_~?[5۩[[[[BZYY i) VWIKG?iUE ]]@))]]@]]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036057.323165 s, next control iter: 1743036057.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9556., header.stamp.nsec: 0.0 temperature: 13.567445.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.572269.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036057.723165 s.I~,Hn'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743036057.723329F (some fields omitted in printout)Az@AbK@A_~? A1 AJ}%"AA:%wNA"AZAbAjArAzAAA*g9@A*$sAe@AyAsXAw?AU?A Z5?AJ<*A :?2Aֽ:A0: BA :?JAֽRA0: ٘i)I9e@Y G Jݯ<JJJJE&K Y6_~?yȩQA6E77un9 B)ۯBE[[ x?[y_~?[ҩ[[[[BZYY i) ItG?isH @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036057.743165 s, next control iter: 1743036058.123184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036058.143165 s.W/I~, *'AA ףp=@A\4d0@A_~? AAh%"AAF2wNA"AZAbAjArAzAAA{Nd9@AxpsA%_f@A@]A2њA?Ar#?A[?Am<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9_f@Y5 G JG<JJJJE&K YE_~?yCQA9ESI7SI7xn9)֯B[[?[n_~?[ȩ[[[[BZYY i) dмI~G?iԝJ dl@))dl@dl@ *YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743036058.163165 s, next control iter: 1743036058.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036058.563165 s.I~,R 'AJ"J*J2J:J?BJ?nJ5vJA3333s@A4(f@A_~? AA%"AA>wNA"AZAbAjArAzAAAL&k9@AM!}sA4f@AjAdrA?A *Q?A?Az<*A>:?2Aֽ:A$ BA>:?JAֽRA$ Y??ybnMkٓH ~0? @ `z?8`?CK ?T@z?)? I٘i)I9f@Y G J-<J:JJJE&Kx> Y"_~?yQA? elevatorAngleAction: 0.065756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036058.983298F (some fields omitted in printout)A\@A ꛪ@A*`~? A A?%"AAJwNA"AZAbAjArAzAAAh=:@AOߪsA g@AAAI?Aw?A~?Aw<*AA:?2Aֽ:ABAA:?JAֽRA٘i)I9g@Y G Jc<JJJJE&K Y&_~?yۮRRA>E77j7n9B)ʯBE[[̬?[T_~?[P[[[[BZYY i) w9I0G?i楿ZT 4u@))4u@4u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036059.003165 s, next control iter: 1743036059.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036059.403165 s.&I~,٦'AJ"J*J2J:JBJnJvJAQު@AѪ@A`~? A=A%"AATwNA"AZAbAjArAzAAAF:@AqS9sAh@Ai*O;AA?A@0?A ?A<*A:?2AZ׽:ABA:?JAZ׽RA٘i)I9h@YE G J<JJJJE&K Y+_~?y'RAAE777hn9)ƯB[[?[_~?[嬩[[[[BZYY i) >:I{G?i_˄W @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036059.443165 s, next control iter: 1743036059.803177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9558&, header.stamp.nsec: 0&0 temperature: 13.566800&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.573743&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036059.823165 s.I~,W'AAGz@A/o@AD`~? AcAp%"AA^wNA"AZAbAjArAzAAAW-:@AbgnsA+h@AH<AA-?Aֵ?A?Ay@<*AY:?2A׽:ABAY:?JA׽RA٘i)I9h@Y G J<JJJJòE&K Y@/_~?ysSADEj7Z7n9)¯B[[!?[d_~?[i[[[[BZYY i) T;IhG?i̩WY n @))n @n @v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036059.843165 s, next control iter: 1743036060.223181 s, wait time: 0.380016 s@/_~?)s rAdjusting time to match Gazebo time: 1743036060.243165 s.I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036060.243278F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=J@AY2=@A`~? AܪA@ %"AAgwNA"AZAbAjArAzAAAg6>:@A7ssA)i@A t<A AR?A?A`;?A^<*Ai:?2A׽:ABAi:?JA׽RA٘i)I9)i@Y G JЛ<JJJJŲE&K Y3_~?ySAFE7)7n9B)BE[[92?[P_~?[[[[[BZYY i) O;IVG?i,Y  @)) @ @^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036060.263165 s, next control iter: 1743036060.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036060.663165 s.I~,q*'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9559, header.stamp.nsec: 00 temperature: 13.566502* salinity: 33.375584, density: 1025.000000* values[0]: 0.574403F (some fields omitted in printout)A@A r@AG`~? AԪA%"AASpwNA"AZAbAjArAzAAAܺN:@AersAi@AA <A4A?A 1?A?A;<*A0:?2A$I׽:ANBA0:?JA$I׽RANY??y} <ٓH@?Moz??@?.Sz?!?@~?)? I٘i)I9i@Y5G Je<Jn<JJFJȲE&Kx> Y4_~?ySA?IE7{7(n9B)BE[[S?[{_~?[S[[[[BZYY i=) ;ICG?iޭ̍^ : @)): @: @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036060.683165 s, next control iter: 1743036061.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036061.083165 s.DI~, SE'AJ"J*J2J:JBJnJvJA)\µ@AV򱻨@A`~? A̪A?&"AAwwNA"AZAbAjArAzAAA8]:@A*zsA(j@AmA~'A|g?A@9?A+?AA<*A:?2A7ֽ:ABA:?JA7ֽRA٘i)I9(j@YG J<B=JJJJ˲E&K YB6_~?y&ATALE{7n9)B[[(x?[_~?[[[[[BZYY i) 'ѥ;I0G?ia Y&@))Y&@Y&@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036061.103165 s, next control iter: 1743036061.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036061.503165 s.I~,D4`'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036061.503302F (some fields omitted in printout)AR@Ayޫ@A8"`~? AĪAJ&"AA~wNA"AZAbAjArAzAAAi:@AM؞8 vsAj@A4),A䈽A?Ao?A>?A<*A:?2AϪֽ:AAQBA:?JAϪֽRAAQ٘i)I9j@YG Jj<C=JJJJͲE&K Y7_~?y[zTANE77Sn9)B[[.?[_~?[ }[[[[BZYY i) ;IG?ic @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036061.523165 s, next control iter: 1743036061.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9560, header.stamp.nsec: 00 temperature: 13.566253* salinity: 33.375584, density: 1025.000000* values[0]: 0.575041F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036061.923165 s.9I~,{'AJ"J*J2J:JBJnJvJA{G!@Au?@A%`~? AAhw&"AA„wNA"AZAbAjArAzAAA]6u:@A(qsA%k@AqRuAlAP?A ?AyO?A<*A:?2Aֽ:AnBA:?JAֽRAn٘i)I9%k@YG J<JJJJвE&K Y9_~?yqTAQEŧ7b7n9)B[[?[~_~?[[s[[[[BZYY i) /;I G?i&d @@))@@@@y=й*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036061.943165 s, next control iter: 1743036062.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036062.343165 s. elevatorAngleAction: 0.075028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036062.763293F (some fields omitted in printout)Ǎ@A'h@A+`~? AA&"AAkwNA"AZAbAjArAzAAAb'ܛ:@ATyXgsAl@AACA?A B?A'j?A<*A<:?2A0׽:A?4BA<:?JA0׽RA?4Y8γ??yBdhٓH@#X??'@!&%?>a ?)8γ? I٘i)I9l@YG J<B=JaK;JJJֲE&Kx> Y8_~?y_UA?WEj7Z7n9)B[[?[_~?[_[[[[BZYY i) :@A*lbsAV[[[[BZYY i) SR n9B)BE[[d?[y_~?[L[[[[BZYY i) / elevatorAngleAction: 0.075028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201342 time: 1743036064.023415F (some fields omitted in printout)AHz.@AF!@Aj0`~? ATAp&"AAٖwNA"AZAbAjArAzAAAؔ:@AXsAum@A+IT<A掽A?A`?A ~?A<*A9?2A`׽:A-BA9?JA`׽RA-٘i)I9um@YG J)<JJJJ޲E&K Yi4_~?yEVA_E{7{7Ӫn9)B[[ ?[_~?[B[[[[BZYY i) a?7'AA@A+.@A0`~? A)A$&"AArwNA"AZAbAjArAzAAAK:@A oNsAln@A1λA,bA?A n%A?Ae<*A9?2A]ֽ:A% BA9?JA]ֽRA% Y??ylaOϻٓH˱ÿZs?? ÿ oh?y@?)? I٘i)I9ln@YG J5<J@JJJE&K@x> Y._~?y4WA?dE77{7n9B)BE[[5?[c_~?[r/[[[[BZYY i) (^ elevatorAngleAction: 0.075028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419994J2 time: 1743036065.283293F (some fields omitted in printout)"J*J2J:JBJnJvJA(\ϭ@A[;Q­@AY0`~? A|Ac&"AAwNA"AZAbAjArAzAAAYR:@AIsAn@A-bAA]?A`lA|?Aϡ<*A9?2Aqֽ:A BA9?JAqֽRA ٘i)I9n@YmG J<JJJJE&K Y2*_~?yb+WAgEb77n9B)BE[[?[)_~?[%[[[[BZYY iʍ=) km elevatorAngleAction: 0.083767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036066.543292F (some fields omitted in printout)A= ףp@AŪAc@A+`~? AcA;&"AAwNA"AZAbAjArAzAAA$? :@A,:sAp@AQy;AfAj]?A@sA@gd?A<*A 9?2A\A׽:ASBA 9?JA\A׽RAS٘i)I9p@YfG J<JJJJE&K Y!_~?yIYAoE777Sn9)|B[[ڂ?[_~?[ [[[[BZYY i)  Y_~?yYA?qE7{7n9B)wBE[[?[_~?[[[[[BZYY i) 7 elevatorAngleAction: 0.083767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036067.803326F (some fields omitted in printout)A@A'"@A!`~? AKA? &"AA҄wNA"AZAbAjArAzAAA5h:@ANy6N,sA$r@A&<AAn9)fB[[C?[de_~?[ڨ[[[[BZYY i) 2 elevatorAngleAction: 0.083767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743036069.063312F (some fields omitted in printout)A3333@A('@A`~? A3AW &"AAwpwNA"AZAbAjArAzAAAs\=:@AsAs@A9muAQA?AĿA?A<*A9?2A>ֽ:A&BA9?JA>ֽRA&Y??yg5HvٓH@bֿ@?K?@!bֿ@O@9Q?[?)? I٘i)I9s@Y{G J<JąJJJE&K"x> Y_^~?y{ި[A?E7777n9B)bB E[[Zh?[Z_~?[Ѩ[[[[BZYY i) =i֨ \AE)77in9)]B[[?[N_~?[Ȩ[[[[BZYY i)  elevatorAngleAction: 0.083767< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036070.323314F (some fields omitted in printout)AGzT@A-\oG@A`~? AAz &"AAUwNA"AZAbAjArAzAAAM=:@A +ksAu@AL<A>Au?A8ɿA?Av<*Ah9?2AGC׽:AdBAh9?JAGC׽RAd٘i)I9u@YG J!<JJJJE&K Y^~?yŨ\AE777n9)RB[[@[5_~?[[[[[BZYY i) YwNA"AZAbAjArAzAAA1R+9@A@\sA)9w@AM<AכA@A`JͿAK?A7<*A9?2A׽:A BA9?JA׽RA Y?@y=uN<ٓHTܿS}? P? tܿm+???)? I٘i)I99w@YwG JF<JJJJ E&KCx> Y:^~?y]A@EZ7Z7n9)JB[[@[ _~?[Υ[[[[BZYY i)  elevatorAngleAction: 0.092751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036071.583299F (some fields omitted in printout)A)\@Axak@A/_~? AhAt&"AA2wNA"AZAbAjArAzAAAؼ9@A͕SsAw@A|;A)ARR@A#ϿA#?AK=<*A9?2Aֽ:AfBA9?JAֽRAf٘i)I9w@YG J{<JJJJE&K Y^~?yƭP^AE7ŧ7Tn9B)FBE[[@[- _~?[g[[[[BZYY i) nBZYY i¸>) JA0@AXLѿA?A<*Aq9?2A7ֽ:AG!BAq9?JA7ֽRAG!I٘i)I9Ky@YG J<JJJJE&K Y^~?y?_AEZ7Z7n9);B[[@[^~?[[[[[ZZZZBZYY i)  Y z^~?y`A@E777n9B)0BE[[g @[^~?[4}[[[[ZZZZBZYY i) l5vJ,ck'AA(\@A,j@A_~? AA!Q&"AAGvNA"AZAbAjArAzAAA,5vJAHzn@ATa@A_~? AѩAm&"AA1vNA"AZAbAjArAzAAAO9uK8@AarA1}@A<An+A9p @AࣤտA#?A<*A9?2Aֽ:A-;BA9?JAֽRA-;٘i)I91}@YG J<JJJJ!E&K YL^~?yXxWaAE77io9 B)!BE[[c@[^~?[f[[[[ZZZZBZYY i) Wת'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082321< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036075.363300F (some fields omitted in printout)J"J*J2J:JBJnJvJAٲ@AK̲@A5_~? AréA\&"AA9vNA"AZAbAjArAzAAAw˖8@AO]rA~@A/5AG;A}@A-U׿AY?AA<*A=9?2Aֽ:Ar<BA=9?JAֽRArJJJ&E&Kvx> Yi,^~?yiaA@E{7{7 o9B)E[[r@[Ok^~?[HX[[[[ZZZZBZYY iz) N|ֽ:A<BA9?JA>ֽRA<٘i)I9~~@YG J;JJJJ,E&K Y ^~?y \aAEŧ77o9B)E[[6@[A^~?[J[[[[ZZZZBZYY i) XV5vJA= ף@A@AP_~? AA̜&"AAPvNA"AZAbAjArAzAAAu7@AoarA)b~@AlAUT=A5@A`ڿA@W?A޻*Aw9?2AWֽ:As<BAw9?JAWֽRAs<٘i)I9b~@YG J<JJJJ1E&K Y]~?y"NaAEb77o9B)!BE[[5@[^~?[=[[[[BZYY i) vb0JJJ4E&Kv> Y ]~?yGPaA@Eo9)#B[[:@[^~?[7[[[[BZYY iFe) n E&K Y]~?y[.`AE77+o9B)7BE[[ @[]~?[ [[[[BZYY i) n;IcD?i%fZӻ p@))p@ Q@yeЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036079.163165 s, next control iter: 1743036079.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036079.563165 s.I~,J 'AJ"J*J2J:JBJnJvJA3333@A#*@A ^~? AA&"AAuNA"AZAbAjArAzAAAy6@A:rA{@A} nAИ=A@A`&߿Aಔ?A*A9?2A׽:A=BA9?JA׽RA=Y@@y̘=nٓHT?`@k? kW?)@ I٘i)I9{@YNG JKB=J=JJJAE&K?x> Y2o]~?y(_A@²E77{7j/o9B)=BE[[u|"@[]~?[Y[[[[BZYY i) 5;I[D?iwɻ B>))B>s.S@y-~NҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036079.583165 s, next control iter: 1743036079.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9578, header.stamp.nsec: 00 temperature: 13.383935* salinity: 33.391697, density: 1025.000000* values[0]: 0.708653F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036079.983165 s.I~,'AA\(@Ay>@A^~? A{A&"AAuNA"AZAbAjArAzAAAI6@A,jrA:Z{@A}dA=AGe@AM߿AB?A+줼*Aa9?2Aֽ:A=BAa9?JAֽRA=٘i)I9Z{@YG JC=JJJJDE&K YY]~?y":_AIJE2o9)AB[[#@[Tt]~?[E[[[[BZYY i) ;I"SD?iO< zr=))zr=;T@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036080.003165 s, next control iter: 1743036080.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036080.403165 s.'I~,)'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036080.403311F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^@A$yQ@A^~? A vAw&"AAuNA"AZAbAjArAzAAA𔳬a6@A}KQ`ҩrAz@AƻA'=A٨@A?A@?A*A 9?2Aeֽ:A)=BA 9?JAeֽRA)=٘i)I9z@YG JB=JJJJFE&K Y#D]~?yE^ADzE776o9B)HB޹E[[o%@[[]~?[e[[[[BZYY i) M;IKD?i>e 6;))6;+V@%ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036080.423165 s, next control iter: 1743036080.803196 s, wait time: 0.380031 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9579", header.stamp.nsec: 0"0 temperature: 13.384205"* salinity: 33.391708", density: 1025.000000"* values[0]: 0.707567"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036080.823165 s. I~,24'AAGz@Ah>n@A^~? AFpA&"AAquNA"AZAbAjArAzAAA1*6@A]}ILrA=z@A9;AsU=A@AA n?A*AԼ9?2AQֽ:Aj=BAԼ9?JAQֽRAj=٘i)I9=z@YNG J׫C=JJJJIE&K Y.]~?ym^AʲEb77*:o9 B)NB۹E[[&@[,C]~?[ [[[[BZYY i) ";I6ED?inl Kw:))Kw:jW@pЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036080.843165 s, next control iter: 1743036081.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036081.243165 s.I~,mO'AJ"J*J2J:JBJnJvJAףp=ʵ@A=4@A^~? AjAX&"AAUuNA"AZAbAjArAzAAAD F5@AWآrAy@A@\<A+U=AK,!@AAdE?AW[*A9?2A #ֽ:A=BA9?JA #ֽRA=٘i)I9y@YG JᮼB=JJJJLE&K Y]~?y^AͲEj7j7=o9)RB[[X(@[Z*]~?[G[[[[BZYY i) `:Ir?D?i־I 8))8$Y@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036081.263165 s, next control iter: 1743036081.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036081.663165 s.I~,qj'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036081.663282F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9580, header.stamp.nsec: 00 temperature: 13.384483* salinity: 33.391685, density: 1025.000000* values[0]: 0.706391F (some fields omitted in printout)A@A@@A(^~? AeAF&"AA9uNA"AZAbAjArAzAAAj5@A|vrAy@Aq<AȒ=Ax"@A>A5?An*AO9?2A<ֽ:A==BAO9?JA<ֽRA==Y݃@"@yĒ=r<ٓH N +%W쩿? Z ?@T Y]~?y ]A"@ϲEb77UAo9"B)ZB׹E[[)@[]~?[[[[[BZYY i) ü9I&:D?iž*| %7))%7Z@BʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036081.683165 s, next control iter: 1743036082.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036082.083165 s.D!I~, S'AJ"J*J2J:JBJnJvJA)\5@AZ(@A߂^~? A_Am1&"AAuNA"AZAbAjArAzAAA<BA9?JA-׽RAE><٘i)I9w@YXG JJJJJYE&K Y\~?y\AڲE77Oo9'B)oBιE[[/@[Y\~?[[[[[BZYY i) ~\I+D?i 13 _1))_1V`@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036083.363165 s, next control iter: 1743036083.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9582*, header.stamp.nsec: 0*0 temperature: 13.385019** salinity: 33.391727*, density: 1025.000000** values[0]: 0.704198*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036083.763165 s.6;I~,'AJ"J*J2J:JBJnJvJA @A-;@AD2^~? A9KA&"AAtNA"AZAbAjArAzAAAq 4@A_$*rAv@A+A·=A1)@AA*?A4F*Ae9?2Aֽ:A_J<BAe9?JAֽRA_J Y\~?y[A )@ݲEb77@So9)B)tB˹E[[v1@[\~?[l[[[[BZYY i뚽) I)D?iV ] *0))*0a@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036083.783165 s, next control iter: 1743036084.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036084.183165 s.BI~,s 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036084.183279F (some fields omitted in printout)A(\B@AXQ5@AK^~? AqFAz$&"AAtNA"AZAbAjArAzAAA&wJ4@AHvÌrAv@A A=AU[*@AA`tg?Aٛ*A9?2Aǘֽ:A+<BA9?JAǘֽRA+<٘i)I9v@YG JC=JJJJ_E&K Ys\~?yd[A߲E{7{7Vo9)xB[[m2@[u\~?[I[[[[BZYY i) I(D?i{k U.))U.`ic@oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036084.203165 s, next control iter: 1743036084.583183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036084.603165 s.B4II~,ݚ&'AJ"J*J2J:JBJnJvJAQx@A:@0Gk@A^~? AAA&"AAdtNA"AZAbAjArAzAAAߡ 4@A1 rABu@A'<AɅ=A+@A(WA?A{*A(9?2AhSֽ:A<BA(9?JAhSֽRA<٘i)I9u@Y{G JǏJJJJaE&K YQZ\~?yG[AE77kZo9,B)BǹE[[73@[W[\~?[Z[[[[BZYY i) X˻I#(D?imFù B-))B-&d@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036084.623165 s, next control iter: 1743036085.003188 s, wait time: 0.380023 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9583 , header.stamp.nsec: 0 0 temperature: 13.385261 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.703218 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036085.023165 s.ZPI~,|A'AAHz@A+J @Ar]~? AF=A^&"AACtNA"AZAbAjArAzAAAi3@Am;+rA3#u@Ay<A=A!,@AښA B?A*Af9?2AFFֽ:A=BAf9?JAFFֽRA=٘i)I9#u@Y2G JJJJJdE&K YA\~?y ZAE7^o9-B)BĹE[[A5@[@\~?[[[[[BZYY i) Is(D?i<Jm9 7+))7+~Of@yКgYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036085.043165 s, next control iter: 1743036085.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036085.443165 s.:VI~,J]\'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: -0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036085.443324F (some fields omitted in printout)Aq= @Alַ@A]~? A8A^1&"AA"tNA"AZAbAjArAzAAAJ#[B3@A?~rAst@AG<AH=AA7.@AAh ?AH*Al9?2A{ֽ:A=BAl9?JA{ֽRA=٘i)I9t@YG JXJJJJgE&K Y(\~?yRZAE77ao9/B)BE[[)6@[&\~?[[[[[BZYY i) DI)D?i=Kik: j_*))j_*Kg@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036085.483165 s, next control iter: 1743036085.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9584, header.stamp.nsec: 00 temperature: 13.385494* salinity: 33.391750, density: 1025.000000* values[0]: 0.702266F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036085.863165 s.+]I~,>w'AA@AiSu @Ao]~? A4A&"AAYtNA"AZAbAjArAzAAAݥC3@A:O%rAU8t@A5;AC=AV/@A A 8?AJ8JJJiE&KPx> Y\~?yjYA/@E7+eo90B)BE[[8@[ \~?[[[[[BZYY i) ܓI{+D?i>: z())z(;0i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036085.903165 s, next control iter: 1743036086.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036086.283165 s.6RdI~,'AJ"J*J2J:JBJnJvJA(\O@A(NB@A]~? A0A-&"AAsNA"AZAbAjArAzAAAl 2@A5#grAs@APAƉ=A0@A u\Ab?A*Aw9?2A*׽:A=BAw9?JA*׽RA=٘i)I9s@Y^G JJJJJlE&K Y[~?yܧYAE7777ho9)B[[v9@[ [~?[[[[[BZYY i) "$I-D?i6>: `'))`'Uj@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036086.303165 s, next control iter: 1743036086.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9585., header.stamp.nsec: 0.0 temperature: 13.385719.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.701316.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036086.703165 s.غjI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743036086.703320F (some fields omitted in printout)AQ@AM2rx@AR]~? A,A% &"AAlsNA"AZAbAjArAzAAAhdU2@A$ |rA Ws@ApAO6=A=2@A`A9?A*A9?2AkF׽:ABW=BA9?JAkF׽RABW=٘i)I9Ws@YG JPB=JJJJoE&K Y[~?y٧@YAE)7ŧ7Ulo91B)BE[[ :@[G[~?[ߧ[[[[BZYY i) 3I(1D?iMo>y'; &))& l@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036086.723165 s, next control iter: 1743036087.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036087.123165 s.9qI~,eǭ'AJ"J*J2J:JBJnJvJAGẸ@Aխ@A`]~? A(Aq &"AAۚsNA"AZAbAjArAzAAAuIHt2@AׁzrA3r@Aj]A,=A։3@AA±?An*AѾ9?2A׽:Ag=BAѾ9?JA׽RAg=٘i)I9r@YG JC=JJJJqE&K Y[~?y*֧XAE77oo93B)BE[[<<@[[~?[ݧ[[[[BZYY i) CCI;5D?i>B; _$))_$Vzm@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036087.143165 s, next control iter: 1743036087.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036087.543165 s.IxI~,'AA= ף@A9Z@A0k]~? A!%Aݺ &"AAwsNA"AZAbAjArAzAAA6Ɋw.2@AnnxrACnr@A窻A=An4@A`A%?A!4*A]9?2Aֽ:A5==BA]9?JAֽRA5==٘i)I9nr@YG JJJJJtE&K Y[~?yҧXAE7so94B)BE[[=@[[~?[2ܧ[[[[BZYY i) RIC:D?i >o; ,:#)),:#n@nȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036087.563165 s, next control iter: 1743036087.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9586, header.stamp.nsec: 00 temperature: 13.385919* salinity: 33.391739, density: 1025.000000* values[0]: 0.700428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036087.963165 s.x~I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743036087.963286F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff&@AH]@AS]~? A!A!&"AATsNA"AZAbAjArAzAAA 4!v1@A!g+IvrA?q@A ;A'=A 6@A <A?A-*AL9?2A \ֽ:A. =BAL9?JA \ֽRA. =Yg(@6@y'=,`;ٓHօ@ҿBܧ? /Y? `w?o?)g(@ I٘i)I9q@Y@G JB=Ji<JJJwE&Kw> Y[~?y,Ч&XA6@E{7Z7wo95B)BE[[>@[![~?[ڧ[[[[BZYY i) 'bI?D?i>cӅ; !))!Op@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036088.003165 s, next control iter: 1743036088.363178 s, wait time: 0.360013 s*[~?)*,Ч rAdjusting time to match Gazebo time: 1743036088.383165 s.؅I~,/'AA(\@AapO@A!<]~? A>AD!&"AA0sNA"AZAbAjArAzAAAZɟ1@A|d:trAWkq@A\mb<Ax"=AvQ7@A oA #?A᡼*A9?2A`(ֽ:AT=BA9?JA`(ֽRAT=٘i)I9kq@YG JEC=JJJJyE&K Yp[~?yͧWAEŧ7b7zo96B)BE[[\@@[Jk[~?[٧[[[[BZYY i) KqI1FD?i>U9; If ))If lq@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036088.403165 s, next control iter: 1743036088.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9587&, header.stamp.nsec: 0&0 temperature: 13.386181&* salinity: 33.391754&, density: 1025.000000&* values[0]: 0.699438&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036088.803165 s.}AI~,g3'AJ"J*J2J:JBJnJvJA둹@AS䄹@AF$]~? AA!&"AA sNA"AZAbAjArAzAAAtzwW1@A Q?CrrAp@An<A=A:8@AvA4D?A?*AS9?2A@ֽ:A=BAS9?JA@ֽRA=I٘i)I9p@YG JB=JJJJ|E&K YU[~?y˧_WAE7A~o98B)BE[[IA@[P[~?[|ا[[[[BZYY iB) EIKMD?i?; ))"s@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036088.823165 s, next control iter: 1743036089.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036089.223165 s.gI~,HN'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743036089.223277F (some fields omitted in printout)Azǹ@A$_ @A7 ]~? AA!&"AArNA"AZAbAjArAzAAAxT>1@A3FcprAVp@A<;AM=Au9@A` A `?AP*A;9?2A՗ֽ:Aa=BA;9?JA՗ֽRAa=٘i)I9Vp@YFG JC=JJJJE&K Y:[~?ytȧVAEZ7Z7ցo99B)BE[[C@[5[~?[ק[[[[BZYY i)  ⇼IDUD?ih?; ))t@ ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036089.243165 s, next control iter: 1743036089.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036089.643165 s.J "J *J 2J xЙI~:J2?BJ2?,*i'AnJx;5vJA ףp@Ad@A\~? A A!&"AArNA"AZAbAjArAzAAA0@AanrAo@ATA(=AO;@A@mA&y?Aw۠*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9o@YG J%JJJJE&K Y[~?yŧVAE{7j7ko9:B)BE[[ZlD@[[~?[֧[[[[BZYY i) I8^D?i&?a>; .1)).1u@ԪYFFFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9588, header.stamp.nsec: 00 temperature: 13.386436* salinity: 33.391735, density: 1025.000000* values[0]: 0.698378F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743036089.663165 s, next control iter: 1743036090.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036090.063165 s.I~,V 'AA33333@Av()&@A\~? AGA4"&"AA6rNA"AZAbAjArAzAAA4&hz0@A=lrAIGo@ApKA=A<@AD$A?AHП*A9?2A;׽:A =BA9?JA;׽RA =Y.@<@y|=LٓH M=ȿɳ Ͳ?f(d?pv?).@ I٘i)I9Go@YG JJ<JJJE&K Y[~?y-ħ/VA<@E77o9;B)BE[[E@[[~?[k֧[[[[BZYY i) IgD?i1?; K))KjSw@y(תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036090.083165 s, next control iter: 1743036090.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036090.483165 s.|_I~,잮'AJ"J*J2J:J2?BJ2?nJS;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743036090.483299F (some fields omitted in printout)A\h@A#)[@A\~? AAi"&"AA zrNA"AZAbAjArAzAAA=B800@AC=VkrAJn@AsvA4k=AT=@ALKAL?AbѢ*AM9?2Ac0׽:A=BAM9?JAc0׽RA=٘i)I9n@YOG JJJJJE&K YZ~?yz§UAEo9)ůBE[[ G@[5Z~?[֧[[[[BZYY i) HIrD?i??; Xh))Xh]x@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036090.503165 s, next control iter: 1743036090.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9589, header.stamp.nsec: 00 temperature: 13.386695* salinity: 33.391739, density: 1025.000000* values[0]: 0.697327F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036090.903165 s.ȭI~,͹'AAQ@A7h@A\~? A: A"&"AATrNA"AZAbAjArAzAAA}+/@AW irA'5n@A`A-=A??@A@woA%|?A6*AU9?2Aֽ:Al=BAU9?JAֽRAl=٘i)I95n@YG JJJJJE&K YiZ~?y]UA E7+o9:A=A~@@AA?A5*A9?2Alֽ:A=BA9?JAlֽRA=٘i)I9m@YG JJJJJE&K YZ~?yTA Ej7Z7o9)ϯB[["I@[Z~?[է[[[[BZYY i) 儭ID?i^?< )){{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036091.343165 s, next control iter: 1743036091.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9590*, header.stamp.nsec: 0*0 temperature: 13.387110** salinity: 33.391739*, density: 1025.000000** values[0]: 0.695674*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036091.743165 s.WI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036091.743289F (some fields omitted in printout)Aףp= @AQH2@Ax\~? AA?"&"AA rNA"AZAbAjArAzAAA2u.@AԵ$grAsm@AL1<A|=AA@A"A ?A<*A9?2A3ֽ:A=BA9?JA3ֽRA=٘i)I9m@YCG JݷJJJJE&K YZ~?y]TAE77Vo9=B)կBE[[-K@[Z~?[֧[[[[BZYY i) AID?i(q?W< C))C |@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036091.783165 s, next control iter: 1743036092.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036092.163165 s.z}I~,q 'AJ"J*J2J:JBJnJvJA@@A,-#2@A^\~? AA#&"AAqNA"AZAbAjArAzAAA.@A^erAgl@A5y<Akê=AC@ABA?Ajhü*A9?2A;ֽ:Av=BA9?JA;ֽRAv=Y5@C@yR=5z<ٓH 6 i۴͵??vQ@ YxZ~?yTAC@E)7b7o9>B)ۯBE[[pL@[O}Z~?[s֧[[[[BZYY i) jVID?i|?Ϳ!< d))dQ;~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036092.183165 s, next control iter: 1743036092.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036092.583165 s.I~, S%'AA)\u@Ah@AE\~? AAA#&"AAqNA"AZAbAjArAzAAAcGOh-@A'LdrAk@A]?<A=AXD@A hA@Y(?A Ƽ*A9?2AhHֽ:Ak=BA9?JAhHֽRAk=٘i)I9k@Y|G JżJJJJE&K Y\Z~?ySAE77o9?B)BE[[M@[AcZ~?[֧[[[[BZYY i) üID?i?rH*< ))ՙ@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036092.603165 s, next control iter: 1743036092.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9591, header.stamp.nsec: 00 temperature: 13.387242* salinity: 33.391739, density: 1025.000000* values[0]: 0.695058F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036093.003165 s.w I~,H4@'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: -0.084839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036093.003301F (some fields omitted in printout)AR@AN}@A#,\~? AZAc#&"AA@qNA"AZAbAjArAzAAA`tG,@AcrAk@A;A40=A޳E@AiA8D?A Ƽ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@YG JXƼB=JJJJE&K Y@Z~?y麧3SAE777o9)BE[[EO@[hIZ~?[ק[[[[BZYY i) PʼID?i?33< ;());({@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036093.023165 s, next control iter: 1743036093.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036093.423165 s.uI~,['AA{G@Ab:Ի@A\~? AA#&"AAoqNA"AZAbAjArAzAAA)e3,@A/brAtj@AxAf=AG@AA@0\?AYż*A9?2A׽:A&=BA9?JA׽RA&=٘i)I9tj@YG JƼC=JJJJE&K Y$Z~?yRAE77o9@B)BE[[`P@[/Z~?[yا[[[[BZYY i) FҼID?i?>< )))))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036093.443165 s, next control iter: 1743036093.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9592, header.stamp.nsec: 00 temperature: 13.387577* salinity: 33.391758, density: 1025.000000* values[0]: 0.693790F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036093.843165 s.J "J *J 2J :J 1?BJ 1?nJ <:5vJ I~,u'AAp= @A< @A[~? AAZ#&"AAHqNA"AZAbAjArAzAAA=Z+@A brAGi@APrA_=AfH@A+A@?A8Ƽ*AK9?2A-׽:Ar~=BAK9?JA-׽RAr~=٘i)I9i@YLG JƼJJJJE&K YZ~?yGNRA DEŧ7b7Ao9)BE[[SQ@[Z~?[u٧[[[[BZYY i) QټID?i7?{J< Wq))Wq/ׁ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036093.883165 s, next control iter: 1743036094.243181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036094.263165 s.I~,ؐ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199392 time: 1743036094.263268F (some fields omitted in printout)AL@Al$ ?@A>[~? A]A׶#&"AA!qNA"AZAbAjArAzAAAȟ#*@AaarA%i@AVWA=AlnHA<AJ ?Au˼*A9?2ADֽ:A~>=BA9?JADֽRA~>=YK;@IHy=)XٓH qO-?N` `V@ꊿ ?)K;@ I٘i)I9%i@Y G JȼJ<JJJE&Kx> YVY~?yZQAH E77֬o9AB)BE[[R@[Y~?[ڧ[[[[BZYY i) +ID?i?Q< E ))E 8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036094.283165 s, next control iter: 1743036094.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 95932, header.stamp.nsec: 020 temperature: 13.3878852* salinity: 33.3917582, density: 1025.0000002* values[0]: 0.6925292F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036094.683165 s.J "J *J 2J :J I1?BJ I1?nJ 95vJ lI~,c'AA(\@AM*u@Au[~? A\A+#&"AApNA"AZAbAjArAzAAAf._*@A_`rA9xh@A_AS=A-GA tKA_?AtҼ*A9?2Aֽ:Ap=BA9?JAֽRAp=٘i)I9xh@Y| G JjμJJJJE&K Y!Y~?yn^QA"EZ7j7lo9)B[[ET@[Y~?[ۧ[[[[BZYY il) GIE?i?@~Z<  )) 0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036094.683165 s, next control iter: 1743036095.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036095.103165 s.I~,Ư'AAQ@A_E@A[~? AA[#&"AApNA"AZAbAjArAzAAA5)@Al]A`rAg@A7;AQ=AEAzWAݢ?Aaټ*Aǂ9?2A ֽ:A=BAǂ9?JA ֽRA=٘i)I9g@Y G JռJJJJE&K YY~?yPA%ESI7o9)BE[[U@[Y~?[dݧ[[[[ZZ¸BZYY i¸u=) ۼIBE?i8? d< e ))e ݃@6YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743036095.123165 s, next control iter: 1743036095.503175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036095.523165 s.I~,{'AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036095.523295F (some fields omitted in printout)AHz@AH@A[~? AAh#&"AApNA"AZAbAjArAzAAA+%)@Ay^_rA g@ATf<A+G=ARDA`Awī?Aܼ*A}|9?2Aս:A =BA}|9?JAսRA =٘i)I9 g@Y G J)ۼJJJJE&K YY~?ynPA(E77{7o9BB) BE[[V@[Y~?[ާ[[[[ZZBZYY i) ϼIS-E?i?n< k ))k @nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036095.543165 s, next control iter: 1743036095.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9594, header.stamp.nsec: 00 temperature: 13.388208* salinity: 33.391750, density: 1025.000000* values[0]: 0.691214F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036095.943165 s.YdI~,F]'AAq= #@A@Aw[~? APAJ#&"AA]pNA"AZAbAjArAzAAA*<Ԉ(@A_rA?f@Ahi<A$=AaCA`eAv)?A*A9?2A{ֽ:A=BA9?JA{ֽRA=٘i)I9?f@Y" G JJJJJE&K Y{Y~?yOA*Eb7ŧ7,o9)BE[[X@[Y~?[[[[[ZZBZYY i) @üI`BE?i?>z< տ))տ/@yⷿ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036095.963165 s, next control iter: 1743036096.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036096.363165 s.I~,>'AJ"J*J2J:J0?BJ0?nJZ95vJAY@A#L@A][~? AA$&"AA^pNA"AZAbAjArAzAAA8Eފ'@A(iq+N_rA_e@AG;A=A BAjA@! ?A*AF9?2ASֽ:AK<BAF9?JASֽRAKJJJE&Kw> Ys_Y~?yOAB-E777o9CB)B}E[[dY@[Y~?[[[[[ZZBZYY i) JI XE?i?U< %w))%wHԅ@y=3ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036096.383165 s, next control iter: 1743036096.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9595&, header.stamp.nsec: 0&0 temperature: 13.388577&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.689686&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036096.783165 s.Y I~,2'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036096.783292F (some fields omitted in printout)A(\@Aw;S@AC[~? AAr$&"AA6pNA"AZAbAjArAzAAA %N'@A|V0_rAjd@AA/Zv=A@AmAv?A[*A9?2Aֽ:A70h<BA9?JAֽRA70h<٘i)I9d@Y G J5JJJJE&K YcCY~?y(OA0Eb77Vo9)BzE[[LZ@[hY~?[[[[[ZZBZYY i) A nAהA2*A9?2A9sֽ:A&BA9?JA9sֽRA&٘i)I9/c@YD G JJJJJE&K YD Y~?yZNA5E7{7o9DB)*BtE[[2]@[8Y~?[>[[[[ZZBZYY i) LLIE?i?{P< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036097.643165 s, next control iter: 1743036098.023174 s, wait time: 0.380009 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9596 , header.stamp.nsec: 0 0 temperature: 13.388934 * salinity: 33.391739 , density: 1025.000000 * values[0]: 0.688159 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036098.043165 s. I~,Â'AJ"J*J2J:J+0?BJ+0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036098.043299F (some fields omitted in printout)A= ף0@A7^#@AZ~? A.A$&"AAoNA"AZAbAjArAzAAA4cVCu%@Axjq_rAcb@A (AM)<A<A jAA*A9?2Aqoֽ:ADBA9?JAqoֽRAD٘i)I9b@Y G J\JJJJE&K Y4X~?yMA8Eb77o9).BqE[[q^@[!Y~?[[[[[ZZBZYY i) ࡉIE?i ?%< j))jZ@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036098.063165 s, next control iter: 1743036098.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036098.463165 s.V'I~,褝'AAfffff@A[Y@AZ~? AA:#&"AAXoNA"AZAbAjArAzAAAII.~$@AN|_rAQb@AN:A[A|;AdA`׼A:*A9?2Aֽ:AxBA9?JAֽRAxYH@|;y[`O:ٓH`LH?et?NʿgH`/c[?ku?B??)H@ I٘i)I9Qb@Y G JdJ CJJJE&KWx> YX~?y\MA|;:E77o9)1B[[_@[ Y~?[R[[[[ZZBZYY ix=) *IkE?i?:Ę< &))&@μ(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036098.503165 s, next control iter: 1743036098.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9597, header.stamp.nsec: 00 temperature: 13.389222* salinity: 33.391724, density: 1025.000000* values[0]: 0.687105F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036098.883165 s.y-I~,8'AJ"J*J2J:JBJnJvJA(@A @A*Z~? AGA#&"AA roNA"AZAbAjArAzAAA4f;$@AX`rAb@A1<AСA,:At[AγAh*A 9?2AUֽ:A砥BA 9?JAUֽRA砥٘i)I9b@Y G JJJJJE&K YַX~?y8§NA=E7ŧ7Ao9)4BnE[[`@[X~?[[[[[ZZBZYY ibZ=) gmIE?i1?< ))@R)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036098.903165 s, next control iter: 1743036099.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036099.303165 s.W4I~,{gӰ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036099.303272F (some fields omitted in printout)AѾ@ASľ@AMZ~? AA#&"AAJoNA"AZAbAjArAzAAA #@A&a0`rAa@Aw<AA8A`PAഃAG*A9?2Aֽ:A!üBA9?JAֽRA!ü٘i)I9a@Y G JЛJJJJE&K Y(X~?yħ NA@E77o9)5BkE[[8b@[X~?[[[[[BZYY i) zZIF?i?< cG))cG>@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036099.323165 s, next control iter: 1743036099.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9598., header.stamp.nsec: 0.0 temperature: 13.389352.* salinity: 33.391750., density: 1025.000000.* values[0]: 0.686636.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036099.723165 s.;I~,H'AJ"J*J2J:J/?BJ/?nJQ85vJAz@AQ@A~Z~? A A#&"AA#oNA"AZAbAjArAzAAA#@AU"](/arAa@Ah7<At51A7AAA`IA+;*A9?2Aֽ:ABA9?JAֽRAἙ٘i)I9Y G J38JJJJ³E&K Y|X~?yŧNABE777lo9)hE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #55q/7^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) G)y*=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036099.763165 s, next control iter: 1743036100.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036100.143165 s.\/BI~, * 'AA ףp=@Ay@e0@AtZ~? A(A#&"AAnNA"AZAbAjArAzAAA8y,~e"@AdZarAb@A,":AnVA8M6AG1AAI;*AL9?2ACֽ:A}BAL9?JACֽRA}٘i)I9b@Y G JT;JJJJųE&K YdX~?yǧNAEE77o9)4BeE[[9d@[X~?[[[[[BZYY i) 4I"F?i@<  U))  Uz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036100.163165 s, next control iter: 1743036100.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036100.563165 s.HI~,N $'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743036100.563271F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333s@A ,f@A[Z~? AzA#&"AAnNA"AZAbAjArAzAAAbW!@A ]!brANMb@AA0vAdd5A#A ǰA7<*AW:?2A):Ad) BAW:?JA)RAd) YVN@>[5y .v[ٓHpX\?п?@Q\ӿn!?`??)VN@ I٘i)I9Mb@Y G J<B=JJJJdzE&Koi> YIX~?ywʧkNA[5HEb77o9)2BbE[[Qe@[X~?[T[[[[BZYY ikc=) \$I@F?i @9< +W))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036100.583165 s, next control iter: 1743036100.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9599, header.stamp.nsec: 00 temperature: 13.389363* salinity: 33.391724, density: 1025.000000* values[0]: 0.686709F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036100.983165 s.OI~,>'AA\@A꛿@AuAZ~? AA#&"AAnNA"AZAbAjArAzAAAf /.!@AUIcrAɤb@A!AsAA4A@A`dAl<*A^:?2Aҵý:Al[BA^:?JAҵýRAl[٘i)I9b@Y G J_P<C=JJJJʳE&K Y.X~?y"ͧNAKEj7Z7,o9)/B_E[[^+g@[X~?[[[[[BZYY i) I^F?i @h< `))`@*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036101.003165 s, next control iter: 1743036101.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036101.403165 s.&VI~,Y'AJ"J*J2J:J/?BJ/?nJh85vJAQ޿@Aѿ@A'Z~? AAeo#&"AA߇nNA"AZAbAjArAzAAA: @AddrA c@A;SAA3Aw AÿA<*Ah:?2A ƽ:ABAh:?JA ƽRA٘i)I9c@Y2 G J <B=JJJJͳE&K YX~?yϧOAME77{7o9),B[[eh@[mX~?[3[[[[BZYY i) I}F?i@< '))'T@*YkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036101.423165 s, next control iter: 1743036101.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9600", header.stamp.nsec: 0"0 temperature: 13.389251"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.687310"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036101.823165 s.\I~,Wt'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055662< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036101.823312F (some fields omitted in printout)AGz@Ayn@AeZ~? A<AO#&"AA&anNA"AZAbAjArAzAAAK'@AF=erAhc@AdЎAAZ2AA@̢ĿA[<*Ao:?2Aɽ:AUBAo:?JAɽRAU٘i)I9c@Y G JI<C=JJJJгE&K YW~?yzҧcOAPEj7Wo9)(B]E[[i@[mXX~?[[[[[BZYY iR=) IF?i@XV< g|))g|쿩@yMd=*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036101.843165 s, next control iter: 1743036102.223186 s, wait time: 0.380021 sW~?)zҧ rAdjusting time to match Gazebo time: 1743036102.243165 s.J cI~"J*J,'A2J:J0?BJ0?nJ85vJAףp=J@A0=@AY~? AA-#&"AA:nNA"AZAbAjArAzAAA?@AcfrA}d@A;A-A1AAJƿAh<*As:?2A̽:A BAs:?JA̽RA ٘i)I9d@Y G J<JJJJҳE&K Y$W~?y%էOASE77o9)#BZE[[j@[CX~?[{ [[[[BZYY i) ].ʻI۾F?i-@< ?))?꿩@ygd=E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036102.263165 s, next control iter: 1743036102.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036102.663165 s.jI~,q'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9601, header.stamp.nsec: 00 temperature: 13.389081* salinity: 33.391685, density: 1025.000000* values[0]: 0.688279F (some fields omitted in printout)A@Ar@AY~? A A#&"AAnNA"AZAbAjArAzAAAO@A _grA d@AY_<AAk/AAȿA=<*AQq:?2A5ν:A^BAQq:?JA5νRA^YqMT@$/y9_<ٓHt`?L?`rؿ@g)?@X?`?`^?)qMT@ I٘i)I9d@Y$ G J<B=JJJJճE&KS> YW~?yاPA/UE77{7o9)BWE[[J l@[.X~?[R[[[[BZYY i) IvF?i9@< ))翩'@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036102.683165 s, next control iter: 1743036103.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036103.083165 s.EqI~,.Sű'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036103.083307F (some fields omitted in printout)A)\µ@AӜ@AY~? A2 A"&"AAmNA"AZAbAjArAzAAAZЮZ@AB 8irAG*e@AD`<A=A k.AĥA_ɿA^_<*Arn:?2ATн:A[BArn:?JATнRA[٘i)I9*e@Yy G Jå<C=JJJJسE&K YW~?yۧPAXEb77o9)BTE[[zAm@[X~?[B[[[[BZYY i) čIG?i@_< 4))4忩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036103.103165 s, next control iter: 1743036103.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036103.503165 s.wI~,U4'AAR@A9z@AY~? A{A"&"AAmNA"AZAbAjArAzAAA¨$+@A1xjrAre@Ai%;ALA -A߄A-˿Am<*A*k:?2Aҽ:A BA*k:?JAҽRA ٘i)I9e@Y G JN<JJJJڳE&K YW~?yNߧPA[E77o9CB)BQE[[un@[X~?[J[[[[BZYY i) R%_I%G?i#@J< [))[⿩\@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036103.523165 s, next control iter: 1743036103.903182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9602, header.stamp.nsec: 00 temperature: 13.388842* salinity: 33.391697, density: 1025.000000* values[0]: 0.689303F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036103.923165 s.7~I~,'AJ"J*J2J:JBJnJvJA{G!@A K<@AY~? AA"&"AAmNA"AZAbAjArAzAAAwͱR@A_svlrAIf@A݂ACA+A`\aAEͿAu'<*Ah:?2Aӽ:ABAh:?JAӽRA٘i)I9If@Y( G JE<JJJJݳE&K YuW~?yPQA]E777Bo92B)B[[o@[&W~?[h[[[[BZYY i) v"IJG?i'@< {h)){h࿩@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036103.963165 s, next control iter: 1743036104.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036104.343165 s. elevatorAngleAction: 0.065099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036104.343282F (some fields omitted in printout)Ap= W@A_BJ@AwY~? AAV"&"AA[|mNA"AZAbAjArAzAAA0}x@A`%*mrAf@A7LA6A*A5;A{ ϿAg<*Ae:?2Aӽ:ABAe:?JAӽRA٘i)I9f@Y G J<B=JJJJE&K  p9Y[W~? p9yQA`E7p91B)BNE[[-p@[W~?[[[[[BZYY i) ̺IoG?i`,@< # ޿))# ޿@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036104.383165 s, next control iter: 1743036104.743175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9603*, header.stamp.nsec: 0*0 temperature: 13.388635** salinity: 33.391693*, density: 1025.000000** values[0]: 0.690421*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036104.763165 s.7I~,0'AJ"J*J2J:J0?BJ0?nJU95vJǍ@A3@AU_Y~? A@A""&"AAWmNA"AZAbAjArAzAAAr@A"Z[orA_qg@A5kA4A>)A`JAhпA<*Aqb:?2AԽ:ABAqb:?JAԽRAYZ@-)yTPkٓH "?`ر?޿ @ ?O?rf+?)Z@ IߖI٘i)I9qg@Y G J<C=JE;JJJE&K6|> YCW~?yHRA-)cE7lp9)BKE[[V r@[W~?[#[[[[BZYY i) y$IÔG?i6/@E< Ӣۿ))Ӣۿ&'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036104.803165 s, next control iter: 1743036105.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036105.183165 s.˒I~,K'AA(\@Ad@AFY~? A&A!&"AA1mNA"AZAbAjArAzAAA<!@A$E1 qrAh@AnAAҏA'AAMѿA<*A_:?2Aͤս:ABA_:?JAͤսRA٘i)I9h@Y3 G J<JJJJE&K Y4*W~?y}|RAeE)7ŧ7 p9)BHE[[;s@[W~?[h([[[[BZYY i) 9I"G?ir2@5j< ?ٿ))?ٿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036105.203165 s, next control iter: 1743036105.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036105.603165 s.:4I~J,f'A"J*J2J:J 1?BJ 1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036105.603289F (some fields omitted in printout)AQ@AwF@A.Y~? A2A!&"AA mNA"AZAbAjArAzAAA&oZ@As>rrA\h@A:AA&AA3ҿAdk<*AC]:?2Asֽ:A[iBAC]:?JAsֽRA[i٘i)I9h@Y G Jd<JJJJE&K YeW~?yRAhEj7Z7 p9)BIE[[kt@[W~?[,[[[[BZYY i) :IJG?i6@< #ֿ))#ֿW@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036105.643165 s, next control iter: 1743036106.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9604 , header.stamp.nsec: 0 0 temperature: 13.388427 * salinity: 33.391663 , density: 1025.000000 * values[0]: 0.691561 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036106.023165 s.ZI~,|'AAHz.@As !@AY~? AfAu!&"AAlNA"AZAbAjArAzAAAlC8@A\trA_ i@AX5<A͊Ab+%A A@ӿAnl<*AZ:?2A׽:AyzBAZ:?JA׽RAyz٘i)I9 i@Y G J<JJJJE&K YV~?yASAkE{7j7-p9)BFE[[ru@[W~?[1[[[[BZYY i) q;IP H?i:@4< Կ))Կ@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036106.063165 s, next control iter: 1743036106.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036106.443165 s.7æI~,>]'AJ"J*J2J:JBJnJvJAq= c@A5V@AX~? A"A5!&"AAqlNA"AZAbAjArAzAAA;@ATnHvrAi@Ap<ANA#A$SAӿAW<*AW:?2A@׽:AVBAW:?JA@׽RAV𼙘٘i)I9i@Y"G Jݓ<JJJJE&K YV~?ySAmE77{7p9)BCE[[v@[W~?[56[[[[BZYY i) {.K;IH3H?i>@< -ҿ))-ҿx@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036106.483165 s, next control iter: 1743036106.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9605, header.stamp.nsec: 00 temperature: 13.388227* salinity: 33.391651, density: 1025.000000* values[0]: 0.692549F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036106.863165 s.+I~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065099< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036106.863300F (some fields omitted in printout)A@Ac@AX~? AC&A6 &"AAlNA"AZAbAjArAzAAA X@A-!yrAj@Au.<A#{A׋"A AԿAߏ<*AT:?2A2׽:ABAT:?JA2׽RAY0a@e"y+y.<ٓH`EU?Ѩ?@d`-?@? ΅?@?)0a@ I٘i)I9j@YkG JX<JbT<JJJE&Kz> YzV~?ySA"pEWp9)B@E[[w@[rW~?[;[[[[BZYY iz=) ;I\H?iA@i2< Ͽ))Ͽ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036106.883165 s, next control iter: 1743036107.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036107.283165 s.7RI~,Ҳ'AJ"J*J2J:Jk1?BJk1?nJ :5vJA(\@ANP@AAX~? A)Ar &"AA}lNA"AZAbAjArAzAAAV @Ajs\{rAzj@A_U:A4AF!AcAտA<*AR:?2Aֽ:A7BAR:?JAֽRA7٘i)I9zj@YG J<JJJJE&K Y-V~?yYTAsEb77p9)ݯB[[T!y@[iaW~?[?[[[[BZYY i) y;IH?i"D@ < tͿ))tͿ@ܶ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036107.303165 s, next control iter: 1743036107.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9606., header.stamp.nsec: 0.0 temperature: 13.388029.* salinity: 33.391655., density: 1025.000000.* values[0]: 0.693498.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036107.703165 s.ֺI~,'AAQ@Ai@A6X~? A-Ac &"AAYlNA"AZAbAjArAzAAAkN$@A-1}rAj@ASAdzA A@ͬA΃ֿAf<*AJ:?2Aֽ:A BAJ:?JAֽRA ٘i)I9j@YG J<JJJJE&K YߙV~?y TAuE777p90B)ٯB=E[[,Mz@[PW~?[D[[[[BZYY i) $ ;IH?iG@#g< '˿))'˿H@ӵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036107.723165 s, next control iter: 1743036108.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036108.123165 s.9I~,e'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743036108.123285F (some fields omitted in printout)J"J*J2J:JBJnJvJAG:@AQMI-@AkX~? A1Ak &"AA=7lNA"AZAbAjArAzAAAd_i @ArAkk@ApomAA&A@pA!X׿A<*AC:?2A}ֽ:AbBAC:?JA}ֽRAb٘i)I9kk@YHG J<JJJJE&K YV~?y UAxE)7ŧ7#p9)կB:E[[w{@[H@W~?[I[[[[BZYY i) -;IH?iQK@= cȿ))cȿݖ@yS]=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036108.143165 s, next control iter: 1743036108.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036108.543165 s.II~,"'AA= ףp@A×c@AX~? A5A4&"AAlNA"AZAbAjArAzAAAG @AG͓rAk@AwHAWfAgA_2A+ؿA'<*A<:?2Aֽ:ABA<:?JAֽRA٘i)I9k@YG Jɍ<JJJJE&K YGkV~?yjUA{Eb77&p9)ѯB8E[[|@[R0W~?[O[[[[BZYY i) a YUV~?yUA }Eŧ77B*p9)ίB[[ }@[~ W~?[@T[[[[BZYY i) ^< elevatorAngleAction: 0.075428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036109.383289F (some fields omitted in printout)A(@A5_%@A_X~? AT>Aj%&"AAlkNA"AZAbAjArAzAAAȭ1@A6cW҇rAl@Arw;AsAA tAbٿAy<*A[/:?2A׽:AdBA[/:?JA׽RAd٘i)I9l@YG J<C=JJJJE&K Y/@V~?yj VAE77j7-p9)ʯB5E[[~@[ W~?[Y[[[[BZYY i) { elevatorAngleAction: 0.075428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036110.643286F (some fields omitted in printout)A ףp}@Abgp@AX~? A@LA&"AAokNA"AZAbAjArAzAAA2~@A<!RrA$n@Aˁ;AߣA#AA`)ܿA3<*A:?2A=B׽:AdBA:?JA=B׽RAd٘i)I9$n@YG J*<JJJJE&K YU~?y02WAEŧ7b78p90B)B0E[[d3@[V~?[i[[[[BZYY i) €N YU~?y6WAEj7j7- elevatorAngleAction: 0.075428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200652 time: 1743036111.903348F (some fields omitted in printout)AQ@AD3O@AfW~? AZ[A&"AAkNA"AZAbAjArAzAAAv?3p?A<‰rAxo@AYiAAA PAa޿AJ<*A:?2A&ֽ:ABA:?JA&ֽRA٘i)I9o@YG JP<JJJJE&K YU~?yC\XAE7XCp9)B)E[[m@[V~?[z[[[[BZYY i6=) 4|p@AYAΘAAWA߿A)<*A :?2A׽:ABA :?JA׽RA٘i)I9>p@Y7G Jv<JJJJE&K YHU~?yIXAE77Fp9)B[[~@[V~?[k[[[[BZYY i) # elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036113.163299F (some fields omitted in printout)A@A7@AKW~? AkA"&"AAjNA"AZAbAjArAzAAAsB?AoqrAOq@A:<AA@AACA<*A9?2Af׽:A/BA9?JAf׽RA/Yu@yZq;<ٓH@U:? $v?#ڮ 4??}\?@?)u@ I٘i)I9Oq@YG J^<B=J: JJJE&Kx> YSU~?y0WYAEb77Np9)B$E[[ՠ@[KV~?[[[[[BZYY i) ה elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036114.423298F (some fields omitted in printout)A{Ga@A$;T@AqW~? A|Ao&"AA+ejNA"AZAbAjArAzAAAS2w*ڰ?Ap]X?rAr@A\39AᮥA A߿ABAU <*A9?2A-ֽ:AcBA9?JA-ֽRAc٘i)I9r@YG J<B=JJJJ E&K Y)XU~?ykZAEb77Xp9)B[[S@[sV~?[[[[[BZYY i) [G JC<C=JJJJ#E&K YFU~?yr1[AE77{7m\p9/B)BE[[@[iV~?[[[[[BZYY i) H۲ Y7U~?y`z[AyE`p9)B[[|s@[^V~?[,[[[[BZYY i) , elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202282 time: 1743036115.683504F (some fields omitted in printout)A(\@A*n@AH>W~? A+AO&"AAjNA"AZAbAjArAzAAA>5,QA5v>+rAt@A@A珬A;;AݿA@<0AE<*A9?2A8ֽ:A_BA9?JA8ֽRA_٘i)I9t@YG J<C=JJJJ(E&K Y(U~?yс\AEj7Z7cp9.B)BE[[{@[zTV~?[Y[[[[BZYY i) {*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036116.123165 s, next control iter: 1743036116.503177 s, wait time: 0.380012 sU~?)C rAdjusting time to match Gazebo time: 1743036116.523165 s.GI~,{!'AJ"J*J2J:J3?BJ3?nJ<5vJAHzn@A7N a@A)W~? A⛩A.&"AA%iNA"AZAbAjArAzAAAI}A>rA{'v@Ax;AUAA0ܿAKAW<*A)9?2AY׽:A'BA)9?JAY׽RA'٘i)I9'v@YG J<JJJJ.E&K Y U~?y\AEjp9/B)}BE[["@[wAV~?[˼[[[[BZYY i)  elevatorAngleAction: 0.084577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036116.943297F (some fields omitted in printout)Aq= ף@A}zl˖@AW~? AeA!&"AAoiNA"AZAbAjArAzAAA.A'ʘMrAv@Ae<A8A-AlhۿA Aܾ<*A9?2Ajv׽:A.BA9?JAjv׽RA.٘i)I9v@Y7G J<JJJJ0E&K YT~?y'n]AE77Xnp9)xB[[d@[8V~?[ è[[[[BZYY i) umW'AJ"J*J2J:JBJnJvJA@A9Վ@AV~? AA,&"AAaiNA"AZAbAjArAzAAA!c.Ap ~brAww@A7U<A0AA@ڿAWAK<*A_9?2AD׽:ABA_9?JAD׽RAY@yJdV<ٓHIܿ??`Sܿi{? gP?@5?@?)@ I٘i)I9ww@YG Jg<JJJJ3E&Kpx> Y$T~?y ]AEŧ7b7qp9*B)oBE[[?@[/V~?[eɨ[[[[BZYY i) 9BZYY i¸>) OE&K YT~?y_AECp9)UB[[fx@[9V~?[[[[[ZZZZBZYY i) <*A<9?2A9ֽ:AhBA<9?JA9ֽRAhYQ@EyȑpٓH gֿ ?9ƛ?wֿ? ?|?)Q@ I٘i)I9Z{@YG J<J1=JJJ@E&KYw> Y,T~?yǨ`AEZ7SI7؃p9)OB[[@[o V~?[[[[[ZZZZBZYY i) ^QNLA\rAͅ}@A)<A;ABA'ӿA`mAF&<*Ak9?2AKֽ:Ax<BAk9?JAKֽRAx<٘i)I9}@YMG JQ<JJJJKE&K YT~?yYaA˳Eb77.p9(B)JJJNE&K^x> YYT~?y]5vJAQ^@AĬQ@AoV~? AA&"AA,hNA"AZAbAjArAzAAAhA"36rAo}@A|OpA>;=AQA|пA[AY*A09?2A׽:A<BA09?JA׽RA<٘i)I9}@YG JJJJJSE&K YuT~?ypaAӳE)7ŧ7p9)[[Q@[aU~?[[[[[BZYY i) 6 YGcT~?y7g`Aܿ۳E77p9)>B[[ό@[U~?[+[[[[BZYY i}h) Vb))]>bȬ@qӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036124.523165 s, next control iter: 1743036124.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9623, header.stamp.nsec: 00 temperature: 13.384788* salinity: 33.391396, density: 1025.000000* values[0]: 0.709528F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036124.923165 s.=I~J"J,;'A*J2J:J5?BJ5?nJv>5vJA{G@A?@AAV~? A,A &"AAhNA"AZAbAjArAzAAAy~D A5zusA7{@A;AG6=A%տA\ƿAA4*A9?2Aֽ:AwS=BA9?JAֽRAwS=٘i)I9{@Y#G JB=JJJJcE&K Y2VT~?yS6O_AE77op9)JBE[[j2@[&U~?[@[[[[BZYY i) ʩ;Ii@E:= ]))]eT@yh֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036124.963165 s, next control iter: 1743036125.323183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743036125.343165 s.5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743036125.763335F (some fields omitted in printout)A @Aެ@Ad6V~? A<A &"AA>}hNA"AZAbAjArAzAAAQPT A&6(#sAxz@A2dA=AXϿAM¿A .Aь*A9?2A2׽:A`=BA9?JA2׽RA`=Y @Ͽy=(+eٓHm?@c? :`[)?) @ I٘i)I9xz@YrG J)J<JJJiE&Kfx> YWPT~?yG^AϿEj7Z7p9)SB[[|J@[aU~?[wM[[[[BZYY i) |Y;Ii`@\;= U))Uwl@ժYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036125.783165 s, next control iter: 1743036126.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036126.183165 s.I~,k'AA(\B@AoK5@A1V~? ADA5I &"AAuhNA"AZAbAjArAzAAA!hv A5@~'sAy@AYhAܘ=AͿAkAA(*A9?2AE׽:AY=BA9?JAE׽RAY=٘i)I9y@YG JJJJJkE&K YNT~?yP!^AE.p9)WBE[[֕@[U~?[4T[[[[BZYY i) hN;Ii@);= P))P@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036126.203165 s, next control iter: 1743036126.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036126.603165 s.74I~,'AJ"J*J2J:JC?BJC?nJw5vJAQx@A+MFk@AD-V~? ALA &"AAnhNA"AZAbAjArAzAAA-X1AX3^,sAWy@A0A=A̓ʿAiA`Y2Av*AM9?2Aֽ:A =BAM9?JAֽRA =٘i)I9Wy@YG J4JJJJnE&K YXMT~?ydY]AEŧ77p9)\B[[b@[U~?[Z[[[[BZYY i) *:Iiߒ@x;= YL))YL@xϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036126.643165 s, next control iter: 1743036127.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9625 , header.stamp.nsec: 0 0 temperature: 13.568259 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.579160 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036127.023165 s.ZI~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036127.023289F (some fields omitted in printout)AHz@A| @A{)V~? ATA% &"AAdhhNA"AZAbAjArAzAAA &AY=1sAxx@A@};A=AȿA@YA DAw9*A19?2Auֽ:A'=BA19?JAuֽRA'=٘i)I9x@YjG J˫JJJJqE&K YKT~?y.bQ]AE77{7Yp9)`B[[ȿ[U~?[a[[[[BZYY i) :Iie@ƪ<=  G)) G Gyd>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036127.043165 s, next control iter: 1743036127.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036127.443165 s.4I~,1]ܷ'AJ"J*J2J:J-?BJ-?nJ`5vJAq= @Aj-@A7&V~? A\Au &"AAchNA"AZAbAjArAzAAA'WAs\㘐6sA6x@AlDO<Ae=AſAAtSAX*A9?2ADֽ:A=BA9?JADֽRA=٘i)I96x@YG JJJJJsE&K YYJT~?yj\AEp9)eB[[Vƿ[DU~?[bh[[[[BZYY i)  JIi@== 7C))7C7C]ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036127.463165 s, next control iter: 1743036127.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9626, header.stamp.nsec: 00 temperature: 13.568552* salinity: 33.374992, density: 1025.000000* values[0]: 0.578480F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036127.863165 s.+I~,>'AA@AR @Ay#V~? AdA1&"AAk^hNA"AZAbAjArAzAAA YKT~?ys\A¿E)7b7p9)jBE[[&Ŀ[U~?[o[[[[BZYY i) Ii@dO== =?))=?=?kĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036127.883165 s, next control iter: 1743036128.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036128.283165 s.5RI~,'AJ"J*J2J:J?BJ?nJ15vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036128.283319F (some fields omitted in printout)A(\O@A RB@AA!V~? AlA)<&"AAZhNA"AZAbAjArAzAAAʒb#UA-a@sAw@AI<A-=AKAWA@ekA*A9?2Aֽ:Ag<BA9?JAֽRAg<٘i)I9w@YgG JJJJJyE&K YMT~?y|*\AE777p9)nB[[/[U~?[u[[[[BZYY i) _Ii@H== :))::YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036128.303165 s, next control iter: 1743036128.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9627., header.stamp.nsec: 0.0 temperature: 13.568832.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.577800.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036128.703165 s.Ӻ I~,-'AAQ@Ax@AV~? AtAמ&"AAWhNA"AZAbAjArAzAAA }A3tjMEsAɛv@AA4=AA`eFA@sAm*Ar9?2Aֽ:A2<BAr9?JAֽRA2<٘i)I9v@YG JJJJJ|E&K YzNT~?y\[AEb77p9)rB[[sǿ[NU~?[|[[[[BZYY i) OIi @~==  6)) 6 6#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036128.723165 s, next control iter: 1743036129.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036129.123165 s.3I~,LG'AJ"J*J2J:J?BJ?nJ5vJAG@ANխ@AkV~? A|AM&"AAtUhNA"AZAbAjArAzAAAY™A%;JsAu v@A6AH=A躿AAdyA*A9?2A=׽:Aj<BA9?JA=׽RAj<٘i)I9 v@YG JؒJJJJ~E&K YOT~?y(k[AE7Dp9)vB[[a[ U~?[A[[[[BZYY i) |Iic@==  2)) 2 2uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036129.143165 s, next control iter: 1743036129.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036129.543165 s.II~,b'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036129.543304F (some fields omitted in printout)A= ף@A@AV~? A優Ac&"AAThNA"AZAbAjArAzAAAtAViv)OsA˪u@AܤvA=ADATA@c|AЉ*A9?2AA׽:Au<BA9?JAA׽RAu<٘i)I9u@YG J B=JJJJE&K Y;QT~?y [AEb77p9(B){BE[[i[)U~?[[[[[BZYY i q) Ii@>= -))--YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036129.563165 s, next control iter: 1743036129.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9628, header.stamp.nsec: 00 temperature: 13.569086* salinity: 33.374989, density: 1025.000000* values[0]: 0.577193F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036129.963165 s.wI~,}'AJ"J*J2J:JBJnJvJAffff&@A~9]@AV~? AA&"AAShNA"AZAbAjArAzAAA!ΤA%TsA7u@AX4A=AӲA`uv?A|A *A9?2A ׽:A(<BA9?JA ׽RA( YxUT~?yZAʵEŧ7b7op9)B[[:[U~?[[[[[BZYY i) WĻIi@!>= e)))e)e)`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036130.003165 s, next control iter: 1743036130.363179 s, wait time: 0.360014 s"xUT~?)" rAdjusting time to match Gazebo time: 1743036130.383165 s.%I~,<'AA(\@A O@A*V~? AA (&"AAShNA"AZAbAjArAzAAAP7ٟA?kYsA t@AyAބ=A-AĔ?A azA戼*Am9?2Aֽ:A&<BAm9?JAֽRA&<٘i)I9t@YG J~JJJJE&K YYT~?y_XZAE)7ŧ7p9)B[[ [{U~?[I[[[[BZYY i) IiW@== %))%%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036130.403165 s, next control iter: 1743036130.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9629", header.stamp.nsec: 0"0 temperature: 13.569319"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.576663"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036130.803165 s.xA,I~,g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743036130.803291F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A:@A!V~? A!AR&"AAThNA"AZAbAjArAzAAApvo\Aϩ`]sAqQt@A(<A/=AWA ?AuAAV*A\9?2Asgֽ:AD=BA\9?JAsgֽRAD=٘i)I9Qt@YG JJJJJE&K Y]T~?yYA E77{7p9,B)BE[[%ܴ[U~?[[[[[BZYY i) IiT@2== o ))o o y[۷YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036130.823165 s, next control iter: 1743036131.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036131.223165 s.g3I~,Hθ'AAz@A @A V~? A2A&"AAVhNA"AZAbAjArAzAAAI޺/dAbsAs@A3s<A=AA^?A [nA*A49?2AQֽ:Ad=BA49?JAQֽRAd=٘i)I9s@YkG JJJJJE&K Y.bT~?yʹYA E777/p9)B[[[DU~?[[[[[BZYY i) xRIi@>= I))IIHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036131.263165 s, next control iter: 1743036131.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036131.643165 s.w9I~, *'AJ"J*J2J:JBJnJvJA ףp@Ae@A"V~? A@AKO&"AA=YhNA"AZAbAjArAzAAA~@nA3A^7?gsAes@A#UO<A2=A~xAޏ?AdA}*A09?2Aֽ:AD=BA09?JAֽRAD=٘i)I9es@Y#G JЌJJJJE&K YkfT~?y©LYAE{7{7p9)B[[}[2U~?[/[[[[BZYY i)  Iiٔ@J>= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036131.663165 s, next control iter: 1743036132.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9630, header.stamp.nsec: 00 temperature: 13.569524* salinity: 33.374981, density: 1025.000000* values[0]: 0.576101F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036132.063165 s.@I~,R 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036132.063293F (some fields omitted in printout)A33333@A0&&@A/%V~? AKA&"AA\hNA"AZAbAjArAzAAAzAclsA]r@AXD{;Ay=ASɨA rf?A`aXA3Y*AB9?2Aֽ:AQ=BAB9?JAֽRAQ=Yܗ@y6={;ٓH?@??@1?Qⰿ.ho? w?)ܗ@ I٘i)I9r@YG JJ;JJJE&KQx> YymT~?y˩XAE)7b7Zp9)B[[WO[}U~?[ı[[[[BZYY i) x0IiK@== ӎ))ӎӎ]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036132.103165 s, next control iter: 1743036132.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036132.483165 s.t_GI~,'AJ"J*J2J:Jj?BJj?nJ5vJA\h@A[@AC(V~? AQAE&"AA`hNA"AZAbAjArAzAAAr(ȪASuqsA|r@AA՗=AAR??A`uIAv*Ak9?2A.׽:Aȉ=BAk9?JA.׽RAȉ=٘i)I9|r@YG JfJJJJE&K YtT~?yөXAE77p9.B)BE[[ [%U~?[V[[[[BZYY i) ?Ii@8V== +0))+0+0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036132.523165 s, next control iter: 1743036132.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9631, header.stamp.nsec: 00 temperature: 13.569731* salinity: 33.375019, density: 1025.000000* values[0]: 0.575573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036132.903165 s.MI~,9'AAQ@A7h@A+V~? AQŪAx&"AAehNA"AZAbAjArAzAAA 46.SAF{vsAQ r@A fAz=AcjA$?A7A*A9?2AP׽:A0=BA9?JAP׽RA0=٘i)I9 r@YPG JxJJJJE&K Y{T~?yܩ7XAE777p9)B[[9[*U~?[⾩[[[[BZYY i) #OIi@==  ))  SêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036132.943165 s, next control iter: 1743036133.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036133.323165 s.J "J *J 2J :J G?BJ G?nJ o5vJ TI~,KT'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074923< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036133.323283F (some fields omitted in printout)AGz@AXo@A0V~? AJͪA&"AAkhNA"AZAbAjArAzAAA* AA-Z{sAߕq@AaA=ASРAۿ?A$AV*A+9?2A]-׽:AS=BA+9?JA]-׽RAS=٘i)I9q@Y G JJJJJE&K YT~?yWA DE7p9)B[[/[U~?[hũ[[[[BZYY i05) _Ii@'== p))ppƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036133.343165 s, next control iter: 1743036133.723181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9632*, header.stamp.nsec: 0*0 temperature: 13.569961** salinity: 33.375000*, density: 1025.000000** values[0]: 0.575053*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036133.743165 s.W[I~,o'AAףp= @Ag}1@A4V~? A=ժANA&"AAhrhNA"AZAbAjArAzAAAt?} A3sAq@AʻA!=AGA@?A A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9q@YG J_JJJJE&K YT~?y$~WAE7p9)B[[[[GV~?[˩[[[[BZYY i) nIi@N== ))@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036133.763165 s, next control iter: 1743036134.143183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036134.163165 s.x}bI~,q'AJ"J*J2J:JBJnJvJA@@Aw.2@A9V~? A(ݪAe%"AAyhNA"AZAbAjArAzAAA;:x> AesAp@A$;A}=AƛA?A`*A*A9?2Aoֽ:A =BA9?JAoֽRA =Y@y=;ٓHo"?? Ok?`+@F,?Z `$s??)@ I٘i)I9p@YqG J4Je<JJJE&Kw>  q9Y|T~? q9ygWAE77{7Eq9/B)BE[[a[[V~?[Xҩ[[[[BZYY i) }Ii*@^<= f))ffͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036134.183165 s, next control iter: 1743036134.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036134.583165 s.hI~,R'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036134.583277F (some fields omitted in printout)A)\u@Akh@A?V~? A A %"AAhNA"AZAbAjArAzAAA '[<^v A!z؉sAp@AV<AD=Aj@Az?A A⡼*Aø9?2A/3ֽ:A89=BAø9?JA/3ֽRA89=٘i)I9p@Y!G JJJJJE&K YGT~?yVA!E77q9)B[[1[ V~?[ة[[[[BZYY i) vIi@ ;= ))yѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036134.603165 s, next control iter: 1743036134.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9633, header.stamp.nsec: 00 temperature: 13.570142* salinity: 33.375011, density: 1025.000000* values[0]: 0.574482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036135.003165 s.~ pI~,e4'AJ"J*J2J:JBJnJvJAR@AZ {@AEV~? AAr%"AAhNA"AZAbAjArAzAAA!! A"sAo@A/p<A$z=AAR?A@A*A19?2A@ֽ:A=BA19?JA@ֽRA=٘i)I9o@YG JJJJJE&K YT~?yQVA$E77j7oq9)B[[3[V~?[,ߩ[[[[BZYY i) Ii?@/3;= ))龩ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036135.023165 s, next control iter: 1743036135.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036135.423165 s.uvI~,۹'AA{G@Az<@AmLV~? AA%"AAhNA"AZAbAjArAzAAAx= A=esA9o@Ap <AX=AA-?A@]A7*A9?2A3ֽ:AE=BA9?JA3ֽRAE=٘i)I9o@YwG JJJJJE&K YݰT~?y-UA&Ej7 q90B)B E[[1М[V~?[[[[[BZYY i) kIi@u:= !))!ᾩ!٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036135.443165 s, next control iter: 1743036135.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9634", header.stamp.nsec: 0"0 temperature: 13.570385"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.573855"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036135.843165 s.|I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036135.843296F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A? @ASV~? ApAA%"AA;hNA"AZAbAjArAzAAAbV A\yZ!sA3tn@A`AD=A.GA% ?AuyAg*A#9?2Aֽ:A=BA#9?JAֽRA=٘i)I9tn@Y!G JJJJJE&K YT~?yoUA)Eŧ7b7q91B)B!E[[垚[E"V~?[[[[[BZYY i) AIi:= [ؾ))[ؾ[ؾݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036135.863165 s, next control iter: 1743036136.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036136.263165 s.I~,'AAL@Al$ ?@Aa[V~? A%Aʪ%"AAhNA"AZAbAjArAzAAA. Abt՜sAKm@AvH<AN=AA@ ?A`TA-*A9?2Av>׽:A=BA9?JAv>׽RA=Yq`@ay4L=<ٓH??@]?`D@ YT~?yUUA,EZ7Z7/q9)¯B[[o[*V~?[#[[[[BZYY i) Ii)@9= Ͼ))ϾϾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036136.283165 s, next control iter: 1743036136.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 96352, header.stamp.nsec: 020 temperature: 13.5706042* salinity: 33.3750002, density: 1025.0000002* values[0]: 0.5732312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036136.683165 s.lI~,c+'AJ"J*J2J:JBJnJvJA(\@A߃u@AcV~? A A%"AAhNA"AZAbAjArAzAAA 5 AFNsASm@A%sAg=A6A?AX,Auͯ*AU9?2A9׽:AT=BAU9?JA9׽RAT=ݖI٘i)I9Sm@YqG J JJJJE&K YT~?y<&TA.E{7{7q92B)ǯB$E[[>[K2V~?[a[[[[BZYY i)  Iip@8= ~ƾ))~ƾ~ƾ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036136.683165 s, next control iter: 1743036137.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036137.103165 s.I~,F'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036137.103287F (some fields omitted in printout)AQ@AF@A^lV~? AhA%"AAshNA"AZAbAjArAzAAAꠝ6A53&sAl@A*A\=A`A@R??AA7*Ay9?2Aֽ:A=BAy9?JAֽRA=٘i)I9l@YG JJJJJE&K YT~?y".=TA1E77Zq9)̯B[[ [:V~?[[[[[BZYY i) dtIi@08= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036137.123165 s, next control iter: 1743036137.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036137.523165 s.I~,{a'AJ"J*J2J:JBJnJvJAHz@AN@AuV~? AA%"AA hNA"AZAbAjArAzAAAaڰVA6)sAl@AsyAi=A↿Ao ?A+A/I*A 9?2Apyֽ:AY.=BA 9?JApyֽRAY.=٘i)I9l@YG J廼JJJJE&K Y^T~?y6SA4E777q9)ѯB%E[[-ڑ[CV~?[[[[[BZYY i) ںIi@ 7= H))HHYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743036137.543165 s, next control iter: 1743036137.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9636, header.stamp.nsec: 00 temperature: 13.570858* salinity: 33.375004, density: 1025.000000* values[0]: 0.572547F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036137.943165 s.WdI~,>]|'AAq= #@A+4@ARV~? Ao"AX%"AA]hNA"AZAbAjArAzAAAjARsAyk@A<A=A2dA@2?AA@ʼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9yk@YPG JożJJJJE&K YT~?y=`SA6Ej7j7!q93B)ׯB(E[[馏[MV~?[ [[[[BZYY i) A¼Ii^@7= {)){{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036137.963165 s, next control iter: 1743036138.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036138.363165 s.J "J *J 2J :J {?BJ {?nJ 5vJ I~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036138.363303F (some fields omitted in printout)AY@A#L@AV~? A)A[%"AAlhNA"AZAbAjArAzAAAГs~sAڳsAjj@A{s<A1h=AׁA X?AyA /м*A9?2Apֽ:AzJ=BA9?JApֽRAzJ=Yf@y/c=t<ٓHX?+?QҠ?` ?e lt??)f@ I٘i)I9j@YG J ͼB=Jf<JJJE&Kw> YU~?ygERA9E77{7%q9)ݯB[[u[VV~?[[[[[BZYY i) _ɼIiK@"6= >))>>vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036138.403165 s, next control iter: 1743036138.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9637&, header.stamp.nsec: 0&0 temperature: 13.571131&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.571833&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036138.783165 s.YI~,'AA(\@A.R@A4V~? A71A7%"AA6hNA"AZAbAjArAzAAA)NkepAyXsArj@AG<AK=Ai~A@?A`GAҼ*Af9?2A?ֽ:A{=BAf9?JA?ֽRA{=٘i)I9j@Y|G JѼC=JJJJE&K YU~?yLtRA))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036139.223165 s, next control iter: 1743036139.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036139.623165 s.\I~,q'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743036139.623318F (some fields omitted in printout)AG@AQMI@AV~? A?AX%"AAiNA"AZAbAjArAzAAAv&GA?1sAmh@AZA-z=AsA@4x?AAμ*A9?2A\ ׽:Aa=BA9?JA\ ׽RAa=٘i)I9h@Y G JмJJJJE&K Y4U~?y[QAAE777/q96B)B/E[[چ[VuV~?["[[[[BZYY i"m) 4߼Ii*@i3= vJ))vJvJVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036139.663165 s, next control iter: 1743036140.023183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9638 , header.stamp.nsec: 0 0 temperature: 13.571395 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.571034 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036140.043165 s.I~,'AJ"J*J2J:JBJnJvJA= ף0@AT#@A"V~? AFA-%"AA1iNA"AZAbAjArAzAAA3, !AҶsAh@AjAg(=A.nAR?AA0μ*A9?2Ai,׽:AR=BA9?JAi,׽RAR=٘i)I9h@Y= G JbμJJJJĴE&K YrCU~?y?cQADE7ŧ7p3q9)B[[[KV~?[([[[[BZYY i) qIiӋ@2= r))rr=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036140.063165 s, next control iter: 1743036140.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036140.463165 s.ZI~,'AAfffff@A^I\Y@AV~? AMA%"AADiNA"AZAbAjArAzAAAHba~A{sA dg@A\A}U=AhA(?AdAqμ*A9?2Afֽ:A;}=BA9?JAfֽRA;}=Y3@LiyIQ=]ٓHLJ?C?3?@31v?@kU` ?)3@ I٘i)I9dg@Y G JͼJ;JJJǴE&K!x> YTU~?y2jPALiGEb777q97B)B2E[[q[V~?[.[[[[ZZ¸BZYY i¸m=) iڼIi@jb1= Mo))MoMoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036140.483165 s, next control iter: 1743036140.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9639, header.stamp.nsec: 00 temperature: 13.571662* salinity: 33.375031, density: 1025.000000* values[0]: 0.570267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036140.883165 s.yI~,/8'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743036140.883301F (some fields omitted in printout)A(@AÝ #@AV~? ATApz%"AAXiNA"AZAbAjArAzAAAvm-fAQXsA̴f@AѶA :=AcA?A@&AbԼ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9f@Yi G JмB=JJJJɴE&K YfU~?y&qPAIE7:q98B)B3E[[g<[V~?[Q4[[[[ZZBZYY i) >`μIi@0= ̣]))̣]̣]yo^UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036140.903165 s, next control iter: 1743036141.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036141.303165 s.XI~,gS'AA@As@ABV~? A[A%"AA#liNA"AZAbAjArAzAAA< ARsAe@A*ī;A9=A_A?A`OA*A9?2A/ֽ:A|<BA9?JA/ֽRA|<٘i)I9e@Y G JJC=JJJJ̴E&K YIwU~?yxOALEj7j70>q9) B6E[[ |[ V~?[:[[[[ZZBZYY i) sY¼Ii@.= K))KKy=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036141.323165 s, next control iter: 1743036141.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9640*, header.stamp.nsec: 0*0 temperature: 13.571961** salinity: 33.375031*, density: 1025.000000** values[0]: 0.569458*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036141.723165 s. I~,Hn'AJ"J*J2J:J?BJ?nJ5vJAz@ADOʤ@A0V~? AbA5m%"AAiNA"AZAbAjArAzAAA2*4AzysAO e@AW<AhM=A elevatorAngleAction: 0.082845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743036142.143302F (some fields omitted in printout)A ףp=@Ai0@AV~? AKiA&%"AAHiNA"AZAbAjArAzAAAeT{A}+sA2d@A28d<Aux=ATA@W?A`A*A9?2A&ֽ:AL{<BA9?JA&ֽRAL{<٘i)I92d@Y G JwJJJJҴE&K YڙU~?yNAQE77{7[Eq99B)B9E[['s[V~?[KE[[[[ZZBZYY i) HIir@_-= `())`(`(#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036142.163165 s, next control iter: 1743036142.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036142.563165 s.J "J *J 2J :J ?BJ ?nJ 5vJ I~,F 'AA3333s@A'f@A[ W~? AoAf%"AA\iNA"AZAbAjArAzAAACsAb[ޝsANmc@A;A3=AwOA ?AQAӼ*A9?2A5Iֽ:A;BA9?JA5IֽRA;YU @cOy3=;ٓHA ?@/?`~? I(` ?âxm|? ?)U @ I٘i)I9mc@Yj G JXJP׽JJJԴE&Kv> YYU~?ybwNAcOTEZ7Z7Hq9)B[[n[V~?[J[[[[ZZBZYY i=) xIi @ += Ф))ФФ|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036142.583165 s, next control iter: 1743036142.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9641, header.stamp.nsec: 00 temperature: 13.572307* salinity: 33.375031, density: 1025.000000* values[0]: 0.568481F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036142.983165 s.I~,쾻'AA\@A*@AW~? ArvAO%"AAiNA"AZAbAjArAzAAA:ANtJ?sAb@AiA<A0JA?AA屮*A9?2ALֽ:A'BA9?JALֽRA'㺙٘i)I9b@Y G J¼JJJJ״E&K YU~?yƒ;NAWE77Lq9;B)%B=E[[Dj[V~?[HP[[[[ZZBZYY i) bIiӄ@*= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036143.003165 s, next control iter: 1743036143.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036143.403165 s.&I~,ٻ'AJ"J*J2J:Jl?BJl?nJ|5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198522 time: 1743036143.403284F (some fields omitted in printout)AQ@AHG@AB(W~? A|Ag%"AA|iNA"AZAbAjArAzAAAa@ߺA׷sAKb@AVAC$<ADA ?A&Av*A9?2A4ֽ:AjcBA9?JA4ֽRAjc٘i)I9Kb@Y G JᕼJJJJڴE&K YYU~?y)MAYE7Pq9 elevatorAngleAction: 0.082736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036144.663308F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9643, header.stamp.nsec: 00 temperature: 13.572672* salinity: 33.375053, density: 1025.000000* values[0]: 0.567376F (some fields omitted in printout)A@Ac@r@AYW~? AA%%"AA}$jNA"AZAbAjArAzAAALj˿A4sARa@A.{9A]AW5A`?AAV*A9?2Aֽ:A$ȼBA9?JAֽRA$ȼYa@zX5y]M{9ٓH J??@Y.,M?ቔ?ڟ?e/? ?)a@ I٘i)I9a@YQ G JFC=J6JJJE&Kw> YV~?yMAX5aE)7ŧ7Zq9=B)0BFE[[OZX[qW~?[e[[[[BZYY iIk=) VVIi@Y$= @t))@t@ty=g)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036144.683165 s, next control iter: 1743036145.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036145.083165 s.DI~, SE'AJ"J*J2J:JBJnJvJA)\µ@A_@AkW~? AAn%"AAe>jNA"AZAbAjArAzAAA0ˠA|,sAGa@A{+<A-A0A?AaTAC:*A9?2Aֽ:AjBA9?JAֽRAj伙٘i)I9a@YP G JJJJJE&K YU&V~?ykMAdE7{7p^q9>B)1BGE[[S[IW~?[j[[[[BZYY i=) @gEIi~@#= ,)),,yG=-i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036145.103165 s, next control iter: 1743036145.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036145.503165 s.I~,]4`'AAR@Ax@A|W~? AA %"AAXjNA"AZAbAjArAzAAAq?Ab9sAa@At<AUAx*A*)?A A_;*AW9?2ABֽ:A88BAW9?JABֽRA88٘i)I9a@Y` G JY};JJJJE&K Y;V~?y(NAgEb7b7bq9?B)JE[[\O[},W~?[o[[[[BZYY i) 3IiZ|@!= ɼ))ɼɼy]d=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036145.543165 s, next control iter: 1743036145.903182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9644, header.stamp.nsec: 00 temperature: 13.572613* salinity: 33.375053, density: 1025.000000* values[0]: 0.567377F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036145.923165 s.;I~,{'AJ"J*J2J:J??BJ??nJM5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067440< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036145.923309F (some fields omitted in printout)A{G!@A;@AݎW~? AOA|%"AAtjNA"AZAbAjArAzAAAC7}?A`sA9a@A:<AtA%A?A%A$<*A9?2Aֽ:ABA9?JAֽRA٘i)I9a@Y G J<JJJJE&K YRQV~?y漪1NAiE77{7eq9@B)0BME[[+J[?AkR;tA@b@Amo:AeA΍ A`x?ApVAX_<*Am9?2ARֽ:A BAm9?JARֽRA ٘i)I9@b@Y G J?<JJJJE&K YfV~?yª\NAlEŧ7b70iq9).B[[LF[KW~?[y[[[[BZYY i) Iix@a3= 0<))0<0<k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036146.383165 s, next control iter: 1743036146.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9645&, header.stamp.nsec: 0&0 temperature: 13.572416&* salinity: 33.375053&, density: 1025.000000&* values[0]: 0.567650&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036146.763165 s.:+I~,,ذ'AJ"J*J2J:JBJnJvJǍ@AY@A(W~? AAb%"AAjNA"AZAbAjArAzAAAvS`?AtApb@AtyAAAAi(?A@z߿A[<*A9?2Aս:AMBA9?JAսRAMY@UaykٓH .8?D?4@E?K?+?Oi?)@ I٘i)I9b@Y G Jv<JEJJJE&KEw> Y~V~?yǪNAaoE{7{7lq9)+BPE[[A[[W~?[t~[[[[BZYY iPi=) :Ii[u@G= %<))%<%<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036146.803165 s, next control iter: 1743036147.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036147.183165 s.2I~,R˼'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036147.183284F (some fields omitted in printout)A(\@Av@AWW~? AAO%"AAjNA"AZAbAjArAzAAA1R?A`HtA#c@ASluAЖAbsA z?A L߿AYr<*A9?2AQս:ABA9?JAQսRA٘i)I9#c@Y= G J<JJJJE&K Y6V~?y̪OAqE77[pq9AB)(BSE[[J=[:lW~?[.[[[[BZYY i) gIiVr@g= S<=))S<=S<=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036147.223165 s, next control iter: 1743036147.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036147.603165 s.849I~,'AJ"J*J2J:JBJnJvJAQ@A;4,F@AW~? ATAq%"AAjNA"AZAbAjArAzAAAͿ?Ab94 tA׫c@A84XAMA15A?A` ޿Abb<*A9?2A%ֽ:AxBA9?JA%ֽRAx٘i)I9c@Y G J<JJJJE&K YhV~?yѪ~OAtE{7j7sq9BB)%BUE[[38[|W~?[ׇ[[[[BZYY i) ,ŻIio@g= @u=))@u=@u=s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036147.623165 s, next control iter: 1743036148.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9646 , header.stamp.nsec: 0 0 temperature: 13.572145 * salinity: 33.375084 , density: 1025.000000 * values[0]: 0.568237 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036148.023165 s.Z@I~,{'AAHz.@A\W!@AW~? AA%"AAkNA"AZAbAjArAzAAAM\q?AJ]^` tA=d@AAǛAk A?A`=ݿAxt<*A9?2AŁֽ:A+ BA9?JAŁֽRA+ ٘i)I9=d@Y G Jά<JJJJE&K YV~?y֪OAwE{7wq9CB)!BXE[[24[W~?[n[[[[BZYY i) PIilm@= =))==yA#j=$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036148.043165 s, next control iter: 1743036148.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036148.443165 s.J "J *J 2J :J ?EFI~BJ?nJ5,y]'AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057104< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036148.443291F (some fields omitted in printout)Aq= c@AV@AX~? AA!%"AA;"kNA"AZAbAjArAzAAA FzF?AytA?d@A;AvAfA@&i?ASݿAAe<*A9?2Aֽ:AmBA9?JAֽRAm٘i)I9d@YB G J<<B=JJJJE&K YV~?y۪?PAzE77{q9)B[E[[/[FW~?[[[[[BZYY i) VIik@= ~=))~=~=-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036148.463165 s, next control iter: 1743036148.843177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9647", header.stamp.nsec: 0"0 temperature: 13.571764"* salinity: 33.375088", density: 1025.000000"* values[0]: 0.568964"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036148.863165 s.+MI~,>7'AA@Ac@AX~? AƫA8%"AAAkNA"AZAbAjArAzAAAN`gB@Ax/~tAbbe@Ah<AߘA AV?AVܿA]<*A9?2A׽:AEBA9?JA׽RAEY@PPyۘʹh<ٓH??v޿a?@)8? ?`=?@^?)@ I٘i)I9be@Y G J<C=J'JJJE&KOx> YV~?yPAP|Eb77~q9DB)B^E[[[+[W~?[N[[[[BZYY i) DTIig@Se= =))==^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036148.883165 s, next control iter: 1743036149.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036149.283165 s.8RTI~,R'AJ"J*J2J:JBJnJvJA(\@A&O@An,X~? A[˫AY%"AA`kNA"AZAbAjArAzAAAG֠n=@A ntAe@ABk<A{ٕA.A?A$ۿA<*A9?2A׽:ABA9?JA׽RA٘i)I9e@Y G J߫<JJJJE&K Y9 W~?yF QAE)7ŧ7Fq9)B[[&[}W~?[[[[[BZYY i Ç=) fIid@[I= p >))p >p >L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036149.303165 s, next control iter: 1743036149.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9648., header.stamp.nsec: 0.0 temperature: 13.571389.* salinity: 33.375095., density: 1025.000000.* values[0]: 0.569709.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036149.703165 s.غZI~,m'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036149.703288F (some fields omitted in printout)AQ@AvO@AAX~? A ЫA%"AAbkNA"AZAbAjArAzAAAw?@AeUItAf@A#;Ae"AA@E?AڿA<*A@9?2AMֽ:AdgBA@9?JAMֽRAdg٘i)I9f@YJ G Jy<B=JJJJE&K Y$W~?ysQAE7܅q9)BaE[[s![W~?[ԝ[[[[BZYY i) "ŶIia@7k= m>))m>m>I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036149.723165 s, next control iter: 1743036150.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036150.123165 s.?aI~,~⇽'AJ"J*J2J:JBJnJvJAG:@Ak^-@A!WX~? AԫA٢%"AAkNA"AZAbAjArAzAAAlXBI@AֹtA~g@AZAQAoA`?A`ڿA=<*A29?2Adֽ:ABA29?JAdֽRA٘i)I9g@Y G J<C=JJJJE&K Y=W~?yQAEŧ7b7qq9EB) BdE[[Z[W~?[[[[[BZYY i) Ii_@= .>)).>.>*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036150.143165 s, next control iter: 1743036150.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036150.543165 s.IhI~,â'AA= ףp@Ai7c@AlX~? AثA?K%"AAkNA"AZAbAjArAzAAAJͱY@A tACg@ARA抽A))@QA>@QA>y=_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036150.563165 s, next control iter: 1743036150.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9649, header.stamp.nsec: 00 temperature: 13.571049* salinity: 33.375107, density: 1025.000000* values[0]: 0.570442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036150.963165 s.znI~,'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: 0.066290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036150.963288F (some fields omitted in printout)Affff@A[@AX~? AEݫAN%"AAkNA"AZAbAjArAzAAA]q @A3 \!tAU!h@AE`tAAϾA# ?AlؿAa<*A=9?2AHֽ:AWBA=9?JAHֽRAWY$@#ξytٓH^?@,?.@mٿj?X?`?`?)$@ I٘i)I9!h@YG G Jˠ<J<JJJ E&K-x> YWpW~?yRAξEŧ77q9)BkE[[&[ X~?[쩪[[[[BZYY i) qv:IiY@ = S>))S>S> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036151.003165 s, next control iter: 1743036151.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036151.383165 s.uI~,/ؽ'AA(@Ag@AXX~? AgA%"AA`lNA"AZAbAjArAzAAA5))f>f>G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036151.403165 s, next control iter: 1743036151.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9650", header.stamp.nsec: 0"0 temperature: 13.570690"* salinity: 33.375118", density: 1025.000000"* values[0]: 0.571161"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036151.803165 s.yA|I~,g'AJ"J*J2J:J7?BJ7?nJQ5vJA@A@AX~? AeAT%"AAp&lNA"AZAbAjArAzAAAaf@AR&tAi@A"ڿ:A悽AjA@?A`ֿAXt<*A9?2APֽ:AgBA9?JAPֽRAg9٘i)I9i@Y G J<C=JJJJE&K YPW~?ymRSAEŧ77Ɨq9HB)BnE[[ [M3X~?[~[[[[BZYY i) HX;IiOR@ = px>))px>px>W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036151.823165 s, next control iter: 1743036152.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036152.223165 s.gI~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066290< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198982 time: 1743036152.223283F (some fields omitted in printout)AzG@A:@AX~? A>A%"AAHlNA"AZAbAjArAzAAAEL,|o@Aƫ(tAi@AK@9<A<AܮA?AտAѤ<*A9?2A'-׽:ABA9?JA'-׽RA꼙٘i)I9i@Y%G J<JJJJE&K YJW~?ySAE{7{7\q9)BqE[[?[GX~?[#[[[[BZYY i)  C;IiO@= >))>>i*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036152.243165 s, next control iter: 1743036152.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036152.643165 s.wЉI~, *)'AJ"J*J2J:JBJnJvJA ףp}@A+dp@AX~? AA.%"AAklNA"AZAbAjArAzAAA= @A*tAi@A(y<A〽AQAM?AտA*<*Ag9?2A1׽:AxBAg9?JA1׽RAx鼙ܖI٘i)I9i@YgG Jf<JJJJE&K YFW~?yWTAE777q9)BtE[[{[6[X~?[[[[[BZYY io=) e;Ii M@,H= >))>>y*YFFFtReceived state from Gazebo (printed only once in a while):]:0 header.stamp.sec: 9651, header.stamp.nsec: 00 temperature: 13.570353* salinity: 33.375134, density: 1025.000000* values[0]: 0.571794F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743036152.663165 s, next control iter: 1743036153.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036153.063165 s.I~,R D'AA3333@A+@A[X~? AA?w%"AAlNA"AZAbAjArAzAAAN3@AGN-tAyej@Az 6<AĀA A3?A`o3ԿAu<*A9?2Aֽ:ABA9?JAֽRAY|f@dy€e6<ٓH@~?`?I4qҿ@?`q???N?)|f@ I٘i)I9ej@YG J>~<B=J<JJJE&Kx> YDW~?y_TAdEj7j7q9IB)BwE[[e[UoX~?[[[[[BZYY i) ;IiH@= QB>))FQB>QB>J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036153.083165 s, next control iter: 1743036153.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036153.483165 s.~_I~,^'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250539> elevatorAngleAction: 0.075897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036153.483300F (some fields omitted in printout)A\@AYNB@A Y~? AA/3%"AAlNA"AZAbAjArAzAAA.kW@Aϙ,/tA~j@Af2:AoA\Ae?A]WӿA(<*A9?2Apֽ:ABA9?JApֽRA٘i)I9j@YG J~<C=JJJJE&K Y>X~?yTAE77q9)B[[=[ŃX~?[f[[[[BZYY i) 7m;Ii+E@a< y>)) y>y>+*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036153.523165 s, next control iter: 1743036153.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9652, header.stamp.nsec: 00 temperature: 13.570025* salinity: 33.375168, density: 1025.000000* values[0]: 0.572376F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036153.903165 s.ȝI~,y'AAQ@A@A$Y~? A(A %"AA}lNA"AZAbAjArAzAAAr@A%L)1tA=k@AAAAR?A@tvҿAZ<*A9?2AXս:A#BA9?JAXսRA#٘i)I9=k@Y,G J؁<JJJJE&K Y9)X~?y0  UAEq9)BzE[[u%[X~?[ª[[[[BZYY i) w))A>A>yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036153.923165 s, next control iter: 1743036154.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036154.323165 s.wI~,)'AJ"J*J2J:JBJnJvJAGzT@AanG@A@A3tA­k@AuAAwA?A&ѿA0]<*A9?2AOZս:APBA9?JAOZսRAP٘i)I9k@YpG J<JJJJ E&K Y4DX~?y bUAEZ7Z7Fq9)B}E[[}ݾ[X~?[Ū[[[[BZYY i) 8@,< 9k>))9k>9k>*Yq0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036154.343165 s, next control iter: 1743036154.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9653*, header.stamp.nsec: 0*0 temperature: 13.569720** salinity: 33.375156*, density: 1025.000000** values[0]: 0.572977*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036154.743165 s.WI~,u'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036154.743315F (some fields omitted in printout)Aףp=@A&2}@AUY~? A8Agx%"AAFmNA"AZAbAjArAzAAAG+@A54tAl@AQA!ALcA@?AnпAN<*A 9?2Aս:A BA 9?JAսRA ٘i)I9l@YG JӇ<JJJJ"E&K Y1_X~?ylUAE7)7ܰq9)BE[[%7Ծ[X~?[Ȫ[[[[BZYY i) #))>>ݷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036154.763165 s, next control iter: 1743036155.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036155.163165 s.x}I~,qʾ'AJ"J*J2J:JBJnJvJA@A4f@AnmY~? AA@%"AADmNA"AZAbAjArAzAAA+S@A/*6tAl@A!{AoAMA?AϿA<*A9?2Av-ֽ:ABA9?JAv-ֽRAY(@sMy-x|ٓHI?@?@£sɿ@/[?ۏ?V.?|o x?)(@ I٘i)I9l@YG J<Jj'JJJ%E&Kv> YzX~?y.VAsME77{7qq9KB)BE[[5ʾ[@X~?[˪[[[[BZYY i) ~3< K>))b|K>K>**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036155.183165 s, next control iter: 1743036155.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036155.583165 s.I~,R'AA)\@Anض@AY~? AA %"AA9imNA"AZAbAjArAzAAA}@Ar18tAm@A~J;A0CA)) >>ؾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036155.603165 s, next control iter: 1743036155.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9654, header.stamp.nsec: 00 temperature: 13.569389* salinity: 33.375172, density: 1025.000000* values[0]: 0.573603F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036156.003165 s. I~,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: 0.075897< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743036156.003306F (some fields omitted in printout)AR+@A|z@AǞY~? A)A[%"AAmNA"AZAbAjArAzAAA˖#@AeU9tAum@A=i<A9Av)#A l?A Q˿A<*AK9?2Aս:AQBAK9?JAսRAQ٘i)I9um@YG J<JJJJ*E&K Y?X~?yVAEq9LB)BE[[۷[Y~?[Ъ[[[[BZYY i) >R))D>D>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036156.023165 s, next control iter: 1743036156.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036156.423165 s.uI~,'AA{Ga@AUt))I>I>*Y+ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036156.443165 s, next control iter: 1743036156.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9655", header.stamp.nsec: 0"0 temperature: 13.569065"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.574214"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036156.843165 s.I~,5'AJ"J*J2J:JBJnJvJAp= @A>@AY~? A A|%"AAmNA"AZAbAjArAzAAAg+|^@A髶v))x>x> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036156.863165 s, next control iter: 1743036157.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036157.263165 s.I~,#P'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743036157.263284F (some fields omitted in printout)A@A¿@AY~? A AS%"AA3nNA"AZAbAjArAzAAA09@A}N=tAn@A/A"AaͽA ?A^ƿA@ڟ<*AY9?2A\Yս:A~BAY9?JA\YսRA~Y׾@9ͽyٓH?>?J@???`s`t?)׾@ I٘i)I9n@YfG J<C=JkJJJ2E&Kt> YY~?yWA9ͽEj7Z7\q9)կBE[[#[FY~?[$ت[[[[BZYY i) [))z>>z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036157.283165 s, next control iter: 1743036157.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 96562, header.stamp.nsec: 020 temperature: 13.5687012* salinity: 33.3752292, density: 1025.0000002* values[0]: 0.5749012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036157.683165 s.lI~,ck'AJ"J*J2J:JBJnJvJA(\@Au@AIZ~? A A-%"AAx&nNA"AZAbAjArAzAAAį m@A#RO>tAno@A1sYA#A򤥽A`?ANĿA<*AF9?2AYս:AYBAF9?JAYսRAY٘i)I9no@YG J7<JJJJ5E&K Y!Y~?yRXAEq9TB)دBE[[ݍ[z]Y~?[Gڪ[[[[BZYY i) k elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743036158.523298F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzn@ATa@AF6Z~? AAz%"AAsnNA"AZAbAjArAzAAASW @AV<<@tA p@AH< A[A_&A;?A A<*A9?2AݯԽ:ABA9?JAݯԽRA٘i)I9p@YfG J<JJJJ:E&K YYY~?yYAEb77q9SB)ϯBE[[[|[Y~?[0ު[[[[BZYY i) ̖@AOZ~? A7A%"AAWnNA"AZAbAjArAzAAA3`.!@AAtAq@A ;A]<A2A-?A]A <*A9?2Amս:AJBA9?JAmսRAJ٘i)I9q@YG J<JJJJ=E&K YvY~?yYAE77{7q9)ʯBE[[Sh[Y~?[ߪ[[[[BZYY i) ׿'AJ"J*J2J:JBJnJvJA@A -@AiZ~? ArA%"AABnNA"AZAbAjArAzAAA+#"@A mBtAq@A><ATA\V:A??A 떺A?Ŭ<*A9?2Aֽ:ABA9?JAֽRAY@ɓ9y(QF?<ٓH S? r T@ӣi2?p? f?ԇ??)@ I٘i)I9q@YG J<JJJJ@E&Kt> YOY~?yYAɓ9E{7j7Gq9)ƯBE[[}U[_Y~?[[[[[BZYY i)  elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743036159.783276F (some fields omitted in printout)A(\@A80Q@ApZ~? AAU%"AAKnNA"AZAbAjArAzAAA"@A{ CtA elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036161.043300F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@A.Z~? AAl%"AA]oNA"AZAbAjArAzAAAX=>$@A^HގoDtA,t@A!AWA]=A`mp?A`SA.<*A9?2ANԽ:AgBA9?JANԽRAg٘i)I9t@YG J<JJJJKE&K Y1Z~?y[AʴE7q9RB)BE[[[[Z~?[[[[[BZYY i)  YCZ~?y&\A=ʹE)7ŧ72q9)BE[[VU[#2Z~?[[[[[BZYY i) IJ3O%@ADtA}u@AIAxA=A`y?AAt<*A9?2A4ս:AoABA9?JA4սRAoA٘i)I9}u@YiG J<JJJJPE&K YR;Z~?y\AϴE77{7q9)BE[[[oJZ~?[c[[[[BZYY i)  elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036162.303331F (some fields omitted in printout)AQ@A͔D@A4[~? AA X%"AA-oNA"AZAbAjArAzAAAsɏp&@A!DtA.1v@AILA@MA!>A7}?AIAC<*A'9?2A=Խ:A,BA'9?JA=ԽRA,٘i)I91v@YG J<JJJJSE&K YbWZ~?y]AҴE{7j7]q9QB)BE[[vߖ[bZ~?[[[[[BZYY i) 2A`9|?A>?A?<*A9?2ALԽ:A^BA9?JALԽRA^٘i)I9v@YCG JL<JJJJUE&K YtsZ~?y]AմE777q9)BE[[lg][{Z~?[[[[[BZYY i) "iArx?A ?A/<*A9?2A-ս:AnBA9?JA-սRAn٘i)I9w@YG J/<JJJJXE&K YZ~?y/^A״Eb77q9)B[[, [Z~?[[[[[BZYY i) Ԟ elevatorAngleAction: 0.085220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036163.563273F (some fields omitted in printout)A3333@A '@AAm[~? AA-`%"AA}JpNA"AZAbAjArAzAAA3bI(@A:䲮DtAEGx@AG^<AA}N>Ar?A ?A0<*AY9?2Akս:A"BAY9?JAkսRA"Yv@>M>y_<ٓH;?qɿI a?`CY? e៿ն?0׋?@?)v@ I٘i)I9Gx@YG JS<JꮻJJJ[E&Ks> Y'Z~?yo^A>M>ڴEb7q9PB)BE[[/r[CZ~?[[[[[ZZZZ¸>BZYY i¸>) HATi?A(|?A?<*A9?2A]gս:AiBA9?JA]gսRAi٘i)I9x@YG J|<B=JJJJ]E&K YZ~?y^AݴE{7j7q9)BE[[;["Z~?[[[[[ZZZZBZYY i) x{A@o]?A ?A=*A9?2A![ӽ:AlhBA9?JA![ӽRAlh٘i)I9y@YG Jh<C=JJJJ`E&K  r9YlZ~? r9yu_AߴE{7Gr9OB)BE[[<[.Z~?[[[[[ZZZZBZYY i) lAP?A2?A7=*A:?2Aoӽ:AbBA:?JAoӽRAb٘i)I9z@YG J=JJJJcE&K YZ~?y/_AE77r9)yBE[[T6=[gZ~?[[[[[ZZZZBZYY i) DZAA?A ֹ?AO<*A:?2A0Խ:AUpBA:?JA0ԽRAUp٘i)I9{@YG J=JJJJeE&K Y[~?ynj`AE7r r9LB)pB¹E[[ꒄ=[[~?[E[[[[ZZZZBZYY i) 1IA/AW>Ar1?AE?A B<*A:?2AԽ:AĻBA:?JAԽRAĻY8=Z>yd/tٓH`f?`ҿ` `7?#? Y4[~?y `A>E7{7r9)iBŹE[[ze=[*[~?[[[[[ZZZZBZYY i"?) A?AF?A5ڨ<*A:?2Awս:A";BA:?JAwսRA";٘i)I9|@YG J5<JJJJkE&K YO[~?y9 `AE77r9)dB[[=[0D[~?[[[[[ZZZZBZYY i) PAg ?A ?AJt<*A]6:?2A"_ӽ:A <BA]6:?JA"_ӽRA <٘i)I9s}@YBG Js<JJJJmE&K Yj[~?yaAE7772r9KB)_BȹE[[e >[][~?[[[[[ZZZZBZYY i) vA?AY?A!<*A6:?2Aӽ:A‚<BA6:?JAӽRA‚<٘i)I9}@YwG JQ<JJJJpE&K Yυ[~?yWaAE7r9JB)\B˹E[[>[5w[~?[[[[[ZZZZBZYY iѧ) u A`?A (?A;*A 0:?2A_/Խ:A'<BA 0:?JA_/ԽRA'<٘i)I9~@YG J<JJJJsE&K Yՠ[~?yhaAEj7j7]r9)YBιE[[ )>[ܐ[~?[[[[[ZZZZBZYY i) ʭjAK?A?A:*A!:?2AԽ:A<BA!:?JAԽRA|>y=`]ٓH`0v?ؿL?@?y??jPB2?)8> I٘i)I9~@YG J\z;JJ6>JJJvE&Ks> Y[~?yfaA>EZ7SI7r9IB)XBѹE[[>>[([~?[F[[[[BZYY i j) $8YA?A?At*A:?2A$ս:A<BA:?JA$սRA<٘i)I9~@Y Ja9JJJJxE&K Y[~?y:aAE777#r9HB)WBԹE[[mS>[[~?[[[[[BZYY iRo) GA@z?A` ?A ջ*A<*:?2A7Խ:A<BA<*:?JA7ԽRA<ۖI٘i)I9~@YG JgJJJJ{E&K Y[~?yaAEŧ7b7'r9)XB[[h>[[~?[ߪ[[[[BZYY i) K6A@W?A%w?AUa&*A':?2AY[Խ:A =BA':?JAY[ԽRA =٘i)I9}@YvG JJJJJ~E&K Y \~?y`AE{7{7*r9GB)YB׹E[[H~>[[~?[ު[[[[BZYY i) ;$A1?A@2?As`*A#:?2AxԽ:A t =BA#:?JAxԽRA t =٘i)I9x}@YEG J!AJJJJE&K Y+#\~?y=`AEb77H.r9FB)[BڹE[[;߉>[G\~?[۪[[[[BZYY i) %_w'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067107< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036169.863302F (some fields omitted in printout)A@A*s @A \~? AAr-%"AArNA"AZAbAjArAzAAATXk0@A`%KG5tA}@A<A=A>A ?A7w?A*A!:?2AԽ:A=BA!:?JAԽRA=Y>>y=3<ٓH`?@Ԡ޿)?ޖ?@?8]?@z?d?)> I٘i)I9}@YG JwJ=JJJE&Ks> Y;\~?yV`A>EZ7SI71r9CB)ZBܹE[[w>[k)\~?[٪[[[[BZYY ii) j[B\~?[5ת[[[[BZYY i) }`;Ii4?nm; Q?)) Q?Q?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036170.303165 s, next control iter: 1743036170.683178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9669*, header.stamp.nsec: 0*0 temperature: 13.564281** salinity: 33.375420*, density: 1025.000000** values[0]: 0.583132*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036170.703165 s.ֺI~,'AAQ@A&x@A]~? AA%"AArNA"AZAbAjArAzAAA.b:1@Ae1tA |@AY<AK=A ?A?A {A?A~!*A=:?2Aӽ:A)=BA=:?JAӽRA)=٘i)I9 |@YhG JB=JJJJE&K Ym\~?y_AEb77 9r9)bB[[[>[[\~?[Ԫ[[[[BZYY i) ;Ii$?G; ?))??ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036170.723165 s, next control iter: 1743036171.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036171.123165 s.4I~,P'AJ"J*J2J:J6?BJ6?nJu5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057034< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036171.123284F (some fields omitted in printout)AG@A-׭@A2]~? AA%"AA=rNA"AZAbAjArAzAAAWU1@A'/tA{{@Aђ;A@=A4:?A`?A`$?A{譼*AhA:?2AHԽ:A =BAhA:?JAHԽRA =٘i)I9{{@YG J~C=JJJJE&K YV\~?y\3_A EZ7Z7[u\~?[Ѫ[[[[BZYY i) v;Ii^?; F?))F?F?yMiժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036171.143165 s, next control iter: 1743036171.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036171.543165 s.II~,'AA= ף@A@AFJ]~? AbA%"AAcsNA"AZAbAjArAzAAAT1@A\k-tAz@AٻAZ=A/?AP?A@?AD*A,E:?2Anս:A'=BA,E:?JAnսRA'=٘i)I9z@YG JJJJJE&K Y\~?y$ܪ^A E773@r9)dBE[[>[L\~?[Ϊ[[[[BZYY i) L;Ii ?޲; u?))u?u?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036171.583165 s, next control iter: 1743036171.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9670, header.stamp.nsec: 00 temperature: 13.564428* salinity: 33.375435, density: 1025.000000* values[0]: 0.582543F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036171.963165 s.I~,'AJ"J*J2J:J!?BJ!?nJ`5vJAffff&@Af\@Aa]~? AAy^%"AA4CsNA"AZAbAjArAzAAA݊72@AluK}+tAWz@AiA/=A?A@?A?AG`*A4H:?2A ֽ:A?=BA4H:?JA ֽRA?=Y%>r?y+=2qjٓH=U?@ 8??@Hb?`,?29?)%> I٘i)I9Wz@Y^G JB=J<JJJE&K/u> Ym\~?y+תl^A?E777Cr9;B)hBE[[Ӄ>[\~?[˪[[[[BZYY i) @^;Ii>g; (?))Δy(?(?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036171.983165 s, next control iter: 1743036172.363185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743036172.383165 s.I~,+'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243732@ elevatorAngleAction: -0.057034< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743036172.383288F (some fields omitted in printout)A(\@ArO@Ay]~? A:A9%"AAfsNA"AZAbAjArAzAAA_lX2@A*1 C)tA(y@A%!lA#=A)?A?AX?Aޡ*AJ:?2AUֽ:Ae<BAJ:?JAUֽRAe<٘i)I9y@YG JتC=JJJJE&K Y\~?y2Ҫ^AE77{7^Gr9)lB[[i>[\~?[[Ȫ[[[[BZYY iؠ) ,!;Ii>@;; m?)) m?m?}ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036172.403165 s, next control iter: 1743036172.783177 s, wait time: 0.380012 s\~?)2Ҫ"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9671", header.stamp.nsec: 0"0 temperature: 13.564563"* salinity: 33.375450", density: 1025.000000"* values[0]: 0.581969"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036172.803165 s.xAI~,g3'AJ"J*J2J:JBJnJvJA@A`@A]~? AmA%"AẢsNA"AZAbAjArAzAAA^2@A&tA9y@A|Ak=A#$?A߫?A`Œ?AF*Ae:?2AԽ:Az<BAe:?JAԽRAz<٘i)I99y@YG J~JJJJE&K Y\~?y9ͪ]A DEb7b7Jr97B)mBE[[g>[o\~?[Ī[[[[BZYY i) 9:Ii?>+f; ?))??ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036172.843165 s, next control iter: 1743036173.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036173.223165 s.gI~,HN'AAz@Aaۢ@A]~? A{Ac8%"AAsNA"AZAbAjArAzAAA[2@Ax$tAx@A}͂;A =A^)?As?AX?A*Ae:?2AԽ:Af~<BAe:?JAԽRAf~<٘i)I9x@YZG JyJJJJE&K YR\~?y@Ȫ:]AE{7{7Nr96B)pBE[[w>[ \~?[&[[[[BZYY i) s":Iii>YE; e?))e?e?2êYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036173.263165 s, next control iter: 1743036173.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036173.643165 s.I~,0*i'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066225< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743036173.643315F (some fields omitted in printout)A ףp@A.e@Aq]~? AfޫA%"AAsNA"AZAbAjArAzAAAFʦ(3@A "tA6#x@AlS<AE=A.?A`7?A|%?AK*Ac:?2AԽ:A<BAc:?JAԽRA<٘i)I9#x@YG J$JJJJE&K Y]~?yGê\AE)7ŧ7Rr95B)tBE[[[>[ ]~?[C[[[[BZYY i) !Ii@>H); .?)).?.?yYFFF]tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9672, header.stamp.nsec: 00 temperature: 13.564716* salinity: 33.375446Waiting for Gazebo time sync: latest Gz time: 1743036173.663165 s, next control iter: 1743036174.043179 s, wait time: 0.380014 s, density: 1025.000000* values[0]: 0.581358F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036174.063165 s.I~,c 'AA33333@ANw(&@A]~? A.ګAs%"AAsNA"AZAbAjArAzAAA|k3@A ܫwtAw@Au<A2=Ay23?A@?A?AKj*ABa:?2Aaս:A[<BABa:?JAaսRA[s3?y.=>mv<ٓH f?ĜŮ??x?ɟ?@ⰿ/?` I٘i)I9w@YG JşJšJJJE&Ku> Y7)]~?yy\As3?E7)7Ur9)xB[[_?[!]~?[?[[[[BZYY i) \xIiiA>ʐ: ?))v|??[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036174.103165 s, next control iter: 1743036174.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036174.483165 s.z_I~,'AJ"J*J2J:J?BJ?nJ5vJA\h@Ah$[@A]~? AիA +%"AA}tNA"AZAbAjArAzAAA!@S3@A$ItAw@A<A֊=A%8?A'?A=?A.*Aa^:?2Aս:A(<BAa^:?JAսRA(<٘i)I9w@YfG J͘JJJJE&K Y>]~?y귪\A E7777HYr94B)|BE[[a?[v9]~?[ [[[[BZYY i) Ii>%: ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036174.503165 s, next control iter: 1743036174.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9673, header.stamp.nsec: 00 temperature: 13.564859* salinity: 33.375454, density: 1025.000000* values[0]: 0.580815F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036174.903165 s.I~,͹'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066225< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743036174.903292F (some fields omitted in printout)AQ@A@Am]~? ASѫAm%"AA3tNA"AZAbAjArAzAAA?#3@A[tAʣv@A=úA=A=?A2r?A@?Aъ*Ao:?2ADBս:AT<BAo:?JADBսRAT<٘i)I9v@YG J揼JJJJE&K YdT]~?y<[A"EZ7Z7\r93B)~BE[[ ?[CQ]~?[[[[[BZYY i) PNIib=_;: K?))K?K?YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036174.923165 s, next control iter: 1743036175.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036175.323165 s.{I~,:'AJ"J*J2J:J?BJ?nJ5vJAGz@Amp@A^~? A̫A%"AASTtNA"AZAbAjArAzAAA[s 14@Aci);tAI2v@AJ:AJ>=AC?A H-?A 2Z?A *Am:?2Aս:A`<BAm:?JAսRA`<٘i)I92v@YG JJJJJE&K Yi]~?yi[A%Eb77s`r90B)BE[[]?[h]~?[[[[[BZYY i) 0Ii<w9 Y?))Y?Y?Yo.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036175.343165 s, next control iter: 1743036175.723182 s, wait time: 0.380017 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9674*, header.stamp.nsec: 0*0 temperature: 13.564979** salinity: 33.375450*, density: 1025.000000** values[0]: 0.580325*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036175.743165 s.WI~,q'AAףp= @AV 1@A)^~? AǫA-6%"AAttNA"AZAbAjArAzAAAXP q4@A nlRtAu@AfzA=ASH?A@?A`?AZ~*Ah:?2A5ֽ:AB<BAh:?JA5ֽRAB<٘i)I9u@YG JJJJJE&K Y]~?yߦ[A(E77j7 dr9/B)BE[[O?[^]~?[=[[[[BZYY i=I) ¥II?iډt0 C*?))C*?C*?KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036175.763165 s, next control iter: 1743036176.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036176.163165 s.}I~,r 'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743036176.163352F (some fields omitted in printout)A@@AY2@A>^~? AëAk%"AAWtNA"AZAbAjArAzAAA܂4@AW.6UtAk[u@A6A=A;vM?AF?A?A&*Ad:?2ASֽ:AR<BAd:?JASֽRAR 7ٓH5?`=??;?o?X؆S?)/? I٘i)I9[u@YTG J}B=J"JJJE&Ku> Y;]~?yZAHM?+EZ7Z7gr9.B)BE[[ ?[F]~?[T[[[[BZYY i) HŻIzI?iӪZ n?))n?n?AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036176.183165 s, next control iter: 1743036176.563248 s, wait time: 0.380083 s rAdjusting time to match Gazebo time: 1743036176.583165 s.I~,R%'AA)\u@Ah@A5S^~? AA/%"AAtNA"AZAbAjArAzAAA` e$4@AԀCtAgt@AAb=A%R?AP?A 5?A*A[:?2A`Cֽ:Az<BA[:?JA`CֽRAz<٘i)I9t@YG J~C=JJJJE&K Y]~?y5aZA-Ej73kr9)B[["?[]~?[9[[[[BZYY i) I I?i X?)) X?X?!YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743036176.603165 s, next control iter: 1743036176.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9675, header.stamp.nsec: 00 temperature: 13.565063* salinity: 33.375492, density: 1025.000000* values[0]: 0.579903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036177.003165 s.y I~,P4@'AJ"J*J2J:JBJnJvJAR@AKy@AXg^~? AظAwX%"AAmtNA"AZAbAjArAzAAAEz1+5@AbT tAFt@A{<A%=AvW?A`?AtY?A*A=d:?2Aս:AA=BA=d:?JAսRAA=٘i)I9t@YG J끼JJJJE&K Y]~?y ZA0E7)7nr9-B)BE[[U(?[]~?[엪[[[[BZYY i) 'I I?iLG\ o?))o?o?y0pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036177.023165 s, next control iter: 1743036177.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036177.423165 s.uI~,['AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743036177.423292F (some fields omitted in printout)A{G@A<@A%{^~? AA1%"AAtNA"AZAbAjArAzAAA_:g5@AfUAtAt@A-w<A=A\?A`?A@ ?Aߙ*A]:?2A:Cս:Ahd=BA]:?JA:CսRAhd=٘i)I9t@YG JJJJJE&K Y,]~?yYA3E77^rr9*B)E[[(.?[]~?[n[[[[BZYY i) II?it }@?))}@?}@?YdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036177.443165 s, next control iter: 1743036177.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9676, header.stamp.nsec: 00 temperature: 13.565172* salinity: 33.375496, density: 1025.000000* values[0]: 0.579463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036177.843165 s.I~,u'AJ"J*J2J:JW?BJW?nJ5vJAp= @A @A^~? A+AK&%"AAuNA"AZAbAjArAzAAAWL95@A-9tAs@A *R<A3=Aa?A'd?A?A*AU:?2Aս:AN#=BAU:?JAսRAN#=٘i)I9s@YGG JJJJJE&K Y]~?y6^YA5Eur9)B)BE[[3?[]~?[[[[[BZYY i) Z!II?i`4 L?))L?L?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036177.863165 s, next control iter: 1743036178.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036178.263165 s.!$I~,Iؐ'AAL@AL4H?@A^~? AAĐ%"AA+uNA"AZAbAjArAzAAA:#5@A;tA.s@A"[z;AȦ=Ag?A`3?AC9?AW⇼*AM:?2AUֽ:A2=BAM:?JAUֽRA2=Y9/?/g?y=,z;ٓH?HԦ???ɩ?1@_Ko?q?)9/? I٘i)I9.s@YG JUJ+<JJJE&Kv> YQ]~?yLYA/g?8E{7j7yr9(B)BE[[9?[E^~?[[[[[BZYY i) B/1IH?isJ^ ?))ۂ??bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036178.283165 s, next control iter: 1743036178.663188 s, wait time: 0.380023 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 96772, header.stamp.nsec: 020 temperature: 13.5652942* salinity: 33.3754842, density: 1025.0000002* values[0]: 0.5789922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036178.683165 s.l*I~,Z'AJ"J*J2J:J8?BJ8?nJl5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252951@ elevatorAngleAction: -0.075823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036178.683303F (some fields omitted in printout)A(\@ATu@Aq^~? AA%"AApHuNA"AZAbAjArAzAAA|6@A+sA4r@AAUc=Al?A?A?AVV*A6F:?2Aֽ:Aj=BA6F:?JAֽRAj=٘i)I9r@YG JJJJJE&K Y^~?yayXA;Eb77}r9)B[[f??[n^~?[[[[[BZYY i) -@IH?i&ʾ` ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036178.683165 s, next control iter: 1743036179.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743036179.103165 s.1I~,Ú'AAQ@AE@A^~? AAAl%"AAduNA"AZAbAjArAzAAAVBL6@A|GsAIr@A$$kA`=Aq?A``?A@?AN*AJ:?2Antֽ:A=BAJ:?JAntֽRA=٘i)I9Ir@YvG JJJJJE&K YL^~?ywrIXA=E77r9&B)BE[[#9E?[K0^~?[z[[[[BZYY i) 7PIH?i⾉$ ?))??HŪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743036179.123165 s, next control iter: 1743036179.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036179.523165 s.7I~,{'AJ"J*J2J:JBJnJvJAHz@AC@A^~? AbA;%"AAuNA"AZAbAjArAzAAAEǝ 6@AfsAq@AdAKt=Av?A@p?A@I~,5]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036179.943291F (some fields omitted in printout)Aq= #@AA@AY^~? AgAQ%"AAuNA"AZAbAjArAzAAA닜\6@Aã sAZq@AMH˻Ah\=A|?A]?A&?AY/*A=:?2AZdֽ:A> =BA=:?JAZdֽRA> =٘i)I9Zq@YG J5B=JJJJõE&K YJ9^~?ydWACE77߇r9"B)B E[[P?[X^~?[m[[[[BZYY iC7) AoIH?i2g6 /F?))/F?/F?cͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036179.963165 s, next control iter: 1743036180.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036180.363165 s.̊EI~,>'AJ"J*J2J:JBJnJvJAY@A%!L@A^~? APA%"AAvuNA"AZAbAjArAzAAAU}6@AR 4SsAp@Af;Aח=A?A?A?A*A|7:?2A.ֽ:AB=BA|7:?JA.ֽRAB=YDI?q?yoח=tT;ٓH?qs?`?`*.?Ǫ?zs?f?)DI? I٘i)I9p@YG JTC=J)<JJJƵE&Kw> YqH^~?y3]*WA?EE7tr9)B[[V?[l^~?[Lg[[[[BZYY i) 1d~IH?iF󂼻 ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036180.403165 s, next control iter: 1743036180.763199 s, wait time: 0.360034 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9679&, header.stamp.nsec: 0&0 temperature: 13.565536&* salinity: 33.375515&, density: 1025.000000&* values[0]: 0.578022&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036180.783165 s._KI~,2'AA(\@AްmQ@AW _~? AAb?%"AA@uNA"AZAbAjArAzAAA&j7@A5msANp@A[<A1=A ?A@#?A(?Aѥ*AT-:?2Aֽ:AJ=BAT-:?JAֽRAJ=٘i)I9Np@YAG J㢼JJJJɵE&K YW^~?yUVAHE{7 r9!B)B E[[m\?[^~?[}`[[[[BZYY i) n†I=H?ii Sͻ ?))??ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036180.803165 s, next control iter: 1743036181.183183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036181.203165 s.SI~,M'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036181.203291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ak3@A_~? A~A6%"AAmuNA"AZAbAjArAzAAA[#Q7@ArळsAo@As<Aǜ=A?A/?A Wt?Apĩ*A#:?2A'Iֽ:A=BA#:?JA'IֽRA=٘i)I9o@YG JJJJJ̵E&K Yf^~?yXN^VAKE77r9B)B E[[Xb?[v^~?[~Y[[[[BZYY i) fSIH?i+@ۻ ?))??y,תYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036181.223165 s, next control iter: 1743036181.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036181.623165 s.WYI~,]g'AAG@Am@A,_~? AmxA 5%"AAvNA"AZAbAjArAzAAAfS(7@AsA2o@A <An=A,S?A`k?A`?A$*A:?2Aֽ:A"&=BA:?JAֽRA"&=٘i)I92o@YG JJJJJεE&K Yu^~?yFUAME4r9B)BE[[h?[Ҥ^~?[SR[[[[BZYY i) 䕼IKH?i4.k ?))??#۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036181.643165 s, next control iter: 1743036182.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9680, header.stamp.nsec: 00 temperature: 13.565721* salinity: 33.375523, density: 1025.000000* values[0]: 0.577438F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036182.043165 s.`I~,Â'AJ"J*J2J:JBJnJvJA= ף0@A#@A?<_~? AqAز%"AAvNA"AZAbAjArAzAAA 7@ArsAn@A AA=A ?A?AQ?A?u*A:?2A6׽:Am=BA:?JA6׽RAm=٘i)I9n@Y=G J[JJJJѵE&K Y ^~?y}?UAPEər9)B[[4n?[^~?[J[[[[BZYY i) uI0H?i<& ?))??ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036182.063165 s, next control iter: 1743036182.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036182.463165 s.WgI~,줝'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036182.463303F (some fields omitted in printout)Afffff@Aut\Y@AZK_~? AVkA2%"AA 0vNA"AZAbAjArAzAAArc r7@AjҖsA2n@A@AL=AvÍ?A"?A@O?A *A5 :?2A"׽:A=BA5 :?JA"׽RA=Y/c?I?yI=UAٓH ? @'?4?@?8γ?u@p@?)/c? I٘i)I9n@YG JB=J<JJJԵE&Ky> Y^~?y7#UA?SEj7j7_r9B)BE[[Ԅt?[^~?[C[[[[BZYY i) {٤ITH?iI< ?))??!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036182.503165 s, next control iter: 1743036182.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9681, header.stamp.nsec: 00 temperature: 13.565901* salinity: 33.375546, density: 1025.000000* values[0]: 0.576812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036182.883165 s.ymI~,I'AJ"J*J2J:JBJnJvJA(@AU@AZ_~? AdA.%"AAFvNA"AZAbAjArAzAAAH-+& 8@A[[sA^m@A$xAJx=Aci?A@ ?A4?A*A:?2A׽:Ax=BA:?JA׽RAx=٘i)I9m@YG J֮C=JJJJֵE&K YP^~?y/TAUEŧ77r9B)BE[[Xz?[^~?[<[[[[BZYY i) >D.858@AXsAel@A,A=A?A@q;?A@?AQ*A9?2A#I׽:A'=BA9?JA#I׽RA'=٘i)I9l@Y/G J괼JJJJٵE&K Y^~?y'ETAXE7r9)B[[B?[^~?[A4[[[[BZYY i) ]I̔H?i_X> n?))n?n?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036183.323165 s, next control iter: 1743036183.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9682., header.stamp.nsec: 0.0 temperature: 13.566102.* salinity: 33.375557., density: 1025.000000.* values[0]: 0.576199.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036183.723165 s.{I~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036183.723278F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@AH7¢@Av_~? AWA%"AAqvNA"AZAbAjArAzAAAL_8@A ڢesAGl@AŹAbM=Ax?A`l?A`?Aü*Aw9?2AJֽ:A=BAw9?JAJֽRA=٘i)I9Gl@YG JJJJJܵE&K Y^~?y SA[E7777r9B)BE[[:I?[^~?[Y,[[[[BZYY i) IWH?ig S d?))d?d?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036183.763165 s, next control iter: 1743036184.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036184.143165 s.[/I~,* 'AA ףp=@A'e0@AR_~? APAvC%"AAivNA"AZAbAjArAzAAAj8@Ay@I'sAk@A #<Ag=A?A(?AQ?A̼*A 9?2A+{ֽ:A=BA 9?JA+{ֽRA=٘i)I9k@YhG JǼJJJJ޵E&K Y8^~?y&gSA]E7r9)B[[R?[_~?[L$[[[[BZYY i) Ie¼I{H?im+ 4`?))4`?4`?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036184.163165 s, next control iter: 1743036184.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036184.563165 s.I~,R $'AJ"J*J2J:Ji?BJi?nJ5vJA3333s@A*f@A/_~? AIA%"AAIvNA"AZAbAjArAzAAA߇8@AIsA=j@A1x<A=Ar?A3?A?AӼ*A>9?2Acֽ:A=BA>9?JAcֽRA=YH}??y="y<ٓH? ?T?`#?h?;? ?)H}? I٘i)I9j@YG JϼB=Js<JJJE&Kxx> Y8^~?yRA?`Ej7SI7Jr9B)BE[[;W?[_~?[/[[[[BZYY i) ɼInH?iAz) M?))M?M?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036184.583165 s, next control iter: 1743036184.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9683, header.stamp.nsec: 00 temperature: 13.566335* salinity: 33.375549, density: 1025.000000* values[0]: 0.575456F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036184.983165 s.I~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036184.983326F (some fields omitted in printout)A\@AWt@A_~? AAAU%"AAwvNA"AZAbAjArAzAAAvk@8@AksA>j@AGNJ<A-=A9*?A?A?A!Eռ*A9?2AΞֽ:Au"=BA9?JAΞֽRAu"=ږI٘i)I9>j@YG JԼC=JJJJE&K Y7^~?yxRAcEb77߲r9B)BE[[`?[$_~?[[[[[BZYY i) мI`H?ii& B?))B?B?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036185.023165 s, next control iter: 1743036185.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036185.403165 s.&I~,Y'AJ"J*J2J:JBJnJvJAQ@A0du@A_~? A:A@%"AAvNA"AZAbAjArAzAAAB8@ABDw$sAi@ANI;A==A?A?A@?AAԼ*A9?2A ׽:A==BA9?JA ׽RA==٘i)I9i@Y#G J>ռJJJJE&K Y5^~?yzRAeE7tr9)ůB[[m?[ 2_~?[ [[[[BZYY i)  ؼIQH?ie, =?))=?=?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036185.423165 s, next control iter: 1743036185.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9684", header.stamp.nsec: 0"0 temperature: 13.566587"* salinity: 33.375553", density: 1025.000000"* values[0]: 0.574677"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036185.823165 s.I~,-t'AAGz@Aan@A_~? A{3A3n%"AAvNA"AZAbAjArAzAAAءr9@A LsAh@AфA|=A?A 2?A5?ASeҼ*A 9?2Al׽:A=BA 9?JAl׽RA=٘i)I9h@Y G JӼJJJJE&K Y4^~?yAQAhEj7j7 r9)˯B[[~?[>_~?[[[[[BZYY i) @߼IBH?i0 ??))????XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036185.863165 s, next control iter: 1743036186.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036186.243165 s.I~,u'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085066< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743036186.243279F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=J@Aŏ1=@A_~? A',A%"AAvNA"AZAbAjArAzAAAk<9@A=sAK)h@AnA=A M?A&Q?A`h?A<Ҽ*Ae9?2AA׽:Akj=BAe9?JAA׽RAkj=٘i)I9)h@YL G J;ҼJJJJE&K Y4^~?yQAkE77r9 B)̯BE[[?[K_~?[K[[[[ZZ¸BZYY i¸n=) n?ӼI3H?i*i3  E?)) E? E?yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036186.283165 s, next control iter: 1743036186.643179 s, wait time: 0.360014 s4^~?) rAdjusting time to match Gazebo time: 1743036186.663165 s.I~,q'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9685, header.stamp.nsec: 00 temperature: 13.566860* salinity: 33.375565, density: 1025.000000* values[0]: 0.573881F (some fields omitted in printout)A@Anr@Af_~? A$AM%"AAvNA"AZAbAjArAzAAAαY\9@AȔ*sAwg@A_Ap=A?A@o?A@C?A,ռ*A9?2A[׽:A=BA9?JA[׽RA=Yp??yZl=`ٓHTh?@??Se?]?Ŷ ]@?)p? I٘i)I9wg@Y G JRӼJ;JJJE&Kx> Yv^~?yPA?nE774r9)үB[[t?[V_~?[[[[[ZZBZYY i) /ǼI$H?i : l>?))l>?l>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036186.683165 s, next control iter: 1743036187.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036187.083165 s.DI~, S'AJ"J*J2J:JBJnJvJA)\µ@A^@Ab_~? ALAD%"AAzwNA"AZAbAjArAzAAAŲz9@Aƭ+sAf@AA=Ai?A?A*?A*A=9?2Aֽ:As<BA=9?JAֽRAs<٘i)I9f@Yf G JJJJJE&K Y_~?y ީPApEj7SI7r9)دB[[ ?[a_~?[[[[[ZZBZYY i) !IH?iAS@ W>?))W>?W>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036187.103165 s, next control iter: 1743036187.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036187.503165 s.I~,U4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036187.503292F (some fields omitted in printout)AR@Agy@A_~? AAa%"AAEwNA"AZAbAjArAzAAA0W9@A%;sAae@A2۫;A5=AB?A`?AI?A*A9?2Aiֽ:Aw<BA9?JAiֽRAw<٘i)I9e@Y G JTJJJJE&K Y _~?yթOAsE77{7_r9B)߯B[[^̞?[k_~?[ߩ[[[[ZZBZYY i) {IZH?i™D 5@))5@5@yɨ=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036187.523165 s, next control iter: 1743036187.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9686, header.stamp.nsec: 00 temperature: 13.567170* salinity: 33.375553, density: 1025.000000* values[0]: 0.573018F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036187.923165 s.5I~,'AJ"J*J2J:JBJnJvJA{G!@A;@A_~? A5AB%"AARwNA"AZAbAjArAzAAAw9@A`kRsAd@AsV<ACt=Au?A@V?A;?A2!*A#9?2Abֽ:Asp<BA#9?JAbֽRAsp<٘i)I9d@YZ G JJJJJE&K Y=_~?y ͩ(OAvE)7ŧ7r9 B)BE[[_?[Qu_~?[֩[[[[ZZBZYY i) 6IG?i;G '@))'@'@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036187.943165 s, next control iter: 1743036188.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036188.343165 s. elevatorAngleAction: 0.083219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743036188.763353F (some fields omitted in printout)Ǎ@A׊6@Ae_~? AAl%"AA,9wNA"AZAbAjArAzAAA݃ 9@Ao)TsAٍc@A;A<A?A t?A@oh?A&*AH9?2Aֽ:A%BAH9?JAֽRA%YN??yɒ<;ٓH??^`V?/?F?w? d{? .?)N? I٘i)I9c@Y~ G JļB=JTJJFJE&K$w> Y_~?yԻNA?{Eb77 r9)B[[)?[b_~?[Pĩ[[[[ZZBZYY io=) I!G?ijO 83@))83@83@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036188.803165 s, next control iter: 1743036189.163184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743036189.183165 s.I~,^K'AA(\@Ah@A_~? A*A%"AADwNA"AZAbAjArAzAAAԯ9@AX sA c@AQA <AP?A"?Av?A^f{*A9?2Aֽ:ABA9?JAֽRA٘i)I9 c@Y0 G JC=JJJJE&K Yt#_~?yhNA~E7777r9)B[[&=?[ݍ_~?[[[[[ZZBZYY i=) WIHG?i$T @))@@_TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036189.203165 s, next control iter: 1743036189.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036189.603165 s.;4I~,f'AJ"J*J2J:JB?BJB?nJ]5vJAQ@A]E@A`~? AcAi%"AAOwNA"AZAbAjArAzAAA%:@A;ob%sAAb@AVAA?AN?A`}?AY*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9b@Y G J]RJJJJE&K Y'_~?yhENAE77Jr9B)E[[_?[_~?[[[[[ZZBZYY i) VpI"G?iƨX B@))B@B@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036189.623165 s, next control iter: 1743036190.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9688 , header.stamp.nsec: 0 0 temperature: 13.567769 * salinity: 33.375565 , density: 1025.000000 * values[0]: 0.571334 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036190.023165 s.ZI~,|'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077690< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036190.023304F (some fields omitted in printout)AHz.@AR !@Ae `~? AA2%"AAAZwNA"AZAbAjArAzAAAvӢ$:@A;^sAb@AD~AɸAq|?Av?A V?A*A9?2A^ֽ:A BA9?JA^ֽRA ٘i)I9b@Y G J,JJJJE&K Yj,_~?y"NAE{7j7r9)B[[烱?[_~?[[[[[BZYY i) v[IЙG?iaZ Q @))Q @Q @y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036190.043165 s, next control iter: 1743036190.423182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036190.443165 s.9I~,F]'AJ"J*J2J:J6?BJ6?nJP5vJAq= c@AS]V@A_`~? AߪA%"AAcwNA"AZAbAjArAzAAAg6:@A4%*sAmb@Al!$A~A ?AØ?A?A *A*9?2AQֽ:AlҼBA*9?JAQֽRAlҼ٘i)I9mb@Y G J4AJJJJE&K Y0_~?yMAESI7SI7ur9B)BE[["?[_~?[[[[[BZYY i) XFIpG?iRZ [ @))[ @[ @z4*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743036190.463165 s, next control iter: 1743036190.843177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9689", header.stamp.nsec: 0"0 temperature: 13.567844"* salinity: 33.375576", density: 1025.000000"* values[0]: 0.571054"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036190.863165 s.+I~,>'AA@A7ُ@A`~? AתAe%"AAplwNA"AZAbAjArAzAAA^"OG:@A[sAtb@Au :A3AM?A9?A?AMG;*A!9?2Aֽ:ABA!9?JAֽRAY>??y3 :ٓH-?`3`@?`'2?nft?.A??)>? I٘i)I9tb@Y G Jʄ:J(JJJ E&K=x> Y2_~?y,;NA?E77 r9)[[˷?[_~?[[[[[BZYY iCi=) o 6ItG?iˮ_ ^ @))^ @^ @Uq*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036190.883165 s, next control iter: 1743036191.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036191.283165 s.6RI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056950< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036191.283282F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@At?P@A`~? AϪAP&"AAXtwNA"AZAbAjArAzAAACV:@AR%|sA!b@AH-<ARyZAn?A?A?A#;*Av9?2A׽:A%BAv9?JA׽RA%٘i)I9b@Y G Jߕ;JJJJ E&K Y4_~?y^xNAEj7Z7r9B)BE[[m?[V_~?[a[[[[BZYY i=) ?%IaG?iVc m@))m@m@[*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036191.303165 s, next control iter: 1743036191.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9690., header.stamp.nsec: 0.0 temperature: 13.567792.* salinity: 33.375591., density: 1025.000000.* values[0]: 0.571117.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036191.703165 s.׺I~,'AAQ@A@A, `~? AǪA|&"AAt{wNA"AZAbAjArAzAAAFUoԟc:@A xsAqb@Ans<AzA?Aҽ?A@ elevatorAngleAction: 0.066213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743036192.543300F (some fields omitted in printout)A= ףp@AIc@Ak'`~? A跪Ac&"AALwNA"AZAbAjArAzAAAȮBy:@AGnsAc@Ae:A?AN+?AN?AP?A<*A9?2Aֽ:A[KBA9?JAֽRA[K٘i)I9c@Yz G JIw<JJJJE&K Y8_~?yl-OAEb77`r9B)BE[[mk?[0_~?[Jn[[[[BZYY i) =I'G?if @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036192.563165 s, next control iter: 1743036192.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9691, header.stamp.nsec: 00 temperature: 13.567671* salinity: 33.375580, density: 1025.000000* values[0]: 0.571461F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036192.963165 s.{I~,='AJ"J*J2J:JK?BJK?nJf5vJAffff@Au]@AC*`~? A௪Ao&"AA wNA"AZAbAjArAzAAA 4:@A>aisAd@A&(AvAn?A?At]?Ai<*Aj9?2A9ֽ:ABAj9?JA9ֽRAY?j?yᰘٓH zGw&?@;p&?d`?)? I٘i)I9d@Y G JÒ<JJJJE&Kw> Y7_~?y(dOA?E77{7r9)B[[̑?[_~?[d[[[[BZYY i) uǻIG?ili @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036192.983165 s, next control iter: 1743036193.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036193.383165 s.I~,#X'AA(@A*q@A,`~? AէA &"AAwNA"AZAbAjArAzAAA&?:@A_xdsA3d@AasAଡ଼A8?A@P?A+h?AC<*A9?2A' ֽ:AmBA9?JA' ֽRAm٘i)I9d@Y G J<JJJJE&K Ys6_~?y][OAE77r9)ݯB[[.?[_~?[Z[[[[BZYY i) 7>IG?i*-l 0@))0@0@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036193.403165 s, next control iter: 1743036193.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9692", header.stamp.nsec: 0&0 temperature: 13.567416&* salinity: 33.375599&, density: 1025.000000&* values[0]: 0.572029&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036193.803165 s.J "J *J 2J :J p?BJ p?nJ 5vJ AI~,gs'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200762 time: 1743036193.803346F (some fields omitted in printout)A@AC@Ab.`~? AƟA'&"AA(wNA"AZAbAjArAzAAAXZ!:@Aƌ_sA e@A'TA(A>?A9?Ap?A{۲<*A9?2AVֽ:ABA9?JAVֽRA٘i)I9 e@Ys G Jϯ<JJJJE&K Y15_~?yR`PAEb77 r9)دB[[ ?[_~?["Q[[[[BZYY i) I)F?iU;:m ֿ@))ֿ@ֿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036193.843165 s, next control iter: 1743036194.203198 s, wait time: 0.360033 s rAdjusting time to match Gazebo time: 1743036194.223165 s.g#I~,H'AAzG@Aᖏ:@A/`~? AAG&"AAwNA"AZAbAjArAzAAA*x:@AֽZsADe@AYPAAV?A5~?A@v?A<*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9e@Y G J1<JJJJE&K  s9Y3_~? s9yIPAE777s9B)үBE[[D?[_~?[gG[[[[BZYY i) OYIDF?il GP@))GP@GP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036194.243165 s, next control iter: 1743036194.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036194.643165 s.J "J *J 2J :J ?BJ ?nJ 5vJ z)I~,*'AA ףp}@Aͩdp@Ac0`~? AA=&"AAwNA"AZAbAjArAzAAAUd”:@A6z UsA9Of@A ;A6^AB?A -?A z?A<*A9?2A ׽:A* BA9?JA ׽RA* ٘i)I9Of@Y+ G J<JJJJ"E&K Y2_~?y@-QAEŧ7)7Js9)ͯB[[7?[9_~?[=[[[[BZYY i) $IF?i˷4Bk @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036194.663165 s, next control iter: 1743036195.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9693, header.stamp.nsec: 00 temperature: 13.567129* salinity: 33.375599, density: 1025.000000* values[0]: 0.572712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036195.063165 s.0I~,g 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036195.063303F (some fields omitted in printout)A3333@AH'@A0`~? AA&"AAʗwNA"AZAbAjArAzAAA`)WY:@A4PsAf@A\f<A$A?A`cA{?A<*A;9?2AL׽:A[BA;9?JAL׽RA[Y?g?y ̝g<ٓH@]¿`@ ř??¿Ჿ(?݌??)? I٘i)I9f@Y G J4<JJJJ$E&Khx> Y._~?yE8QA?E{7j7s9B)ʯBE[[`?[_~?[4[[[[BZYY i) ~TºIF?iιGm n@))n@n@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036195.083165 s, next control iter: 1743036195.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036195.483165 s.w_7I~,'AJ"J*J2J:JBJnJvJA\@Ak@A>0`~? AyA &"AAwNA"AZAbAjArAzAAAxQ:@A^oKsArwg@AVg<AcAً?AؑA`z?A <*AF9?2AA/׽:AvQBAF9?JAA/׽RAvQ٘i)I9wg@Y G Ju<JJJJ'E&K Yq*_~?y/RAE77u s9B)įBE[[?[@_~?[Y*[[[[BZYY i) ItF?iºC o h@))h@h@*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036195.503165 s, next control iter: 1743036195.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9694, header.stamp.nsec: 00 temperature: 13.566826* salinity: 33.375587, density: 1025.000000* values[0]: 0.573452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036195.903165 s.=I~,'AAQ@A(@A_/`~? AfwAr&"AAՖwNA"AZAbAjArAzAAA-۾:@Af~FsA h@A-;A"A`?AA@v?A,<*A&9?2Aֽ:A BA&9?JAֽRA ٘i)I9 h@Y9 G J{<JJJJ*E&K YS&_~?y&jRAEŧ7b7 s9)B[[}?[_~?[ [[[[BZYY i) X"9IbF?in @))@@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036195.923165 s, next control iter: 1743036196.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036196.323165 s.DI~,W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743036196.323351F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzT@AipG@A-`~? AToA\&"AA(wNA"AZAbAjArAzAAAt:@A!&AsAmh@AMA?"A?AAo?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G JӰ<JJJJ,E&K Y4"_~?y&RAE77s9)B[[?[5_~?[[[[[BZYY i) :IotF?i{jm !@))!@!@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036196.363165 s, next control iter: 1743036196.723177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9695., header.stamp.nsec: 0.0 temperature: 13.566586.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.574133.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036196.743165 s.WKI~,/'AAףp=@A^2}@A,`~? AEgA&"AAwNA"AZAbAjArAzAAA"sҥ:@Az)=sA4i@AuRAhA?A̜A f?A<*A9?2A_Oֽ:A'BA9?JA_OֽRA'٘i)I94i@Y G J<JJJJ/E&K Y_~?yq=SAE)7b75s9)B[[*?[_~?[ [[[[BZYY i) ;I`F?iAj "@))"@"@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036196.783165 s, next control iter: 1743036197.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036197.163165 s.z}RI~,qJ'AJ"J*J2J:J?BJ?nJ65vJA@Af@A)`~? A:_AŖ&"AAnwNA"AZAbAjArAzAAAɈ@:@A&8sAi@APqAYnAz?AA [?AԬ<*A9?2A aֽ:A<BA9?JA aֽRA<Y??yKjDrٓHp^Ͽ&Zi??`PϿt`)?@4@w?)? I٘i)I9i@YHG Jr<J_<JJJ2E&K;x> Y&_~?y SA?E77s9B)BE[[1?[(_~?[[[[[BZYY i) _K;ILF?iUk @$@))@$@@$@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036197.183165 s, next control iter: 1743036197.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036197.583165 s.)XI~,LSe'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066213< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743036197.583309F (some fields omitted in printout)A)\@A^@A&`~? A3WA3 &"AA^wNA"AZAbAjArAzAAA5`zBw:@AplTj@3sAVj@A(SAxsAD]?A iA!N?AF2<*A9?2Aֽ:A6BA9?JAֽRA6٘i)I9Vj@YG J<JJJJ4E&K Y5_~?y^TAE`s9)B[[[?[~_~?[[[[[BZYY i) 엄;I9F?iZfk $%@))$%@$%@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036197.603165 s, next control iter: 1743036197.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9696, header.stamp.nsec: 00 temperature: 13.566317* salinity: 33.375599, density: 1025.000000* values[0]: 0.574816F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036198.003165 s.z `I~,U4'AJ"J*J2J:J'?BJ'?nJM5vJAR+@A\z@A+#`~? A1OAO &"AAwNA"AZAbAjArAzAAA?!l:@A8].sAj@A:A)NjA?A?A =?Ak<*A9?2A ׽:AMBA9?JA ׽RAM٘i)I9j@YG J.<JJJJ7E&K YE _~?ybTAEb7b7!s9B)BE[[ ?[}_~?[C[[[[BZYY i) 4;Ia%F?iPj 8a'@))8a'@8a'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036198.023165 s, next control iter: 1743036198.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036198.423165 s.ufI~,'AA{Ga@AN>=T@A$`~? A5GAzl &"AAՀwNA"AZAbAjArAzAAA<;s`:@A$ʡ})sA]k@AT:<A1A?AA*?Ao<*A 9?2AQJ׽:AhBA 9?JAQJ׽RAh򼙘٘i)I9]k@Y?G J<JJJJ:E&K YU_~?yLTAE777%s9)B[[?[s_~?[[[[[BZYY i{=) (;IF?i7g (@))(@(@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036198.463165 s, next control iter: 1743036198.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9697, header.stamp.nsec: 00 temperature: 13.566082* salinity: 33.375572, density: 1025.000000* values[0]: 0.575462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036198.843165 s.lI~,'AJ"J*J2J:JQ?BJQ?nJy5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743036198.843329F (some fields omitted in printout)Ap= @A@A`~? A@?A& &"AA\zwNA"AZAbAjArAzAAAP&R:@A&$sAk@AEzw<AMAd?A`oAG?A;<*A9?2AK׽:ABA9?JAK׽RA9٘i)I9k@YG J<JJJJ<JJJ?E&K9x> Y^~?y|UA?E7,s9)B[[?[__~?[ը[[[[BZYY i) ;IE?i8d ,@)),@,@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036199.283165 s, next control iter: 1743036199.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 96982, header.stamp.nsec: 020 temperature: 13.3865252* salinity: 33.3916242, density: 1025.0000002* values[0]: 0.6967522F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036199.683165 s.lzI~,o'AJ"J*J2J:J^2?BJ^2?nJ;5vJA(\@A#J{@A`~? An/A= &"AA kwNA"AZAbAjArAzAAA'UG2:@AuOsAl@ANw:AP݇A{?A5(ſA ?A7D<*AR9?2AǶֽ:ABAR9?JAǶֽRA٘i)I9l@YG J<JJJJBE&K Y^~?y7ڨUAE7777K0s9B)B E[[ ?[HT_~?[̨[[[[BZYY i) ] elevatorAngleAction: 0.075431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036200.103295F (some fields omitted in printout)AQ8@A^EF+@A `~? A'A &"AA8bwNA"AZAbAjArAzAAA_:@A]w.sA:m@AA܈A?A ƿA?A_<*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9:m@YbG Ji<JJJJDE&K YS^~?yѨ6VAõE773s9)B[[vF?[NH_~?[è[[[[BZYY i) ]<'AAq= ף@ABʖ@A_~? AA&"AAANwNA"AZAbAjArAzAAAg#9@A6& sAn0n@A"MAA&@AʿA%?A<*AZ9?2Aֽ:A-BAZ9?JAֽRA-ٖI٘i)I90n@YG J<C=JJJJJE&K Y^~?ydVAɵE7 ;s9B)BE[[@[d._~?['[[[[BZYY i) >W'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075431< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036201.363273F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ap@At_~? ADA&&"AACwNA"AZAbAjArAzAAAHi9@AWsA/n@AUjA:A6p@A ̿A`?A<*AQ9?2A"ֽ:A]6BAQ9?JA"ֽRA]6Y8?Bt@yz:jٓH@ۿm??+ۿ D?Jm z?)8? I٘i)I9n@YBG J<B=JݻJJJME&KBx> Y^~?ywKWAt@˵E77>s9)B[[?V@[d _~?[[[[[BZYY i) hMߏ<*A9?2AtW׽:AY+BA9?JAtW׽RAY+٘i)I9o@YG JA<JJJJRE&K Y^~?yXAѵEZ7Z7Es9B)BE[[\v@[}_~?[[[[[BZYY i=) [l elevatorAngleAction: 0.084453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036202.623294F (some fields omitted in printout)AGz@A}^m@A_~? AhA3`&"AA wNA"AZAbAjArAzAAAr:C]9@AV_rAp@A1`<A=ѓAl@A@пA`?A0<*A9?2A21׽:ABA9?JA21׽RA٘i)I9p@YG Jy<JJJJUE&K Y^~?ygXAӵE77{7`Is9)B[[H@[^~?[[[[[BZYY i) {^~?[x[[[[BZYY i)  Yl~^~?yJ-YA@ٵE{7j7Ps9)~B[[ @[*^~?[[[[[BZYY i) # elevatorAngleAction: 0.084453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036203.883316F (some fields omitted in printout)A(@A7S!@A&_~? AA&"AA:vNA"AZAbAjArAzAAAx^~I49@A b-`rAˢq@AYAwA3 @AlӿA@lU?AU<*A>9?2A/ֽ:ABA>9?JA/ֽRA٘i)I9q@YG J<JJJJ]E&K Yo^~?y͊YA۵Eb77!Ts9 B)|BE[[_ @[^~?[x[[[[BZYY i) @))>@>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036204.323165 s, next control iter: 1743036204.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9703*, header.stamp.nsec: 0*0 temperature: 13.385640** salinity: 33.391666*, density: 1025.000000** values[0]: 0.700910*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036204.723165 s.I~,H.'AJ"J*J2J:JBJnJvJAz@A]z@A_~? AԩAw3&"AAvNA"AZAbAjArAzAAAR)_8@Aݘ@rAr@A' AˢA @AMտA?A<*A«9?2Aֽ:AysBA«9?JAֽRAys٘i)I9r@YG J<JJJJbE&K YQ^~?y{cZAE7ŧ7L[s9)sB[[̾@[^~?[i[[[[BZYY i) ã5 .L@@)).L@@.L@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036204.743165 s, next control iter: 1743036205.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036205.143165 s.U/I~,*I'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036205.143277F (some fields omitted in printout)A ףp@Ad@A}_~? AcͩA &"AAvNA"AZAbAjArAzAAAm38@AS%"rA)\s@AP;AiA1 @AP(ֿA@?A<*A9?2A/ֽ:AoBA9?JA/ֽRAo٘i)I9\s@YG J<JJJJeE&K Y C^~?yWtZAEb77^s9 B)pBE[[E@[^~?[db[[[[BZYY i) N Y1^~?y]m;[A|@E77{7vbs9 B)lBE[[@[s^~?[;[[[[[BZYY i) T[[[[BZYY i) } elevatorAngleAction: 0.084453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036206.403315F (some fields omitted in printout)AQ^@AQ@Ar_~? AfA}\&"AAvNA"AZAbAjArAzAAA9HU8@A6N_RrA'u@A(<A`߭A$@A@ؿAt?A嘿<*A9?2A.ֽ:A!BA9?JA.ֽRA!٘i)I9'u@Y5G JG<JJJJmE&K Yq^~?yj_\AEZ7SI7is9B)fBE[[@[J^~?[qM[[[[BZYY i) Vg&"AAYvNA"AZAbAjArAzAAAJ˲97@AJ rA elevatorAngleAction: 0.084453< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036207.663294F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9706, header.stamp.nsec: 00 temperature: 13.384952* salinity: 33.391697, density: 1025.000000* values[0]: 0.704063F (some fields omitted in printout)A@AvQ@AG_~? A0A&"AA$CvNA"AZAbAjArAzAAAA /7@ArAg*w@AnuAA@A`lۿA@-?A <*At9?2Afֽ:ABAt9?JAfֽRA٘i)I9*w@YnG J<JJJJuE&K Y]~?y~Jp]AE7)7ats9B)YBE[[^@[ ^~?[6:[[[[BZYY i) `BZYY i¸>) 1w@A~_~? AAA&"AAuNA"AZAbAjArAzAAAOy7@AyZrA /z@Aso<AAG@A޿A`?A,<*A9?2A׽:ABA9?JA׽RA٘i)I9/z@YEG J<JJJJE&K Y]~?y.4_AE77{7s9B)EBE[[2 @[Y]~?[#[[[[ZZZZBZYY i)  Y]~?y(_A@Eŧ77Ls9B)@BE[[!@[]~?[5[[[[ZZZZBZYY i) ))'>S@kq*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036210.203165 s, next control iter: 1743036210.583184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036210.603165 s.<4)I~,Ú'AJ"J*J2J:JB5?BJB5?nJ>5vJAQx@A2Fk@A^~? A{xAG&"AAduNA"AZAbAjArAzAAACYv6@AvNrAU|@AAѼAa!@A A` ?AH<*A9?2Aֽ:A:BA9?JAֽRA:٘i)I9U|@YG Jg<JJJJE&K YV]~?yU'`AEŧ7b7ws9)7B[[$@[i]~?[![[[[ZZZZBZYY i) 48§rA|@AKA~ANm@ApAr?A=<*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9|@YG J(<JJJJE&K YgA]~?yx`A Ej7Z7 s9B)5B޹E[[&@[dQ]~?[d[[[[ZZZZBZYY i) )u'AA@A> @A^~? AdgA&"AADuNA"AZAbAjArAzAAAŦ5@A)rA w}@AZAؗ<A"@A A8 ?A;*A9?2Aֽ:AK<BA9?JAֽRAKJJJE&KIw> Y]~?y `A"@E)7b77s9!B)5BڹE[[%(@[]~?[w[[[[ZZZZBZYY i>t) zM5vJA(\O@A&PB@Az^~? AaA|&"AA'uNA"AZAbAjArAzAAAD3j5@AԳrA}@AP;AA=AM#@AmAe?AXz!:*A29?2A7ֽ:Ay{<BA29?JA7ֽRAy{<٘i)I9}@YSG Jm;JJJJE&K Y\~?y`A DE7)7̛s9#B)6B׹E[[f*@[]~?[D[[[[BZYY i) z;?A3*A99?2Aaս:AB<BA99?JAaսRAB<٘i)I9}@YKG J8B=JJJJE&K Ya\~?yn`AEb77bs9$B)8BԹE[[;+@[H\~?[E[[[[BZYY i) Cv)r M5))M5\@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036212.723165 s, next control iter: 1743036213.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036213.123165 s.6QI~,XG'AJ"J*J2J:JBJnJvJAG@Aխ@A,c^~? A]WA`&"AAtNA"AZAbAjArAzAAAT5@A̍rA:T}@A>t<Anl`=A%@A A?A*A9?2A~ս:A=BA9?JA~սRA=٘i)I9T}@Y/G JݻC=JJJJE&K Y2\~?yP`AE77s9&B);BѹE[[D-@[\~?[{[[[[BZYY i) w YP\~?y@_A(@E777"s9'B)BBιE[[#0@[Y\~?[w[[[[BZYY il) @;I`D?iVd 0))00a@̽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036213.983165 s, next control iter: 1743036214.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036214.383165 s.eI~,/'AA(\@A.2O@A%^~? AyHAH&"AAtNA"AZAbAjArAzAAA5=c4@A9rAI|@A(S#Abh=A )@A A`ܯ?AWs*Aa9?2Aֽ:A=BAa9?JAֽRA=٘i)I9I|@YG JHzJJJJE&K Y\~?yx_AE77s9*B)HBʹE[[v1@[N\~?[<[[[[BZYY i) ';IaD?i4<O8 +}/))+}/b@|ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036214.403165 s, next control iter: 1743036214.783177 s, wait time: 0.380012 s\~?)&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9713&, header.stamp.nsec: 0&0 temperature: 13.384102&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.708371&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036214.803165 s.yAlI~,g'AJ"J*J2J:JW5?BJW5?nJ&>5vJA@A߄@A^~? ACAtY&"AAptNA"AZAbAjArAzAAA*룍#4@A(b"rAh{@A:nA=A2+@A7A?A<^*A9?2A׽:Av =BA9?JA׽RAv =٘i)I9{@YDG J+JJJJE&K Ym\~?y_A!E77Ls9+B)MBǹE[[w2@[4l\~?[4[[[[BZYY i) ;IaD?i|=k!:  .)) .d@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036214.843165 s, next control iter: 1743036215.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036215.223165 s.gsI~,H'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036215.223297F (some fields omitted in printout)Az@A/@A]~? A5?A&"AAPtNA"AZAbAjArAzAAA3@AWk~YrA(M{@Ah;A =A{,@A@|A?Ah*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9M{@YG JJJJJE&K YJU\~?yc^A$Ej7j7s9)QB[[W4@[R\~?[_[[[[BZYY i) +;IcD?i =R: ;,));,ze@y|mتYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036215.243165 s, next control iter: 1743036215.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036215.643165 s.yI~,,*'AJ"J*J2J:JBJnJvJA ףp@AKe@Ab]~? A:A &"AA/tNA"AZAbAjArAzAAA3@A.{qrA}z@A8Aq=A*-@AA 2U?A G*A9?2Aqֽ:A- =BA9?JAqֽRA- =٘i)I9z@YG J6JJJJE&K Y<\~?yb^A'E{7ws9-B)WBĹE[[5@[7\~?[[[[[BZYY iD,) _;IfD?iD=>C: R,+))R,+cf@eڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036215.663165 s, next control iter: 1743036216.043186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9714, header.stamp.nsec: 00 temperature: 13.384341* salinity: 33.391724, density: 1025.000000* values[0]: 0.707392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036216.063165 s.I~,R 'AA33333@AD(&@A]]~? A|6A?a&"AAtNA"AZAbAjArAzAAAc-Y1^3@Ae:rA#z@A <AȞ=Ao.@AA _?AF6*A9?2A7#ֽ:A, =BA9?JA7#ֽRA, =Yz!@/@yx=Cq<ٓHYM [ٿA>?[a`_?? |?)z!@ I٘i)I9#z@Y>G JJ<JJJE&Kw> Y"\~?yߧ]A/@)E77 s9.B)]BE[[7"7@[y\~?[C[[[[BZYY i) 4#;I/iD?id>z; ))))"ah@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036216.083165 s, next control iter: 1743036216.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036216.483165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ x_I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036216.483283F (some fields omitted in printout)A\h@A9ӄ[@A]~? AU2A߳&"AA:sNA"AZAbAjArAzAAA(3@AAPt}rA9y@Ag<AD=AC0@A>A3?A'*A9?2AHֽ:Awf =BA9?JAHֽRAwf =٘i)I9y@YG JJJJJE&K Y\~?y#ܧ]A,E)7ŧ7s90B)dBE[[8@[\~?[[[[[BZYY i) :IlD?i>0; uQ())uQ(@i@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036216.503165 s, next control iter: 1743036216.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9715, header.stamp.nsec: 00 temperature: 13.384606* salinity: 33.391727, density: 1025.000000* values[0]: 0.706227F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036216.903165 s.ȍI~,9'AAQ@AF@A]~? AQ.A &"AA@sNA"AZAbAjArAzAAA2"-12@A2(=/ ~rAx@A"Q<Av=A1@A{A?A**AM9?2Ab?ֽ:AG=BAM9?JAb?ֽRAG=ؖI٘i)I9x@YG JḼJJJJE&K Y[~?yا%]A/Eb777s91B)jBE[[+9@[s[~?[[[[[BZYY i) +0:IUqD?i%>cS; \&))\&Y:k@ ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036216.923165 s, next control iter: 1743036217.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036217.323165 s.tI~,T'AJ"J*J2J:JBJnJvJAGz@An@A]~? Ar*AP &"AAsNA"AZAbAjArAzAAA2@A,^Q{rA}Tx@Ag;A"w=A2@A@5A 4?A}*A9?2AKֽ:A=BA9?JAKֽRA=٘i)I9Tx@Y$G J"JJJJE&K Y[~?y,է\A1Eŧ7ŧ7s9)oB[[H;@[[~?[ާ[[[[BZYY i) }IvD?i>z; z%))z%"l@yͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036217.343165 s, next control iter: 1743036217.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9716*, header.stamp.nsec: 0*0 temperature: 13.384905** salinity: 33.391720*, density: 1025.000000** values[0]: 0.705016*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036217.743165 s.WI~,mo'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743036217.743286F (some fields omitted in printout)Aףp= @AF0@At]~? A&A+ &"AAsNA"AZAbAjArAzAAAdK2@AIgyrAw@AV»Aͦ=AD4@A A3?A鱥*AW9?2A0ֽ:A<BAW9?JA0ֽRA<٘i)I9w@YG JJJJJE&K Y[~?yѧQ\A4E{7{7bs93B)uBE[[<@[[~?[Kݧ[[[[BZYY i) I|D?ig>u; @$))@$un@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036217.763165 s, next control iter: 1743036218.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036218.163165 s.}I~,q'AJ"J*J2J:JU4?BJU4?nJ=5vJA@@A2@AJ]]~? A%#A &"AAbsNA"AZAbAjArAzAAA䥺R2@A?f8wrAǧ[Ar@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036219.043165 s, next control iter: 1743036219.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036219.423165 s.{uI~,3'AA{G@Aףp=@A]~? AOAc!&"AAmrNA"AZAbAjArAzAAAL,1@Ae7qrAnu@A?ic;A=Ao9@A yAI?A*A9?2A1oֽ:A <BA9?JA1oֽRA <٘i)I9u@YG J=JJJJE&K YDS[~?yçZA?Es9)B[[vA@[K[~?[Rا[[[[BZYY i) ID?iI?< ))s@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036219.443165 s, next control iter: 1743036219.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9718, header.stamp.nsec: 00 temperature: 13.385437* salinity: 33.391747, density: 1025.000000* values[0]: 0.702870F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036219.843165 s.ݼI~,'AJ"J*J2J:J3?BJ3?nJ<5vJAp= @A @A\~? ATA+!&"AArNA"AZAbAjArAzAAA0:&0@A^*GforA64u@AKF<A%=A:@A@<A?A'*AX9?2A'=ֽ:A<BAX9?JA'=ֽRA<٘i)I94u@Y=G JJJJJöE&K YV9[~?yG@ZAAE{7j7Ms99B)BE[[@C@[2[~?[ק[[[[BZYY i) ʯID?iic?V< !))!t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036219.863165 s, next control iter: 1743036220.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036220.263165 s.I~,#'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036220.263304F (some fields omitted in printout)AL@Aje?@Am\~? AA"&"AA*rNA"AZAbAjArAzAAAV80@A5mrAIJt@Ak<AH=A;@A A?Ah*A9?2AIֽ:A<BA9?JAIֽRA Y[~?yYA<@DE77s9:B)BE[[D@[4[~?[֧[[[[BZYY i) ڻID?im?.G< e))eP^v@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036220.283165 s, next control iter: 1743036220.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 97192, header.stamp.nsec: 020 temperature: 13.3856642* salinity: 33.3917432, density: 1025.0000002* values[0]: 0.7018642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036220.683165 s.lI~,g+'AJ"J*J2J:JBJnJvJA(\@Auu@A\~? AAQ"&"AArNA"AZAbAjArAzAAAN{TxN0@An lrA4t@A<Af=AR=@A@<A`?A *Az9?2AMֽ:A<BAz9?JAMֽRA<٘i)I94t@YG JMJJJJȶE&K Y[~?yYAGEws9;B)BE[[KE@[Z~?[`֧[[[[BZYY i) I.D?i:z?h% < ya))ya@A`:cA@H?At*A9?2Adֽ:A <BA9?JAdֽRA <٘i)I9s@YXG JJJJJ˶E&K YUZ~?y.YAIE77 s9G@[Z~?[֧[[[[BZYY i) ) IcD?i$?W$)< S))Sby@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036221.123165 s, next control iter: 1743036221.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036221.523165 s.I~,{a'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: -0.078596< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743036221.523327F (some fields omitted in printout)AHz@Au@AC\~? A AO"&"AA/>rNA"AZAbAjArAzAAAGp/@A3@irAKs@A_-Am =A@@AA@ o?AVك*A9?2A3)׽:AA<BA9?JA3)׽RAA<٘i)I9Ks@YG JjJJJJζE&K YZ~?y+XALEŧ7b7s9>B)BE[[H@[Z~?[է[[[[BZYY i)  IrD?i ?g@3< P))Pe{z@y۠乪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036221.543165 s, next control iter: 1743036221.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9720, header.stamp.nsec: 00 temperature: 13.385923* salinity: 33.391735, density: 1025.000000* values[0]: 0.700912F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036221.943165 s.ZdI~,J]|'AAq= #@A@A:\~? A A"&"AA^rNA"AZAbAjArAzAAAݜ0P.@A2grAr@ApnA*=ATA@A:Aj?A~*AW9?2A-׽:A@<BAW9?JA-׽RA@<٘i)I9r@YG J҂JJJJжE&K YZ~?ydwXAOE778s9?B)BE[[nI@[7Z~?[է[[[[BZYY i) &+IqD?i̔?v>< G))G{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036221.963165 s, next control iter: 1743036222.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036222.363165 s.I~,>'AJ"J*J2J:JBJnJvJAY@AqL@Ai\~? AAe #&"AATqNA"AZAbAjArAzAAA,a{?.@A乯{frAnr@Aʰ1A =AܝB@AA?A?*A&9?2Aֽ:A9=BA&9?JAֽRA9=Y4@B@y =[2ٓH rҮ`ݹ?uo}5 _?)4@ I٘i)I9nr@YG JDJe;JJJӶE&K x> YZ~?yXAB@QE77s9)B[[>-K@[=Z~?[֧[[[[BZYY i) ;IE?i?fDE< ))3}@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036222.383165 s, next control iter: 1743036222.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9721", header.stamp.nsec: 0"0 temperature: 13.386116"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.700040"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036222.783165 s.[I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078596< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743036222.783286F (some fields omitted in printout)A(\@A[;Q@AO\~? AA0#&"AAqNA"AZAbAjArAzAAAD3D-@ABUerAq@A[AjC=ABC@A;AI?A*A.9?2Aɓֽ:A=BA.9?JAɓֽRA=٘i)I9q@YFG JLJJJJֶE&K YvZ~?yWATE7cs9@B)BE[[%|L@[m|Z~?[w֧[[[[BZYY i) JI?E?iM?0M< А))А~@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036222.803165 s, next control iter: 1743036223.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036223.203165 s.I~,'AJ"J*J2J:JBJnJvJAQ@As"@AW6\~? AAT#&"AAqNA"AZAbAjArAzAAAǞ + -@A HdrA|q@A#<A>k=A!E@A`}Az ?A=*A9?2A?ֽ:A =BA9?JA?ֽRA =٘i)I9q@YG JJJJJضE&K YZZ~?y]WAWE7777s9AB)BE[[M@[bZ~?[֧[[[[BZYY i) ZYI=(E?iZ?6V< 6))6,@bɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036223.223165 s, next control iter: 1743036223.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036223.623165 s.\I~,q'AAG@AͰQ@A\~? AAXt#&"AAqNA"AZAbAjArAzAAAdnq,@AWTcrA~p@Ak<A)F=AXhF@AA0?AIZ*Ao9?2A%ֽ:A=BAo9?JA%ֽRA=٘i)I9p@YG JB=JJJJ۶E&K Y>Z~?yӳVAZE77s9BB)BE[[cO@[fIZ~?[ק[[[[BZYY i) ktiI;E?iC?uV`< 5))5@@MͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036223.643165 s, next control iter: 1743036224.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9722 , header.stamp.nsec: 0 0 temperature: 13.386357 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.699140 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036224.043165 s.I~J"J*J,'A2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078596< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036224.043295F (some fields omitted in printout)A= ף0@A #@A6\~? A'Ap#&"AAZXqNA"AZAbAjArAzAAA+@A ybrAvp@A#L<Aŗ=ATG@Ax'A`?A⡼*A9?2ASֽ:Aľ=BA9?JASֽRAľ=٘i)I9vp@YZG J?C=JJJJ޶E&K  t9Yy"Z~? t9yVA\E)7ŧ7#t9CB)BE[[[P@[A0Z~?[uا[[[[BZYY i) xINE?i?׉k< [))[-M@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036224.063165 s, next control iter: 1743036224.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036224.463165 s.UI~,'AAfffff@AB_Y@A[~? AA[#&"AAy1qNA"AZAbAjArAzAAA7bI:+@A~+arAjo@A$߂;A=A@IA &:A`gϺ?A*A29?2Aoֽ:A=BA29?JAoֽRA=YC;@Q Iy1=>;ٓHl?`M<6@Mp?@<[p??)C;@ I٘i)I9o@YG JrB=J<JJJE&Kx> Y;Z~?yﲧ:VA I_E7777t9DB)įBE[[3Q@[Z~?[q٧[[[[BZYY i) I;cE?iO?Pr< 5))5@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036224.483165 s, next control iter: 1743036224.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9723, header.stamp.nsec: 00 temperature: 13.386616* salinity: 33.391731, density: 1025.000000* values[0]: 0.698141F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036224.883165 s.y I~,M8'AJ"J*J2J:JBJnJvJA(@A! @A[~? AA#&"AAy qNA"AZAbAjArAzAAAݬZ*@A"EarAeo@AoaֻA48=AvGA``JA_?A޾*A9?2Ah ׽:A=BA9?JAh ׽RA=٘i)I9eo@YG JբC=JJJJE&K YY~?yUAbEb77Nt9AB)ƯBE[[ZR@[Y~?[ڧ[[[[BZYY i) I@xE?iu?/z< e ))e @֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036224.923165 s, next control iter: 1743036225.283181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036225.303165 s.SI~,jgS'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078596< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036225.303277F (some fields omitted in printout)A@AkE@A[~? AA#&"AA]pNA"AZAbAjArAzAAAM*@AE3`rAln@AD_Aj=A^FA WA!!?A|^*A9?2A3׽:A =BA9?JA3׽RA =٘i)I9n@Y`G J_JJJJE&K YY~?ykUAdE7777 t9BB)˯BE[[6T@[Y~?[ۧ[[[[BZYY i) IE?iu?< 7 ))7 ?=@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036225.343165 s, next control iter: 1743036225.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9724., header.stamp.nsec: 0.0 temperature: 13.386891.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.697114.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036225.723165 s.I~,Hn'AJ"J*J2J:JBJnJvJAz@A ?@A[~? A0A#&"AA*pNA"AZAbAjArAzAAAp %Kd)@AYK `rAPn@AuA]A=AEAbA?A꨼*A9?2A׽:A=BA9?JA׽RA=٘i)I9Pn@Y G J7JJJJE&K YY~?yUAgE7xt9)ϯB[[^{U@[=Y~?[Lݧ[[[[BZYY iݲ) IE?iK?ϖ< a` ))a` ߃@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036225.743165 s, next control iter: 1743036226.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036226.143165 s.Z/"I~,*'AA ףp=@A[d0@A[~? AA#&"AApNA"AZAbAjArAzAAAP:a(@A739_rAem@AͻAn=A*CA+kA ?Ah*A9?2A(ֽ:AH=BA9?JA(ֽRAH=٘i)I9m@YG JJJJJE&K YOY~?yTAjE77 t9)ԯBE[[V@[Y~?[ާ[[[[BZYY i) R$I+E?i? #<  )) р@\ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036226.163165 s, next control iter: 1743036226.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036226.563165 s.(I~,g 'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036226.563304F (some fields omitted in printout)A3333s@A(f@Ah[~? A0A#&"AAmpNA"AZAbAjArAzAAA~+)(@Ajq_rA*m@A{;AwS=AЍBApA?A!ĵ*A9?2AMֽ:At=BA9?JAMֽRAt=Y_A@4ByS=;ٓH-?ⅴ`v p྄moq??)_A@ I٘i)I9*m@YXG JWJD<JJJE&Kw> Y:yY~?yس.TABlE77j7t9CB)ٯBE[[OX@[dY~?[[[[[BZYY i) IEE?i*?w< o))o#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036226.603165 s, next control iter: 1743036226.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9725, header.stamp.nsec: 00 temperature: 13.387137* salinity: 33.391727, density: 1025.000000* values[0]: 0.696037F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036226.983165 s./I~,'AA\@A9@AN[~? AA$&"AA4FpNA"AZAbAjArAzAAAo'@AI_rAl@A#N<A5z=AKAA@sA?A*Aߗ9?2Adֽ:A1=BAߗ9?JAdֽRA1=٘i)I9l@YG JJJJJE&K Y(]Y~?ySAoE7{78t9)߯B}E[[GY@[&Y~?[{[[[[BZYY i) oIE?i5?U< ))Ņ@yDzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036227.023165 s, next control iter: 1743036227.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036227.403165 s.&6I~,'AJ"J*J2J:JBJnJvJAQ@Aa@A4[~? AA3$&"AApNA"AZAbAjArAzAAA)}f&@A:_rA k@AVXj<A=AA@A`tA8J?An̿*A9?2A;ֽ:A=BA9?JA;ֽRA=٘i)I9k@YG JҽJJJJE&K YAY~?yQSArEb77t9)BzE[[Z@[+kY~?[[[[[BZYY i) VIF?i?弗< R))R{f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036227.423165 s, next control iter: 1743036227.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9726, header.stamp.nsec: 00 temperature: 13.387415* salinity: 33.391720, density: 1025.000000* values[0]: 0.694895F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036227.823165 s.A*sA A*A79?2Amֽ:A=BA79?JAmֽRA=٘i)I9Nk@Y6G JJJJJE&K Y%Y~?yRAtEc t9DB)BwE[[[@[zSY~?[[[[[BZYY i) 4I F?i?< ))_@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036227.843165 s, next control iter: 1743036228.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036228.243165 s.CI~,X'AJ"J*J2J:JBJnJvJAףp=J@A7n1=@A&[~? A#A$&"AA oNA"AZAbAjArAzAAA'_@%@Acj_rA/j@AwܺAݬ=AN=A oAXA*Aɉ9?2Aֽ:A=BAɉ9?JAֽRA=٘i)I9j@YG JJJJJE&K YY~?ymtRAwEj7Z7#t9)BtE[[]@[ YKX~?y5QA<zE{7j7't9)BqE[[F^@[$Y~?[Z[[[[BZYY i) cdμIWF?i.@Y< ))LE@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036228.683165 s, next control iter: 1743036229.063179 s, wait time: 0.380014 sKX~?)5 rAdjusting time to match Gazebo time: 1743036229.083165 s.DQI~, SE'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036229.083281F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\µ@AQ@AEZ~? AAP#&"AA_oNA"AZAbAjArAzAAALx$@A:`rAfi@AmAͼ=A:A_A`fA1ż*A9?2Aa׽:AO=BA9?JAa׽RAO=٘i)I9fi@Y G JüC=JJJJE&K YX~?yQA|E7{7#+t9)B[[s_@[x Y~?[[[[[BZYY i) ռIBtF?i@!< KV))KV@.YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036229.103165 s, next control iter: 1743036229.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036229.503165 s.WI~,r4`'AAR@Ay@AdZ~? AA#&"AAZoNA"AZAbAjArAzAAA#@A_t`rAh@AH)A0=AZ9A@PSA@A˼*A}9?2A3ֽ:A9=BA}9?JA3ֽRA9=٘i)I9h@Y G JȼJJJJE&K Y X~?yżQAEb77.t9)BnE[[d`@[X~?[[[[[BZYY i) ܼIbF?iu@b< 2))2-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036229.523165 s, next control iter: 1743036229.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9728, header.stamp.nsec: 00 temperature: 13.388040* salinity: 33.391731, density: 1025.000000* values[0]: 0.692461F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036229.923165 s.=^I~,{'AJ"J*J2J:JE1?BJE1?nJ95vJA{G!@AEA ẶAtԼ*Az9?2Ah]ֽ:A=BAz9?JAh]ֽRA=٘i)I9h@Y< G JϼJJJJE&K YkX~?yPAE77N2t9)BkE[[]a@[X~?[k[[[[ZZ¸BZYY i¸mK=) мIRF?i5 @o0< ü))ü @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036229.943165 s, next control iter: 1743036230.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036230.343165 s. elevatorAngleAction: 0.083152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036230.343302F (some fields omitted in printout)Ap= W@Af2I@A~Z~? AA7#&"AA oNA"AZAbAjArAzAAA$$O"@A#&"AAnNA"AZAbAjArAzAAATƺP"@AbbrAf@Ak<A=A5AA ,A>s*A^9?2Aս:An=BA^9?JAսRAn=YYN@;5y=l<ٓH g%+?`1@,ӿ N{??)YN@ I٘i)I9f@YP G J J ;JJJ E&Kw> YcX~?y§OA5Eŧ77y9t9)BeE[[qd@[X~?[m[[[[ZZBZYY i) bIF?i@< )) Z@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036230.803165 s, next control iter: 1743036231.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036231.183165 s.rI~,o'AA(\@A삵@AKZ~? AjAO#&"AAnNA"AZAbAjArAzAAAPi+l!@Aza?crA!e@A;<A% =A4A`VA`8A**A]:?2A:A$<BA]:?JARA$<٘i)I9e@Y G JJJJJ E&K YHX~?yŧ;OAE7=t9)BbE[[ e@[X~?[[[[[ZZBZYY i) &IF?i@3< ))g_@y=تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036231.203165 s, next control iter: 1743036231.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036231.603165 s.:4yI~,'AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036231.603309F (some fields omitted in printout)AQ@A4F@A2Z~? AAVy#&"AA@nNA"AZAbAjArAzAAA~X @AƩf4drAd@A$ ;Aՙy=AZ3A4A¿A*A+|:?2Aý:A~p<BA+|:?JAýRA~p<٘i)I9d@Y@ G JJJJJE&K Y.X~?yDȧNAE777@t9)B_E[[f@[X~?[[[[[ZZBZYY i) IEG?i@T< ;));L@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036231.623165 s, next control iter: 1743036232.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9730 , header.stamp.nsec: 0 0 temperature: 13.388722 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.689620 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036232.023165 s.ZI~,|'AAHz.@A,!@AZ~? AA\Z#&"AApnNA"AZAbAjArAzAAA146 @A9_:erAx d@Ar. AS4=A2AA/ĿA)^Ѽ*A:?2A$VŽ:Aܚ;BA:?JA$VŽRAܚ;٘i)I9 d@Y G J3JJJJE&K Y/X~?yʧMNAE779Dt9)$B[[Mh@[rX~?[][[[[ZZBZYY i) I0G?ir@y< ))←/@}YtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036232.043165 s, next control iter: 1743036232.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036232.443165 s.:ÆI~,J]'AJ"J*J2J:JW0?BJW0?nJ85vJAq= c@A5V@A!Y~? AtA9#&"AAInNA"AZAbAjArAzAAAœ9@A2SfrAfc@ApoA6<A~1AAſA0*A:?2A3Ƚ:AnBA:?JA3ȽRAn٘i)I9fc@Yf G JzJJJJE&K YGW~?yͧMAE7Gt9))B\E[[Oi@[]X~?[[[[[ZZBZYY i=) WISG?iy@ < ))ɍ@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036232.463165 s, next control iter: 1743036232.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9731, header.stamp.nsec: 00 temperature: 13.389086* salinity: 33.391701, density: 1025.000000* values[0]: 0.688120F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036232.863165 s.+I~,>7'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743036232.863305F (some fields omitted in printout)A@A@AY~? Ab A #&"AA{#nNA"AZAbAjArAzAAA7@AǼ8grAJb@A[AU(<Ac0A hA@IǿAց*A̅:?2Aʽ:AwBA̅:?JAʽRAwYS@f0yt(<[ٓHΦA?Dr@eؿ[`V~?)S@ IזI٘i)I9b@Y G JJ9JJJE&KB> Y W~?yЧMAf0Eŧ7dKt9)-BZE[[j@[HX~?[ [[[[ZZBZYY i=) RF~IuG?i8"@Ť< C))C꿩e@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036232.883165 s, next control iter: 1743036233.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036233.283165 s.7RI~,R'AJ"J*J2J:JBJnJvJA(\@AްmQ@AY~? At AL"&"AA,mNA"AZAbAjArAzAAArsT@A2M@hrA=b@AACAB/A A@ȿA=*As:?2Aͽ:A<BAs:?JAͽRA<٘i)I9b@Y G JgJJJJE&K YW~?y1ԧMAE77{7Nt9)0BWE[[k@[4X~?[[[[[[ZZBZYY i=) jIqG?i_%@< <))<迩@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036233.303165 s, next control iter: 1743036233.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9732., header.stamp.nsec: 0.0 temperature: 13.389320.* salinity: 33.391708., density: 1025.000000.* values[0]: 0.687178.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036233.703165 s.ҺI~,m'AAQ@A j@AY~? A A"&"AA mNA"AZAbAjArAzAAA|]@AbjrAEb@A;A!A-A`AʿA4һ*A(i:?2A]Ͻ:AؐBA(i:?JA]ϽRAؐ٘i)I9Eb@Y G JJJJJE&K YW~?yקMAEŧ7b7Rt9)1BTE[[ l@[X~?[=[[[[ZZBZYY i) TVIǽG?i(@8< k))k忩@y =Q)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036233.723165 s, next control iter: 1743036234.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036234.123165 s.6I~,X'AJ"J*J2J:J/?BJ/?nJf85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743036234.123293F (some fields omitted in printout)AG:@Ar-@AY~? A A"&"AAmNA"AZAbAjArAzAAA!?v@AmZkrA~%b@A*O<AUAdq,A`nA~̿A *AAZ:?2Aѽ:A`ʼBAAZ:?JAѽRA`ʼ٘i)I9%b@Y G J JJJJE&K YTW~?yڧMAE)7$Vt9CB)2BQE[[D$n@[ X~?[7[[[[BZYY i) BIG?i,@F< n))n㿩4@yN=2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036234.143165 s, next control iter: 1743036234.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036234.543165 s.II~,â'AA= ףp@Asdc@ÁY~? AAuh"&"AAmmNA"AZAbAjArAzAAA{lI@A&mrA#b@A?2Z<A3As+AIACοA;*A M:?2A/ӽ:ABA M:?JA/ӽRA缙٘i)I9#b@Y G JAeJJJJ!E&K YuW~?y%ާMAE77{7Yt9)[['To@[tW~?[F[[[[BZYY i) (/I H?i61@< /))/Ῡ̐@q*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743036234.563165 s, next control iter: 1743036234.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9733, header.stamp.nsec: 00 temperature: 13.389444* salinity: 33.391697, density: 1025.000000* values[0]: 0.686822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036234.963165 s.I~, 'AJ"J*J2J:JBJnJvJAffff@A0[@A.iY~? A=A5"&"AAemNA"AZAbAjArAzAAAF@AMoנnrAAb@A\;A6B[A)A "AhпAc;*AC@:?2A#Խ:AaBAC@:?JA#ԽRAaYEZ@)y@[5;ٓH E9a?(?NݿBmҟ?d?}{? ?)EZ@ I٘i)I9Ab@Y G J;JJJJ$E&KIz> Y!\W~?yHMA)E)7b7N]t9)1BNE[[p@[W~?[|[[[[BZYY ig=) >I/H?i3@< o޿))o޿e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036234.983165 s, next control iter: 1743036235.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036235.383165 s.صI~,8'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056594< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036235.383270F (some fields omitted in printout)A(@A1 @APY~? AAV"&"AA@mNA"AZAbAjArAzAAA̪xè@AR?wprA|b@AeAT|A(AA2пA1<*A4:?2AԽ:A$ BA4:?JAԽRA$ ٘i)I9|b@Y G JH <JJJJ&E&K Y'CW~?yj#NAE77`t9)/BKE[[hq@[W~?["[[[[BZYY i) IWH?i6@< Fܿ))Fܿ/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036235.403165 s, next control iter: 1743036235.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9734", header.stamp.nsec: 0"0 temperature: 13.389430"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.687036"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036235.803165 s.wAI~,{g'AJ"J*J2J:JBJnJvJA@A?@A{8Y~? A A!&"AAmNA"AZAbAjArAzAAA|n@Ab@UHrrAcb@AEA䌊Al<'AA@ѿAau<*A/:?2AԽ:ArrBA/:?JAԽRArr٘i)I9b@Y G JqR<JJJJ)E&K Y/*W~?ylNAE7ŧ7ydt9BB),BHE[[ r@[2W~?[-'[[[[BZYY i=) IH?i:@W*< kٿ))kٿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036235.843165 s, next control iter: 1743036236.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036236.223165 s.gI~,H'AAzG@Ah;:@Am Y~? A+Al!&"AA>lNA"AZAbAjArAzAAA%J/ˬ@AL0trA'Ec@AkA sA%A@AҿA1`<*AQ.:?2Aiս:ABAQ.:?JAiսRA٘i)I9Ec@YQ G J3<B=JJJJ,E&K Y4W~?yNAE{7{7ht9)(B[[t@[֬W~?[+[[[[BZYY i) &ܻIԧH?i=@< ׿))׿,@yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036236.243165 s, next control iter: 1743036236.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036236.643165 s.wI~, *)'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036236.643270F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp}@Adp@AY~? Ar!A N!&"AAlNA"AZAbAjArAzAAAz-Q@A%M0vrA^c@AA_Ah$A@iAӿAx<*A+:?2Aֽ:ABA+:?JAֽRA٘i)I9c@Y G J<C=JJJJ.E&K Y>V~?yOAEkt9)$BFE[[Au@[W~?[/0[[[[BZYY i) yIH?iA@c;< g4տ))g4տ“@y=*YFtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9735, header.stamp.nsec: 00 temperature: 13.389290* salinity: 33.391670, density: 1025.000000* values[0]: 0.687741F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743036236.663165 s, next control iter: 1743036237.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036237.063165 s.I~,D'AA3333@A*@AX~? A$A !&"AAlNA"AZAbAjArAzAAA!#m@AWHxrAJd@A:O:AAv9#A4A wcԿA<*A1*:?2A<ֽ:AGBA1*:?JA<ֽRAGY#`@q:#yDO:ٓH w~?ѯ?إ?`L?\I??)#`@ I٘i)I9Jd@Y G J<B=JUJJJ1E&KN{> YV~?ygOA:#Eŧ7b7:ot9)BCE[[ pv@[W~?[4[[[[BZYY i) zIH?iAD@n5< kҿ))kҿZ@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036237.103165 s, next control iter: 1743036237.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036237.483165 s.t_I~,^'AJ"J*J2J:JBJnJvJA\@A@AX~? At(Ab &"AAOlNA"AZAbAjArAzAAA [ rQ@A)ɃwzrAd@Ap%)<A8IAr!AA@0BտA<*A):?2Al6׽:A BA):?JAl6׽RA ٘i)I9d@YE G J<C=JJJJ4E&K Y[V~?yOAE7{7rt9AB)B@E[[w@[wW~?[9[[[[BZYY i) A~II?iF@G< }п))}пv@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036237.503165 s, next control iter: 1743036237.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9736, header.stamp.nsec: 00 temperature: 13.389084* salinity: 33.391655, density: 1025.000000* values[0]: 0.688746F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036237.903165 s.I~,y'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036237.903299F (some fields omitted in printout)AQ@Aլ@AlX~? A.,A* &"AA hlNA"AZAbAjArAzAAA^w8@A%jI|rAae@A 3l<A Ä ACAֿAJ=<*As(:?2A`׽:A BAs(:?JA`׽RA ٘i)I9ae@Y G J<JJJJ6E&K YV~?y7PAE77dvt9)B[[x@[nfW~?[y>[[[[BZYY i) yBIiJ@T= o&ο))o&ο?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036237.923165 s, next control iter: 1743036238.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036238.323165 s.yI~,2'AJ"J*J2J:JBJnJvJAGzT@A[nG@AX~? A 0A7 &"AA"ElNA"AZAbAjArAzAAApz ZF@AqrAe@A3<A͜A4>AAAֿAto<*A)(:?2A=׽:ABA)(:?JA=׽RA٘i)I9e@Y G JC<JJJJ9E&K YyV~?ypPAE{7j7yt90B)B=E[[Uy@[UW~?[bC[[[[BZYY i) [>IiM@= ˿))˿&@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036238.343165 s, next control iter: 1743036238.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9737*, header.stamp.nsec: 0*0 temperature: 13.388885** salinity: 33.391670*, density: 1025.000000** values[0]: 0.689830*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036238.743165 s.WI~,q'AAףp=@Ag~5}@AX~? A4A+&"AA"lNA"AZAbAjArAzAAA tq\! @AsC(rANf@A:A:ƛAA@LAX׿A1<*A(:?2Agֽ:A BA(:?JAgֽRA ٘i)I9f@YL G J<B=JJJJ elevatorAngleAction: 0.066173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036239.163284F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A臭@A~X~? A:8A&"AA~lNA"AZAbAjArAzAAA. @At|rAg@AT AFAָA@A.ؿA<*A9(:?2A:ֽ:AA BA9(:?JA:ֽRAA Ykg@yy ٓHBp?@)?se#`C?`8:? 1`?)kg@ I٘i)I9g@Y G J<C=J{*:JJJ>E&Kpy> YOmV~?ynQAE{7$t9)B8E[[E|@[#5W~?[wM[[[[BZYY i) ZIiS@b= C-ǿ))C-ǿD@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036239.183165 s, next control iter: 1743036239.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036239.583165 s.I~, S'AA)\@A7R@AohX~? A<AH&"AAkNA"AZAbAjArAzAAA8@A@ŽrA elevatorAngleAction: 0.066173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743036240.423324F (some fields omitted in printout)A{Ga@A?T@A=X~? AEA)&"AAkNA"AZAbAjArAzAAAܬ-bD@AR^7rA5h@AAUAtA:DA`ڿAt<*A(:?2A?.׽:AoBA(:?JA?.׽RAo٘i)I9h@Y G JY<B=JJJJGE&K Y*,V~?y!RAŶE777t9/B)B1E[[@[W~?[1][[[[BZYY i) K';Ii\@ = +<))+<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036240.463165 s, next control iter: 1743036240.823176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9739", header.stamp.nsec: 0"0 temperature: 13.388407"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.692158"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036240.843165 s. I~,5'AJ"J*J2J:JBJnJvJAp= @A%̴@A'X~? A YV~?y-jSA%ʶE7t9)B.E[[@[V~?[h[[[[BZYY i,=) ק;Iia@S_= C))C '@¿*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036241.283165 s, next control iter: 1743036241.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9740., header.stamp.nsec: 0.0 temperature: 13.388187.* salinity: 33.391602., density: 1025.000000.* values[0]: 0.693244.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036241.683165 s.lI~,kk'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036241.683298F (some fields omitted in printout)A(\@Ar@AvW~? ATA&"AA>'?A =drA[k@A'AΉAm@A=A@޿AG<*AT:?2A(ֽ:ABAT:?JA(ֽRA٘i)I9[k@Y>G J<JJJJTE&K YaU~?y@TAҶEϝt9)ԯB)E[[@[DV~?[x[[[[BZYY i) PA;Iidi@^= +ô))+ôߛ@y=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036242.543165 s, next control iter: 1743036242.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9741, header.stamp.nsec: 00 temperature: 13.387988* salinity: 33.391586, density: 1025.000000* values[0]: 0.694232F (some fields omitted in printout)aU~?)@ rAdjusting time to match Gazebo time: 1743036242.943165 s.Wd.I~,>]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036242.943290F (some fields omitted in printout)Aq= ף@AZ̖@AW~? AcAoU&"AAjNA"AZAbAjArAzAAAzs?A񟨞rAk@AzIAEAA xAJ|߿A<*A&:?2Aֽ:A>BA&:?JAֽRA>٘i)I9k@YG J͓<JJJJWE&K YU~?yFTAնEb77et9)ЯB[[ZN@[GV~?[~[[[[BZYY i) 'AJ"J*J2J:JBJnJvJA@AF{@AW~? A6iA&"AAGjNA"AZAbAjArAzAAAo.B?ABrATl@AgAmAVA %AAX<*A:?2A~ֽ:ABA:?JA~ֽRAYzt@y hٓH?V?f ɞ?`^?M?)zt@ I٘i)I9Tl@YG J<J:JJJYE&Kx> YU~?yMAUAضE77{7t9.B)̯B&E[[@[V~?[X[[[[BZYY i) {}?AUirAl@A Ay!AZA`AnpA *<*A9 :?2Aֽ:ABA9 :?JAֽRA٘i)I9l@Y"G JY<JJJJ\E&K Y`U~?yTUAڶE777t9/B)ɯB'E[[r@[$V~?[5[[[[BZYY i) ,% elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036244.203295F (some fields omitted in printout)AQE@Aa/8@ARW~? AtA&"AA,jNA"AZAbAjArAzAAA7.?A{zrALm@A:AA AxA@Ae<*At:?2A:S׽:AJ BAt:?JA:S׽RAJ ٘i)I9Lm@YlG J<JJJJ_E&K Y~U~?y[UAݶEŧ7b7%t9)įB$E[[@[#V~?[[[[[BZYY i) X4 elevatorAngleAction: 0.075280< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036245.463268F (some fields omitted in printout)Affff@AZ[@ALUW~? AWA*&"AA9jNA"AZAbAjArAzAAAh1ѿAdzrAn@A\)<AœAV A޿AA<*A49?2AyJ׽:A_BA49?JAyJ׽RA_Yz@ yÓU*<ٓHB??H`&? _t?r?)z@ I٘i)I9n@YJG Jɒ<J &JJJgE&K}x> YBLU~?ypWA E777t9/B)BE[[@[VlV~?[#[[[[BZYY i) Hb elevatorAngleAction: 0.084927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743036246.723322F (some fields omitted in printout)Az@A5z@A#W~? A AM&"AAiNA"AZAbAjArAzAAA)uRA9/?rALp@Ag9iAϘAAAeܿAA?<*A9?2Azֽ:A~BA9?JAzֽRA~٘i)I9Lp@Y@G J=<JJJJoE&K YpU~?yCXAE77t9)B[[f@[MV~?[[[[[BZYY i) 7?DAAA ۿA`AV<*Ae9?2A!ֽ:A|BAe9?JA!ֽRA|٘i)I9p@YG J)<JJJJrE&K Y+U~?ybXAE7:t9-B)BE[[@[MDV~?[ݺ[[[[BZYY i) ֏ YeU~?y<YAE77{7t9/B)BE[[݅@[,;V~?[-[[[[BZYY i) Z elevatorAngleAction: 0.084927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743036247.983314F (some fields omitted in printout)A\( @A?l @A@V~? AάAw&"AAiNA"AZAbAjArAzAAAz*NANaBrA4q@A<(;ArA<A <ڿA@}A <*AE9?2Aj[׽:A BAE9?JAj[׽RA ٘i)I9q@YAG J<JJJJwE&K YT~?yxYAE777et9)B[[@[k2V~?[Ǩ[[[[BZYY i) ܞAP<*A9?2AP׽:Ac3BA9?JAP׽RAc3֖I٘i)I9 s@YG J<JJJJ|E&K YT~?yɭJZAE{7{7t9)B[[3@[ "V~?[OԨ[[[[BZYY i) & elevatorAngleAction: 0.084927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036249.243275F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @AM 4 @AV~? APAB&"AAgiNA"AZAbAjArAzAAArp91AI1rAs@Aڏ;A맽AA#׿A?AV<*A9?2A>ֽ:A_BA9?JA>ֽRA_٘i)I9s@YGG J<JJJJE&K YMT~?yZAE77%t9)BE[[‹@[rV~?[ڨ[[[[BZYY i) e Y)T~?y׽%[A Eb7t9)B[[P@[+V~?[9[[[[BZYY i) ׂAX0`rAt@AxOAQ/AAO$ֿAгA<*AO9?2AJBֽ:ABAO9?JAJBֽRA٘i)I9t@Y G Jd<JJJJE&K YT~?y ƨ[AE7{7Pt9)B[[ߌ@[D V~?[[[[[BZYY i)  elevatorAngleAction: 0.084927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036250.503274F (some fields omitted in printout)ARk @A $y^ @AV~? A֩A&"AA-iNA"AZAbAjArAzAAATFA A &rAu@A)dAAA KտA@A<*Aø9?2AhQֽ:ABAø9?JAhQֽRA٘i)I9u@YrG JJ<JJJJE&K YT~?yBΨ \AE77t9)B[[n@[V~?[I[[[[BZYY i) T elevatorAngleAction: 0.084927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743036251.763323F (some fields omitted in printout)A @Az @AԅV~? AwA&"AAhNA"AZAbAjArAzAAA A6rAw@A,)7<AA!A`%ҿA WA4<*A9?2AM׽:AuBA9?JAM׽RAu٘i)I9w@YG J<JJJJE&K YsT~?yb]A D E77t9)rB[[@[wU~?[[[[[BZYY iV=) Dw5 @A{V~? AAil&"AA;hNA"AZAbAjArAzAAAs(AxrA\>x@Ahj<ABA/QA ѿA@A<*A9?2AF׽:ABA9?JAF׽RA٘i)I9>x@YG J<JJJJE&K YOT~?y]AE)7ŧ7;t9.B)lBE[[X@[zU~?[[[[[ZZZZ¸>BZYY i¸>8) `[=*Aī9?2Aֽ:A;BAī9?JAֽRA;٘i)I9y@YG J<JJJJE&K YtT~?y^AEet9)`B[["@[U~?[[[[[ZZZZBZYY i) Ew'AA @A% @A5XV~? A:A&"AAȲhNA"AZAbAjArAzAAAV'gf AF2+ sAj{@AaAdxA0޿A"j̿A@WA1<*A9?2AVWֽ:A:}BA9?JAVWֽRA:}Y@޿yWxb#bٓHĿ??ſ ??6 ?)@ I٘i)I9j{@YG J=C=J1]=JJJE&K$> YBeT~?yk_A޿Ej7j7t9)QBE[[Б@[BU~?["[[[[ZZZZBZYY i) _5vJAG @A^/ح @ABV~? A)AY &"AAhNA"AZAbAjArAzAAA3H' A>h_sA-T}@Az <A'"AOֿAƿA{AE|<*Ao9?2As`ֽ:Ao<BAo9?JAs`ֽRAo<٘i)I9T}@Y/G Jw<JJJJE&K YfWT~?y*{`A#E{7j7P u9)AB[[&v@[U~?[7[[[[ZZZZBZYY i)  BE[[ @[U~?[=[[[[ZZZZBZYY i) lrJJJE&K1w> YQT~?y;`Aѿ(Eb777{u9)=B[[@[U~?[pD[[[[ZZZZBZYY iJq) .h`JJJJE&K YsMT~?yM{`A-E)7ŧ7u9)[[b@[U~?[Q[[[[BZYY i) 0<B[[@[U~?[i_[[[[BZYY i) * YJT~?y h_AĿ5E)77f"u9)@B[[ǿ["U~?[%f[[[[BZYY iph) /ksA|@A^k;A=A#AސAbA`*A֢9?2A>ֽ:A>=BA֢9?JA>ֽRA>=٘i)I9|@YG JuC=JJJJE&K YLT~?yp_A8E77%u9)DBE[[Ŀ[U~?[l[[[[BZYY i) ͽ;Ii@t<= O@))O@O@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036258.503165 s, next control iter: 1743036258.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9757, header.stamp.nsec: 00 temperature: 13.567623* salinity: 33.374996, density: 1025.000000* values[0]: 0.580787F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036258.903165 s.-I~,͹'AAQ@A @AV~? A.qA&"AAKVhNA"AZAbAjArAzAAAoAe) CsAm|@ANF<A|=AA AkA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m|@YG J͓JJJJE&K Y0MT~?yy1_A;EZ7SI7)u9)HB[[¿[U~?[s[[[[BZYY i) ;Ii@== R<))R<R<ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036258.923165 s, next control iter: 1743036259.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036259.323165 s.y4I~,2'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419986J"J2 time: 1743036259.323290*JF (some fields omitted in printout)2J:JBJnJvJAGz@A ˟o@A$V~? A>yA7G&"AAShNA"AZAbAjArAzAAA̸ĸALM HsA{@Aj<A=AAkA stA rA!%*A9?2A^ֽ:AZ=BA9?JA^ֽRAZ=٘i)I9{@YMG JJJJJE&K YHNT~?yp^A=E777&-u9)LB[[[U~?[Tz[[[[BZYY i) ;Iiޓ@WE== C7))C7C7yhժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036259.343165 s, next control iter: 1743036259.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9758*, header.stamp.nsec: 0*0 temperature: 13.567867** salinity: 33.375015*, density: 1025.000000** values[0]: 0.580227*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036259.743165 s.(W;I~,'AAףp= @ACr2@A@V~? AOA&"AAQhNA"AZAbAjArAzAAAt2KA*JCLsAKM{@A<A=A¹A iAvAW*A9?2Aqcֽ:A =BA9?JAqcֽRA =٘i)I9M{@YG JJJJJ·E&K YaOT~?y=z^A@E770u9)QB[[Q[nU~?[ [[[[BZYY ife) hh;IiB@== 3))33֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036259.763165 s, next control iter: 1743036260.143193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743036260.163165 s.x}BI~,q 'AJ"J*J2J:JBJnJvJA@@AY2@AV~? AcA &"AAPhNA"AZAbAjArAzAAA,=BA9?JAWֽRA>,=YH@ymg=#ٓH@??@?@?@ ?H@Q?)H@ I٘i)I9z@YG JJW<JJJŷE&Kx> YVST~?y^ACEŧ7b7Q4u9,B)VBE[["[lU~?[[[[[BZYY i) jl;Ii@== 5/))5/5/ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036260.183165 s, next control iter: 1743036260.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036260.583165 s.HI~, S%'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743036260.583320F (some fields omitted in printout)A)\u@Au8h@AV~? AvAan&"AAPhNA"AZAbAjArAzAAAa|AVsAr$z@Aq -A,=A[A`5?AxAsܪ*A9?2A׽:A=BA9?JA׽RA=٘i)I9$z@Y>G JJJJJȷE&K YKWT~?y]AEE7777u9)[B[[?[U~?[k[[[[BZYY i) C0;Iii@<= *))**ѪYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743036260.603165 s, next control iter: 1743036260.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9759, header.stamp.nsec: 00 temperature: 13.568145* salinity: 33.374996, density: 1025.000000* values[0]: 0.579527F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036261.003165 s.w PI~,H4@'AJ"J*J2J:JBJnJvJAR@A%Zx@AV~? AA&"AAqQhNA"AZAbAjArAzAAAQQAf q[sAxy@A`nAW=AOA@?A}uAԦ*AE9?2AZ!׽:A-=BAE9?JAZ!׽RA-=٘i)I9y@YG JJJJJʷE&K Y@[T~?ycC]AHE77{;u9)_B[[s÷[U~?[[[[[BZYY i) :IiB@f~<=  w&)) w& w&ΪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743036261.023165 s, next control iter: 1743036261.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036261.423165 s.uVI~,['AA{G@AB=@A V~? AA3&"AARhNA"AZAbAjArAzAAA ӢAv `sA y@A2A.ؓ=Av%A?AoAP*AD9?2Aֽ:A+<BAD9?JAֽRA+<٘i)I9 y@YG JJJJJͷE&K Y5_T~?y\AKEb77?u9)dB[[G[U~?[ě[[[[BZYY i) _:IiK@E<= "))""y`˪YFF]:Waiting for Gazebo time sync: latest Gz time: 1743036261.443165 s, next control iter: 1743036261.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9760", header.stamp.nsec: 0"0 temperature: 13.568440"* salinity: 33.375004", density: 1025.000000"* values[0]: 0.578843"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036261.843165 s.\I~,u'AJ"J*J2J:J/?BJ/?nJa5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743036261.843337F (some fields omitted in printout)Ap= @AS @AV~? AA&"AA&UhNA"AZAbAjArAzAAA|wAu$kBesA+x@A˺A=AA?AgA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9x@Y>G JWJJJJзE&K Y*cT~?yҶt\ANE)7ŧ7Bu9)hBE[[kc[U~?[i[[[[BZYY i) >Ii@-<= ))ȪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743036261.863165 s, next control iter: 1743036262.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036262.263165 s.dI~,ؐ'A]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications FaultAL@A3?@A"V~? AA^&"AA1XhNA"AZAbAjArAzAAAݯ@AOWҁjsAw@AK <AdT=AA?A2]Anť*A9?2AwSֽ:A^=BA9?JAwSֽRA^=Yu@P yS=) <ٓH?@k?=?@`? 豿汿 ??)u@ I٘i)I9w@YG JJ SJJJҷE&K.x> YiT~?y^\A PE77{7'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066111< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036264.363276F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@AяL@As5V~? A٪Au%"AAYshNA"AZAbAjArAzAAA$j A17sApu@ANR^AV1=A㜿AJ?AAT*A9?2A<׽:AB<BA9?JA<׽RABx> YT~?y9ZA^E{7Z7'Xu9)B[[u?[rU~?[ɩ[[[[BZYY iT) q*Ii@ٟ9= o))ooYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036264.403165 s, next control iter: 1743036264.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9763&, header.stamp.nsec: 0&0 temperature: 13.569148&* salinity: 33.375000&, density: 1025.000000&* values[0]: 0.577009&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036264.783165 s.TI~,2'AA(\@AeO@A:V~? AAP%"AA,{hNA"AZAbAjArAzAAA A6'sAWt@A\A[x=AIAx?A^AC*A9?2AO!׽:A<BA9?JAO!׽RA<ՖI٘i)I9t@YG JJJJJE&K Y T~?y%YA`E77[u9/B)BE[[ [qV~?[\Щ[[[[BZYY i) "nڻIiV@98= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036264.803165 s, next control iter: 1743036265.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036265.203165 s.I~,!M'AJ"J*J2J:J?BJ?nJ5vJAQ@A|+@A@V~? AfAܶ%"AAȃhNA"AZAbAjArAzAAA'(V AhsAt@A:λA=AýA`|?A A*AY9?2Aֽ:A<BAY9?JAֽRA<٘i)I9t@YG JJJJJE&K YT~?yqYAcEQ_u9)B[[ۡ[ V~?[֩[[[[BZYY i) Ii֏@8= L))LLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036265.243165 s, next control iter: 1743036265.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036265.623165 s.iI~,g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077311< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036265.623309F (some fields omitted in printout)AG@AV{@ATGV~? A9A%"AA+hNA"AZAbAjArAzAAAJ, AHsA8t@A ;AX܅=A|9AP?A Ap*A[9?2Aֽ:AB=BA[9?JAֽRAB=٘i)I9t@YG JB=JJJJE&K Y3T~?y-YAfE7)7bu9)B[[[V~?[Gݩ[[[[BZYY i)  Ii@7= F~))F~쾩F~y<JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036265.663165 s, next control iter: 1743036266.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9764 , header.stamp.nsec: 0 0 temperature: 13.569324 * salinity: 33.375011 , density: 1025.000000 * values[0]: 0.576495 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036266.043165 s.I~,Â'AJ"J*J2J:J?BJ?nJ5vJA= ף0@A?N#@ANNV~? AA2%"AARhNA"AZAbAjArAzAAA&K A2 sAثs@AL<A==AeA"?A`ӍAܟ*A<9?2ALֽ:A=BA<9?JALֽRA=٘i)I9s@YNG J`C=JJJJE&K YT~?y XAhE777|fu90B)B E[[s[V~?[[[[[BZYY i)  Iid@7= ))㾩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036266.083165 s, next control iter: 1743036266.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036266.463165 s.SI~,ۤ'AAfffff@A*Z^Y@AUV~? AA%"AA=hNA"AZAbAjArAzAAAjk(|Z A&& šsA5s@A+>i<AQÉ=AA?A`jA|ύ*AV9?2AXֽ:AL=BAV9?JAXֽRAL=Yq@ay=i<ٓH g?`L? ΀? }?@4'? ?)q@ I٘i)I95s@YG JJ;JJJE&Kx> YT~?ywXAkE{7{7ju91B)B!E[[A[ V~?[ [[[[BZYY i) |+Ii[@s76= ھ))ھھYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036266.503165 s, next control iter: 1743036266.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9765, header.stamp.nsec: 00 temperature: 13.569508* salinity: 33.375011, density: 1025.000000* values[0]: 0.575980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036266.883165 s.yI~,8'AJ"J*J2J:Js?BJs?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077311< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743036266.883315F (some fields omitted in printout)A(@Ax'@A]V~? AnAV%"AAhNA"AZAbAjArAzAAA7JȘ A?bssAr@Aq <Ak=AepA@R?ADA*A9?2AHֽ:A=BA9?JAHֽRA=٘i)I9r@YG J捼B=JJJJE&K YT~?yXAnE77mu9)B[[?['V~?[][[[[BZYY i) ,*;Ii@ 5= FҾ))FҾFҾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036266.923165 s, next control iter: 1743036267.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036267.303165 s.QI~,bg'AA@A͔@ACfV~? AAP%"AAahNA"AZAbAjArAzAAAAoxsAGr@A+ٺAn=AA?A@A@*A9?2Aֽ:A%=BA9?JAֽRA%=٘i)I9Gr@YuG JC=JJJJE&K YJT~?y"WApE777o*A9?2Afֽ:A; =BA9?JAfֽRA; =YBP@yi=P)ٓH?`M?4?@>v?貿 /?)BP@ I٘i)I9p@YG JJJ <JJJE&K)x> Y^U~?yE:VAxE77{7{u9)B[[9[JV~?[L [[[[BZYY i) xIiڊ@1= Ǯ))ǮǮ;ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036268.583165 s, next control iter: 1743036268.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9767, header.stamp.nsec: 00 temperature: 13.569874* salinity: 33.375008, density: 1025.000000* values[0]: 0.574917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036268.983165 s.I~,>'AA\@A@A6V~? A.Au%"AAhNA"AZAbAjArAzAAA}zA C)dsAXp@AChAAM=A+VADY?A`bAd*A9?2AVֽ:A=BA9?JAVֽRA=٘i)I9Xp@YHG JPJJJJE&K YU~?yA:VA{E77u9)B[[[TV~?[j[[[[BZYY i) IiՉ@Vm0= ))𥾩ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036269.003165 s, next control iter: 1743036269.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036269.403165 s.&I~,Y'AJ"J*J2J:J?BJ?nJA5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077311< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036269.403308F (some fields omitted in printout)AQ@A5l@A)V~? AW5A,%"AAiNA"AZAbAjArAzAAAD pAԫܺsAo@A!<AN@=Aɨ{A@3?A@/A+੼*A9?2A:?ֽ:Ac=BA9?JA:?ֽRAc=٘i)I9o@YG J@JJJJE&K YU~?yNIUA~E7777'u94B)B+E[[̋[^V~?[[[[[BZYY i) Ii@\/= ))֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036269.423165 s, next control iter: 1743036269.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9768", header.stamp.nsec: 0"0 temperature: 13.570080"* salinity: 33.375019", density: 1025.000000"* values[0]: 0.574345"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036269.823165 s.I~,Bt'AAGz@A-\o@AV~? A<AW%"AAiNA"AZAbAjArAzAAAVmzA]GyJsAA*A 9?2A )ֽ:A=BA 9?JA )ֽRA=٘i)I9Y?mRj??).@ I٘i)I9n@YG J䯼J%<JJJE&K(x> YDLU~?yX_TAkEb77u9)ůB[[#[}V~?[r'[[[[BZYY i) {+Ii@81,= No))NoNoܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036270.683165 s, next control iter: 1743036271.063177 s, wait time: 0.380012 s DLU~?) X_ rAdjusting time to match Gazebo time: 1743036271.083165 s.DI~,S'AJ"J*J2J:JBJnJvJA)\µ@AʧǶ@AV~? AQA-%"AAKiNA"AZAbAjArAzAAAZGAr@LsAKm@AWA=ALyfA`b?AIAJ*A9?2A׽:A@=BA9?JA׽RA@=٘i)I9m@YG JJJJJ E&K YV]U~?yZf2TAES77|u97B)ʯB2E[[C낿[V~?[P-[[[[BZYY i) ٟIiX@ʮ*= s))ssyުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036271.103165 s, next control iter: 1743036271.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036271.503165 s.I~,@4'AAR@A~@AV~? AXA,%"AA_iNA"AZAbAjArAzAAA׬kA苈sAl@Ag`A=A aA:j?A A*A9?2A8׽:A =BA9?JA8׽RA =٘i)I9l@Y6G J B=JJJJ E&K YjnU~?y\mSAEj7j7u9)ϯB[[c[V~?[$3[[[[BZYY i) OIiY@h)= Ca))CaCa[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036271.523165 s, next control iter: 1743036271.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9770, header.stamp.nsec: 00 temperature: 13.570543* salinity: 33.375027, density: 1025.000000* values[0]: 0.573074F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036271.923165 s.6I~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743036271.923296F (some fields omitted in printout)A{G!@A=D;@AV~? A_A%"AA$tiNA"AZAbAjArAzAAAE G-AGsA_l@AH~VA>=A[A`c9?AfA:*AĚ9?2A׽:A6=BAĚ9?JA׽RA6=٘i)I9_l@YG J鮼C=JJJJE&K Y|U~?y^t[SAEŧ7b7u98B)կB6E[[[|[V~?[8[[[[BZYY i) 򉸼Ii@=`(= bO))bObOoYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036271.963165 s, next control iter: 1743036272.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036272.343165 s.<I~,'AAp= W@A`[?I@AV~? AvfA!%"AAFiNA"AZAbAjArAzAAAjSeP A&#sAfk@AA=AKVA?AAg*Aƕ9?2Aֽ:AQ9=BAƕ9?JAֽRAQ9=٘i)I9k@YG J}JJJJE&K YU~?y`{RAE77=u99B)ۯB9E[['mx[V~?[>[[[[BZYY i) UIi@֔'= 0u=))0u=0u=YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743036272.363165 s, next control iter: 1743036272.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9771*, header.stamp.nsec: 0*0 temperature: 13.570780** salinity: 33.375023*, density: 1025.000000** values[0]: 0.572432*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036272.763165 s.= I~,80'AJ"J*J2J:JBJnJvJǍ@AC@A|W~? A"mAʝ%"AAiNA"AZAbAjArAzAAA[A6sAI'k@A;A=AQA?A@@AAü*A39?2A?ֽ:A =BA39?JA?ֽRA =Yӧ@nQy=0;ٓHn? YУU~?y΁{RAQE77ҟu9)B[[s[V~?[DD[[[[BZYY i) EǼIig@B%= +))++YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036272.783165 s, next control iter: 1743036273.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036273.183165 s.I~,kK'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086745< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743036273.183264F (some fields omitted in printout)A(\@A@AW~? AsAN%"AAiNA"AZAbAjArAzAAA >$ADsAuj@A R<A=ALA@?A@A̼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9j@YG JǼJJJJE&K YU~?y;RAEgu9:B)B'AA@ATގ@AOW~? A A)%"AAjNA"AZAbAjArAzAAAH-*Z:տAc?dsAg@AJ:AJ=Ay7Aࡏ?AA*Ѽ*A*9?2A׽:A=BA*9?JA׽RA=Y<@e7yG=h;ٓH? ??I* ? >@;I ?)<@ I٘i)I9g@Y G JѼC=J%<JJJ#E&KNx> YV~?yM/PA7E{7Z7u9)B[[][V~?[_[[[[ZZ¸BZYY i¸?=) VRؼIi w@= ))zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036274.883165 s, next control iter: 1743036275.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036275.283165 s.6R4I~,'AJ"J*J2J:JBJnJvJA(\@ABO@A aW~? AA%"AAU/jNA"AZAbAjArAzAAA~AvsAg@A}kA÷=AM32A`G?AwAH1Լ*Au}9?2At׽:A.F=BAu}9?JAt׽RA.F=٘i)I9g@Y G JҼJJJJ&E&K YSV~?yOAE7{7Ru9=B)BFE[[Y[J W~?[d[[[[ZZBZYY i) ,D̼Iit@7= @,))@,@,zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036275.303165 s, next control iter: 1743036275.683177 s, wait time: 0.380012 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 97746, header.stamp.nsec: 060 temperature: 13.5714996* salinity: 33.3750696, density: 1025.0000006* values[0]: 0.5701736F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036275.703165 s.ۺ:I~,&'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036275.703285F (some fields omitted in printout)AQ@Av$@ArW~? AAu<%"AAIjNA"AZAbAjArAzAAAFj?AOsAIf@At-!A=AQ-A?A(#A3*A9?2Aֽ:A.<BA9?JAֽRA.<٘i)I9If@Y( G JB=JJJJ(E&K Y0V~?yପ:OAEb77u9>B) BIE[[gzT[?W~?[i[[[[ZZBZYY i) =0Iiq@= 6))66 $YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036275.723165 s, next control iter: 1743036276.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036276.123165 s.7AI~,]'AJ"J*J2J:J?BJ?nJ5vJAG:@A'0-@ApW~? A枫A/%"AAWdjNA"AZAbAjArAzAAA|??A TgjKsAke@A<A =A(A Q?A@A*A9?2A9|ֽ:AR<BA9?JA9|ֽRAR<٘i)I9ke@Y G J)C=JJJJ+E&K> YEV~?yNAEZ787}u9?B)BJE[[O[*W~?[o[[[[ZZBZYY i) )&IiJo@"%=  ܼ)) ܼ ܼyꔩ=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036276.143165 s, next control iter: 1743036276.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036276.543165 s.IHI~,"'AA= ףp@AR(c@AW~? AAX%"AAjNA"AZAbAjArAzAAAVZv 7?A"چsAhd@A<Ay=A #A Y[V~?ynENAE77j7u9@B)BME[[aK[$:W~?[!t[[[[ZZBZYY i) jIitm@= |))||YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036276.563165 s, next control iter: 1743036276.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9775, header.stamp.nsec: 00 temperature: 13.571815* salinity: 33.375069, density: 1025.000000* values[0]: 0.569247F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036276.963165 s.J "J *J 2J :J ?BJ ?nJ 5vJ xNI~,='AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083616< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743036276.963281F (some fields omitted in printout)Affff@AZ@AVW~? A>AC%"AAjNA"AZAbAjArAzAAAOoG?A^q7tAc@A?]<A4=AA?A!#A/ټ*As9?2AXֽ:Aib;BAs9?JAXֽRAib;YU@yl4=v]<ٓHD?a?9?5y Z? ˚?C?)U@ I٘i)I9c@Y G JMJڽJJJ0E&Kw> Y&rV~?y NAE77u9)"BPE[[F[IW~?[y[[[[ZZBZYY i=) (DIii@=  <)) < < ~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036276.983165 s, next control iter: 1743036277.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036277.383165 s.UI~, elevatorAngleAction: 0.073772< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743036278.223265F (some fields omitted in printout)AzG@A:@AkW~? A^Aw%"AAjNA"AZAbAjArAzAAAQ!?A/|> tA@b@A AA:A?A@-޿A?'*A9?2A+ֽ:AlyBA9?JA+ֽRAly٘i)I9@b@Y G J[JJJJ8E&K YgV~?y̪RMAE{7{7hu9BB)/BVE[[9[{W~?[}[[[[ZZBZYY in"=) yIi;a@&= `=))`=`=yȖ=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036278.243165 s, next control iter: 1743036278.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036278.643165 s.xiI~,*'AJ"J*J2J:JBJnJvJA ףp}@A fp@AzW~? AAD%"AAkNA"AZAbAjArAzAAA@!2"'r?AӁ|1tA{ b@A#kANA A(B?A rݿA *At9?2Aֽ:AuVBAt9?JAֽRAuV٘i)I9 b@Y G JJJJJ;E&K Y~V~?yѪMAEb77u9CB)3BXE[[Oz4[W~?[&[[[[ZZBZYY i) }cIi!_@= `=))`=`=tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9777, header.stamp.nsec: 00 temperature: 13.572262* salinity: 33.375080, density: 1025.000000yW=* values[0]: 0.567867F (some fields omitted in printout))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036278.663165 s, next control iter: 1743036279.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036279.063165 s.pI~,t 'AA3333@AM(@A X~? AīA%"AA/kNA"AZAbAjArAzAAAaTO?A*?tAa@AQA AA?AܿA>*Aa9?2A#ֽ:AZмBAa9?JA#ֽRAZмYΓ@yNiRٓH??G~߿#?*?`S?S=`)?)Γ@ I٘i)I9a@Y G JDZJp9JJJ>E&Kw> Y V~?yB֪BMAEj7Z7u9)4B[E[[[/[>W~?[[[[[BZYY ik=) yRIiA[@R = T=))T=T=y2=-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036279.103165 s, next control iter: 1743036279.463182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743036279.483165 s.y_wI~,'AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036279.483288F (some fields omitted in printout)A\@AV@A X~? AaɫA>%"AANkNA"AZAbAjArAzAAAf9 @A[RM9tAa@A2AeR0AH8A?AۿAg2;*A9?2Aogֽ:ABA9?JAogֽRA٘i)I9a@Y G J4&:JJJJAE&K YV~?yڪmMAEb77(u9DB)^E[[H+[W~?[ [[[[BZYY iC=) SAIiW@Z = @7=))@7=@7=y=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036279.523165 s, next control iter: 1743036279.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9778, header.stamp.nsec: 00 temperature: 13.572235* salinity: 33.375076, density: 1025.000000* values[0]: 0.567756F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036279.903165 s.}I~,'AAQ@Aq8@A5X~? AΫA>#%"AAInkNA"AZAbAjArAzAAAH;!M@A6 DtA2b@A;A+:VAkA ?A'ۿAw;*AY9?2Abֽ:A^BAY9?JAbֽRA^٘i)I9b@Y G J;JJJJCE&K YbW~?yުMAE{7Z7u9)aE[[K&[ W~?[[[[[BZYY i) /IiT@= @ >))@ >@ >ytog=~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036279.943165 s, next control iter: 1743036280.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036280.323165 s.sI~,'AJ"J*J2J:JBJnJvJAGzT@A.oG@AJX~? AҫA%"AAbkNA"AZAbAjArAzAAAz2"@A'gtAPb@AQ<A6tAEAg?Ai]ڿAE#<*A9?2Aֽ:AKBA9?JAֽRAK٘i)I9Pb@Y G Jh<JJJJFE&K Y1W~?yJMA÷Eŧ77Su9EB)2BdE[[![|W~?[̝[[[[BZYY i) IiQ@;Z= J>))J>J>y=/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036280.343165 s, next control iter: 1743036280.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9779*, header.stamp.nsec: 0*0 temperature: 13.572058** salinity: 33.375107*, density: 1025.000000** values[0]: 0.567961*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036280.743165 s.WI~,i/'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036280.743276F (some fields omitted in printout)Aףp=@Aq5}@A`X~? A3׫Ao%"AAkNA"AZAbAjArAzAAA$|.@A#tAb@AW<AhA(yݾAݪ?AྑٿAc1U<*Ak9?2Aֽ:A BAk9?JAֽRA ԖI٘i)I9b@Y G J(:<B=JJJJIE&K YIW~?yMAƷE)7b7u9)0B[[N[?W~?[[[[[BZYY i)  IiO@= />))/>/>0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036280.783165 s, next control iter: 1743036281.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036281.163165 s.x}I~,qJ'AJ"J*J2J:Jr?BJr?nJ5vJA@A @AvX~? A۫A %"AAkNA"AZAbAjArAzAAA:1B @Aľ}M tAgc@A;AAKӾA?A'ؿA4<*Ak9?2A,ֽ:A BAk9?JA,ֽRA YNԴ@ӾyT;ٓH`4 YcW~?y+RNAӾɷEZ7Z7~u9)-BgE[['[W~?[[[[[BZYY i3]k=) Ii}K@;= ЂA>))ЂA>ЂA>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036281.183165 s, next control iter: 1743036281.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036281.583165 s.I~,Re'AA)\@A=@AX~? A߫A%"AA]kNA"AZAbAjArAzAAA1@;] @As9"tAwc@AdpAPAmDɾA@g*?A*׿A(<*A}9?2AH+ֽ:ACBA}9?JAH+ֽRAC٘i)I9wc@Yp G J<JJJJNE&K Yc}W~?yNA̷E)7)7u9FB)*BjE[[K[' X~?[[[[[BZYY i) ۻIiG@õ< @"T>)) @"T>@"T>a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036281.603165 s, next control iter: 1743036281.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9780, header.stamp.nsec: 00 temperature: 13.571807* salinity: 33.375126, density: 1025.000000* values[0]: 0.568425F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036282.003165 s. I~,4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743036282.003316F (some fields omitted in printout)J"J*J2J:JBJnJvJAR+@A/x@A9X~? AAt%"AA6lNA"AZAbAjArAzAAA} ~ @AҲV%tAc@A}CALUAMAki?A$׿A<*Aw9?2Aս:AظBAw9?JAսRAظ٘i)I9c@Y G J{<JJJJQE&K Y@W~?y=OAηEŧ7b7u9HB)(BnE[[OX[ X~?[魪[[[[BZYY i) 6IiqD@/r< 0f>))0f>0f>3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036282.023165 s, next control iter: 1743036282.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036282.423165 s.uI~,'AA{Ga@Aٗl\<*A9?2AF;ս:AΟBA9?JAF;սRAΟ٘i)I9d@Y G J1<JJJJSE&K YW~?ytOAѷE77>u9)$BqE[[ [s4X~?[[[[[BZYY i)  IiA@< Py>))Py>Py>ygk==*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036282.443165 s, next control iter: 1743036282.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9781, header.stamp.nsec: 00 temperature: 13.571476* salinity: 33.375122, density: 1025.000000* values[0]: 0.569109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036282.843165 s.ݬI~,'AJ"J*J2J:J?BJ?nJ5vJAp= @A@AX~? AyA%"AAXlNA"AZAbAjArAzAAA^8@AaZ*tAb)e@A A A"A?A`@~տAb<*A:9?2A[ս:A BA:9?JA[սRA ٘i)I9)e@Yx G JZ<JJJJVE&K YW~?yPOAԷE7ŧ7u9)B[[[HX~?[g[[[[BZYY i) Ii>@Nj< Q>))Q>Q>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036282.883165 s, next control iter: 1743036283.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036283.263165 s.&I~,^'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036283.263296F (some fields omitted in printout)A@Aÿ@A1X~? AA`%"AA{lNA"AZAbAjArAzAAAܘ @AS>,tAe@A:AO&AHϟA ?A٣ԿAFԱ<*A9?2A0ֽ:AmBA9?JA0ֽRAmY@0۟yH&a:ٓH*^? F?Kӿ,t?P?8 ?S??)@ I٘i)I9e@Y G J<J-JJJYE&Kv> YW~?y;PAַ۟E)7iu9)BtE[[;8[\X~?[[[[[BZYY i) BCIi:@5< @>))A0~@>@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036283.283165 s, next control iter: 1743036283.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 97822, header.stamp.nsec: 020 temperature: 13.5710862* salinity: 33.3751412, density: 1025.0000002* values[0]: 0.5699022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036283.683165 s.lI~,Z'AJ"J*J2J:J?BJ?nJ5vJA(\@A@@AX~? AAM%"AAlNA"AZAbAjArAzAAA&' @A&[^.tATf@A3+<AĕA AJ?A@ӿA+<*A9?2Aiֽ:A*BA9?JAiֽRA*٘i)I9Tf@Y. G J<JJJJ[E&K YX~?yPAٷEj7Z7u9IB)BwE[[[1qX~?[f[[[[BZYY i8=) RIi6@< >)) >>9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036283.683165 s, next control iter: 1743036284.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036284.103165 s.I~,'AAQ8@AvMH+@A`Y~? AAE %"AA@lNA"AZAbAjArAzAAAf=@@Af0tA(f@Ajei<A0葽AA ?AҿA%<*A9?2A~ս:AIBA9?JA~սRAI٘i)I9f@Y G J<JJJJ^E&K  v9YX~? v9yl QAܷE777v9)BzE[[[X~?[[[[[BZYY i) Ii93@h< 1>))1>1>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036284.123165 s, next control iter: 1743036284.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036284.523165 s.I~,{!'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036284.523295F (some fields omitted in printout)AHzn@A!A a@AM/Y~? AA%"AAWlNA"AZAbAjArAzAAAй=b@AW2tAlg@A3-<A\>AUA?AҿA)<*A9?2A&zս:ABA9?JA&zսRA󼙘٘i)I9lg@Y G J<JJJJaE&K Yx6X~?y!pQA޷E7)v9)B}E[[m[&X~?[ê[[[[BZYY i) >aIi0@g< I'>))I'>I'>*YHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036284.543165 s, next control iter: 1743036284.923179 s, wait time: 0.380014 sx6X~?)!tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9783, header.stamp.nsec: 00 temperature: 13.570688* salinity: 33.375145, density: 1025.000000* values[0]: 0.570627F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036284.943165 s.[dI~,O]<'AAq= ף@A>͖@AnGY~? AAŎ%"AA mNA"AZAbAjArAzAAA?Iֆ@A6qD14tA>g@AA:AU;AQmA@?A@#,ѿA<*A9?2Aeս:ABA9?JAeսRA٘i)I9g@Y* G J <B=JJJJcE&K YYQX~?yQAE77j7v9) BE[[^ܾ[X~?['ƪ[[[[BZYY i) _9:Ii^-@< >))>>yH5=Խ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036284.963165 s, next control iter: 1743036285.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036285.363165 s.I~,>W'AJ"J*J2J:JBJnJvJA@AA*Ŏ@A_Y~? AAT%"AAn/mNA"AZAbAjArAzAAAI2־@A.%5tAvh@Av A5AaBYA?A(MпA <*A;9?2Ahaս:A?BA;9?JAhaսRA?Y_G@Xy! ٓH|7??8ʿH??@? v}?)_G@ I٘i)I9vh@Yz G J<C=J۝<JJJfE&K_u> YlX~?y2RAXEj7S v9)B[[iҾ[X~?[$ɪ[[[[BZYY i) D:Ii(@j3< M@>))r{M@>M@>,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036285.383165 s, next control iter: 1743036285.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9784&, header.stamp.nsec: 0&0 temperature: 13.570318&* salinity: 33.375168&, density: 1025.000000&* values[0]: 0.571365&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036285.783165 s.[I~,r'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245207> elevatorAngleAction: 0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036285.783287F (some fields omitted in printout)A(\@A yP@A?xY~? AA%"AAiTmNA"AZAbAjArAzAAAW_@AQ7tAh@AYdA3A[DA{0?A@οA<*A9?2Aս:AQBA9?JAսRAQ٘i)I9h@Y G J<JJJJiE&K YX~?y RAE{7{7v9JB)BE[[IMɾ[X~?[̪[[[[BZYY i) "*;Ii$@P< m>)) m>m>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036285.803165 s, next control iter: 1743036286.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036286.203165 s.I~,'AJ"J*J2J:JBJnJvJAQE@Ar&8@AY~? APA%"AAymNA"AZAbAjArAzAAA5՜&@AoE,19tAvi@AZ.DARAg40A@Z?A@<̿A<*A:?2AZpԽ:AvBA:?JAZpԽRAv٘i)I9vi@YG J9<JJJJlE&K Y4X~?yb RAEŧ7b7~v9)BE[[驿[X~?[Ϊ[[[[BZYY i) h;Ii(!@H< u>))u>u>ϳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036286.223165 s, next control iter: 1743036286.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036286.623165 s.ZI~,i'AAGz@Am@AƩY~? AA%"AA1mNA"AZAbAjArAzAAA|;d~/@Au:tAi@AΉqA{ARA~?A7˿AIY<*A%:?2Aս:ABBA%:?JAսRAB󼙘٘i)I9i@Y`G J<JJJJnE&K YҿX~?y;FSAE77v9)BE[[[(Y~?[xѪ[[[[BZYY i) ݄;Ii@p< !(>))!(>!(>ű*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036286.643165 s, next control iter: 1743036287.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9785 , header.stamp.nsec: 0 0 temperature: 13.569959 * salinity: 33.375195 , density: 1025.000000 * values[0]: 0.572049 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036287.043165 s.I~,'AJ"J*J2J:Jq?BJq?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743036287.043324F (some fields omitted in printout)A= ף@AH@AY~? A A%"AAmNA"AZAbAjArAzAAA ^@Aaa ))>>K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036287.063165 s, next control iter: 1743036287.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036287.463165 s.WI~,'AAffff@A/N[@AY~? A A `%"AAmNA"AZAbAjArAzAAA6r@A\W=tAj@AY<A AA`?AǿAM~<*A:?2Aֽ:AB|BA:?JAֽRAB|Y~@|yeZ<ٓH\?@Q)?#e5R?@{y?>??)~@ I٘i)I9j@YG J<J<JJJtE&K u> YX~?ySA|Ej7Z7>v9)BE[[y[]5Y~?[f֪[[[[BZYY i) ;Iii@< =>))x=>=>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036287.483165 s, next control iter: 1743036287.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9786, header.stamp.nsec: 00 temperature: 13.569616* salinity: 33.375191, density: 1025.000000* values[0]: 0.572684F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036287.883165 s.yI~,@'AJ"J*J2J:JBJnJvJA(@A*q@A1Y~? A AT8%"AA$nNA"AZAbAjArAzAAAO&@A =>tA7k@A)V<AA.A ?A ſAx<*A9?2A8ֽ:ADxBA9?JA8ֽRADx񼙘٘i)I97k@Y(G Jz<JJJJvE&K YY~?y OTAE77{7 v9)BE[[ؘ[)) G>G>o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036287.923165 s, next control iter: 1743036288.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036288.303165 s.TI~,og'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036288.303307F (some fields omitted in printout)AQ@AD@AZ~? AA%"AA7nNA"AZAbAjArAzAAAJk;@A5|͟?tA k@A;A_APhA@4?A ÿA]~<*AM:?2AvԽ:ABAM:?JAvԽRA٘i)I9k@YhG Jy<JJJJyE&K Y/Y~?yTAEZ7SI7i$v9)B[[- [icY~?[ڪ[[[[BZYY i)  elevatorAngleAction: 0.076045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743036289.563327F (some fields omitted in printout)A3333@A&'@An[Z~? AHA%"AAnNA"AZAbAjArAzAAAa!@A SBtAl@AcAyϊA]@A:?A@A"<*A:?2Aս:AVBA:?JAսRAVYU@0ẙbdٓH? ?@K? ?V?>{f?)U@ I٘i)I9l@Y6G J <J:JJJE&Kwt> YY~?yUA0E77{7)/v9)BE[[kb[!Y~?[u[[[[BZYY i) 7@A5uZ~? AqA%"AAnNA"AZAbAjArAzAAA2Ri"@A[w: CtAkm@AA:MA<A`K?A2A=<*A9?2Azս:AU` BA9?JAzսRAU` ٘i)I9km@YG J<JJJJE&K Y[Y~?y' VAEŧ7b72v9)BE[[[2O[Y~?[[[[[BZYY i) G+iCtAm@A1:A:׏Ak<A ]?A4 Al<*A:?2AOsԽ:ABA:?JAOsԽRA٘i)I9m@YG Jf<JJJJE&K YY~?y@jVAE777T6v9)ܯBE[[H;[Y~?[[[[[BZYY i) V elevatorAngleAction: 0.076045< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036290.823313F (some fields omitted in printout)AGz@A/o@AZ~? ADAx%"AA!oNA"AZAbAjArAzAAA7^I#@AV %DtA\n@A$1<AA"L=Ai?AVAQ<*Ac:?2AԽ:AG[BAc:?JAԽRAG[٘i)I9\n@YG J<JJJJE&K YY~?yXVAE79v9KB)ٯBE[[;'[{Y~?[[[[[BZYY i) e Y:Z~?yWA= E77Av9)ЯBE[[vA[z#Z~?[[[[[BZYY i) EN elevatorAngleAction: 0.085306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036292.083313F (some fields omitted in printout)A)\5@Avmo(@AZ~? AAU%"AA9oNA"AZAbAjArAzAAATD|%@A)NEtAyo@A% :AAA=A@~?AQA<*A::?2A%yս:A>(BA::?JA%yսRA>(٘i)I9o@YG J<JJJJE&K YX-Z~?yWAE777Dv9RB)ӯB[[ֽ[ A B?AA <*A,:?2Aӽ:ABA,:?JAӽRA٘i)I9cp@YNG J8<JJJJE&K YyIZ~?yVXAE7?Hv9)ίBE[[憭[UZ~?[[[[[BZYY i) r@A+[~? AAM%"AA,oNA"AZAbAjArAzAAA::&@A]?o4EtAp@AfAA>A@?Au?AR<*Av:?2AOӽ:ABAv:?JAOӽRA٘i)I9p@YG J֫<JJJJE&K YeZ~?yLXAE7Kv9QB)ʯBE[[[$nZ~?[E[[[[BZYY i)  elevatorAngleAction: 0.085306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199212 time: 1743036293.343261F (some fields omitted in printout)Ap= @AKi@A&E[~? AAN%"AA pNA"AZAbAjArAzAAAW3V'@AaZFEtAq@A}>AaA$],>A`?A S?AC<*A :?2AiԽ:ABA :?JAiԽRA٘i)I9q@YG JC<JJJJE&K YZ~?y"YAEj7j7iOv9)ůBE[[lX7[pZ~?[[[[[BZYY i) NA m{?AN?Ai<*A-:?2A>ս:ABA-:?JA>սRAYE@B>yLٓHR?@ȿ@Q ?m? ͽ?i ?)E@ I٘i)I9r@Y]G J<JBJJJE&K5t> YnZ~?yYAB>E{7Z7Rv9OB)BE[[We̼[wZ~?[[[[[BZYY i) mA`s?A@)^?Ao<*A9?2Aս:ABA9?JAսRA٘i)I9r@YG J1<B=JJJJE&K Y(Z~?y2ZAE77{7Vv9NB)BE[[^i[Z~?[[[[[BZYY i) LT elevatorAngleAction: 0.085306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036294.603297F (some fields omitted in printout)AQx @AUEk @A+[~? A|Ad%"AApNA"AZAbAjArAzAAAWI/)@AY{GDtA%Rs@Ay\<AASl>A@k?A`?AVM<*A:?2AbԽ:ArBA:?JAbԽRAr٘i)I9Rs@YG Jm<C=JJJJE&K YZ~?y qZAEb77)Zv9MB)BE[[Qx<[/Z~?[ [[[[BZYY i) 糶A _?A 9R?AVB<*A:?2A-rԽ:ABA:?JA-rԽRA٘i)I9s@YwG J<JJJJE&K YZ~?y ZA!E77j7]v9)BE[[F=[Z~?[[[[[BZYY i) APQ?A?A<*A :?2AԽ:AHBA :?JAԽRAH٘i)I9t@YG J<JJJJE&K YL [~?y9 P[A$E77Tav9)B[[d=[[~?[{[[[[BZYY i) %t'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036295.863299F (some fields omitted in printout)A!@A) !@A[~? AA%"AApNA"AZAbAjArAzAAA+@AP:,BtA>u@AAA0>Ad@?A?A <*A+:?2AԽ:A`"BA+:?JAԽRA`"YϏ=-%>yxeUٓH}?<ҿƵ0?@^?Y?@s?)Ϗ= I٘i)I9>u@YCG J<JuJJJE&Kes> YU'[~?y[A%>'Ej7Z7dv9LB)B¹E[[ɛ=[ [~?[[[[[BZYY i) A` -?AC?A<*A9?2AԽ:A BA9?JAԽRA ٘i)I9u@YG J/<JJJJE&K Y]B[~?y5@\A)E777hv9)BŹE[[{=[9[~?[D[[[[BZYY i) .A?A/?A<*Af:?2A_ӽ:A BAf:?JA_ӽRA ӖI٘i)I9v@YG J<B=JJJJE&K Yi][~?y\A,E)7ŧ7lv9KB)BȹE[[=[S[~?[g[[[[BZYY i) = elevatorAngleAction: 0.085306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036297.123298F (some fields omitted in printout)J"J*J2J:JBJnJvJAG!@ANխ!@A-\~? A_A*%"AAnqNA"AZAbAjArAzAAAiY,@A?tA`w@AAVAm>AR?A_?AG<*A[:?2AԽ:A\BA[:?JAԽRA\٘i)I9`w@YG J<C=JJJJE&K Ynx[~?y00]A/Eŧ7ov9JB)B˹E[[ >[hm[~?[_[[[[BZYY i) BtAx@A!;A銶A?>A ?A4?Au<*A :?2AԽ:ABA :?JAԽRA٘i)I9x@YG J<JJJJE&K Yx[~?y]A1Eb77?sv9)BιE[[5;">[k[~?[)[[[[ZZZZ¸>BZYY i¸>驽) a>A@?A` ?A;<*A!:?2ANս:A}BA!:?JANսRA}Y.>>y]8<ٓH`{?@^ؿ@ @7?N?@-ڶ?`??).> I٘i)I9x@YnG J<JJJJE&Kt> Y[~?yV#^A>4EZ7SI7vv9)B[[L7>[[~?[[[[[ZZZZBZYY i) -A`?A@?A<*A :?2A@ֽ:AsBA :?JA@ֽRAs򼙘٘i)I9y@YG J<JJJJE&K Y[~?y^A7EZ7jzv9IB)|BѹE[[L>[Ѻ[~?[C[[[[ZZZZBZYY i) 6A`w?A ?AA=*A?0:?2A?XԽ:AKBA?0:?JA?XԽRAK٘i)I9rz@YnG J=JJJJE&K Y[~?y_A9Eŧ7b7}v9HB)tBԹE[[a>[[~?[[[[[ZZZZBZYY i) 9 A!d?Aी?A`<*AF7:?2AԽ:A7dBAF7:?JAԽRA7d٘i)I9I{@YG J<JJJJE&K Y[~?yQ_A[[~?[ު[[[[ZZZZBZYY i) A ??AD?A2<*A9:?2AfԽ:AIͻBA9:?JAfԽRAIͻ٘i)I9|@YiG J<JJJJ¸E&K Y\~?y`A?E)7b7*v9DB)cBٹE[[w>[\~?[ܪ[[[[ZZZZBZYY i)  A@?A?A*<*A7:?2A&Oս:A:BA7:?JA&OսRA:Y">]>y ռԷTٓHe9?޿`ڝ? I٘i)I9|@YG J<J;>JJJĸE&Kt> Y.\~?y3`A>AEZ7SI7v9)^B[[Km>[8"\~?[Nڪ[[[[ZZZZBZYY iEnj) }@Ag%A^Ac?AS?AG?Ah<*A0:?2A3ս:A<BA0:?JA3սRA<٘i)I9>}@Y"G J<JJJJǸE&K YG\~?yW`ADE777Uv9CB)YBܹE[[wN>[;\~?[ת[[[[ZZZZBZYY irȞ) ?>C; ?)) ??V)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036300.503165 s, next control iter: 1743036300.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9799, header.stamp.nsec: 00 temperature: 13.564296* salinity: 33.375381, density: 1025.000000* values[0]: 0.583123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036300.903165 s.I~,9'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036300.903276F (some fields omitted in printout)AQ#@A ګ#@A ]~? AAv%"AArNA"AZAbAjArAzAAAkV1@A*}2tA1}@A'κAY;AD?Am?A`%?AE,<*AD:?2A4Խ:A y<BAD:?JA4ԽRA y<٘i)I9}@Y\G J~d<JJJJʸE&K Y`\~?yߪ{`AGE{7v9BB)UB߹E[[F>[U\~?[@ժ[[[[ZZZZBZYY i) u@3; Y?))Y?Y?hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036300.923165 s, next control iter: 1743036301.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036301.323165 s.qI~,T'AJ"J*J2J:JBJnJvJAGz#@A@:s#@A%]~? AA%"AAtrNA"AZAbAjArAzAAATS=[1@A@K1tA#}@A]<Am*<A? ?A`?Aɪ?A;*Al;:?2AbԽ:Aj<BAl;:?JAbԽRAj<٘i)I9}@YG J<JJJJ̸E&K Yy\~?y]۪`AJE{7v9AB)RBE[[CS>[fo\~?[oҪ[[[[ZZZZBZYY i) p-ajl; ?))??y1ΟYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036301.343165 s, next control iter: 1743036301.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9800*, header.stamp.nsec: 0*0 temperature: 13.563991** salinity: 33.375412*, density: 1025.000000** values[0]: 0.583695*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036301.743165 s.WI~,uo'AAףp= $@A0#@Ae=]~? AA%"AA sNA"AZAbAjArAzAAAT1@A /tA}@A+`<A=A$?Ag?A?A99*A0:?2AөԽ:A<BA0:?JAөԽRA<٘i)I9}@YG JP;JJJJϸE&K YÒ\~?y6ת`ALE7S7v9@B)QBE[[o>[\~?[mϪ[[[[BZYY i) L5P; ?))??8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036301.783165 s, next control iter: 1743036302.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036302.163165 s.x}I~,q'AJ"J*J2J:Jt?BJt?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077531< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036302.163297F (some fields omitted in printout)A@$@AZ2$@AU]~? A;Aa1%"AA/sNA"AZAbAjArAzAAAXM}1@A-$,tA}@AʉJ<A33=A?A4?A1^?An*A%:?2A"ս:AR<BA%:?JA"սRAR?y3=ʻJ<ٓH`V?j0?? ٗ??wQ?`{?)> I٘i)I9}@YG J0B=J*>JJJҸE&K't> YG\~?yLҪ`A?OEb77v9)[[q>[O\~?[H̪[[[[BZYY img) ;l"; Y?))|Y?Y?uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036302.183165 s, next control iter: 1743036302.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036302.583165 s.I~,R'AA)\u$@A]¡h$@Ahl]~? AAu%"AA\SsNA"AZAbAjArAzAAAZh22@A.*tA}@AB;A1Y=ATE?AR?A8?Ae*A:?2AYս:AV=BA:?JAYսRAV=٘i)I9}@YpG JC=JJJJԸE&K Y\~?ydͪJ`ARE7777@v9[\~?[Ȫ[[[[BZYY i&ᆽ) 1*.: j?)) j?j?9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036302.603165 s, next control iter: 1743036302.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9801, header.stamp.nsec: 00 temperature: 13.563855* salinity: 33.375408, density: 1025.000000* values[0]: 0.583855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036303.003165 s.z I~,U4'AJ"J*J2J:Jw?BJw?nJ5vJAR$@A>$@A]~? AA%"AAvsNA"AZAbAjArAzAAAçSߖx2@A My(tA}@A&2AZx=A!?AF?A?A=1*As*:?2Aս:A^=BAs*:?JAսRA^=٘i)I9}@YKG JsB=JJJJ׸E&K YF\~?y{Ȫ `ATE77աv9;B)OBE[[׸>[\~?[eŪ[[[[BZYY i)  yީ: #6?))#6?#6?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036303.023165 s, next control iter: 1743036303.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036303.423165 s.uI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036303.423293F (some fields omitted in printout)A{G$@An;$@Au]~? AA%"AAsNA"AZAbAjArAzAAA2!>2@A&tA/}@ASIA"ۇ=A&?ANj?A`)?Ap[*A&:?2AWս:AĚ =BA&:?JAWսRAĚ =٘i)I9/}@YG JrEC=JJJJڸE&K Y\~?yê_AWEjv9:B)QBE[[>[\~?[[[[[BZYY i) V []~?[[[[[BZYY i) B;Ii%=D9 bۡ?))bۡ?bۡ? ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036303.863165 s, next control iter: 1743036304.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036304.263165 s.I~,'AAL%@An?%@A}]~? AܫA%"AA0?y=>DԻٓH^?g ?V???I첿uzk?)Q> I٘i)I9V|@YG J5J=JJJ߸E&Ku> Y]~?y/_A0?\E7{7v99B)VBE[[@?[]~?[[[[[BZYY i) ;I~I?iؼu e?))e?e?>ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036304.283165 s, next control iter: 1743036304.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 98032, header.stamp.nsec: 020 temperature: 13.5639102* salinity: 33.3754432, density: 1025.0000002* values[0]: 0.5833032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036304.683165 s.l I~,g+'AJ"J*J2J:JS?BJS?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249529@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743036304.683297F (some fields omitted in printout)A(\%@A,ju%@A]~? AثAM%"AAsNA"AZAbAjArAzAAAu3@Aw+xtAf{@A3Z;A=A\6?A`?A V?Ax*AE!:?2Adս:Aq=BAE!:?JAdսRAq=٘i)I9{@YDG J*JJJJE&K Y3]~?yr^A_Eŧ7ŧ7+v98B)YBE[[?[i7]~?[h[[[[BZYY i) r~;INI?ihTa `^?)) `^?`^?W֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036304.683165 s, next control iter: 1743036305.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743036305.103165 s.I~,F'AAQ%@A~qJ%@An]~? A1ԫA@J%"AAK!tNA"AZAbAjArAzAAA3@A/tAB{@Aid:<A/=Ag ;?A`z?Ak&?A妱*A1:?2A@Խ:AR=BA1:?JA@ԽRAR=٘i)I9B{@YG JJJJJE&K YI]~?yխc^AbEb77v95B)[BE[[ ?[O]~?[[[[[BZYY i) 3;If I?i  $?))$?$?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036305.123165 s, next control iter: 1743036305.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036305.523165 s.I~,{a'AJ"J*J2J:JBJnJvJAHz%@AwJ%@A^~? AϫAۡ%"AA/BtNA"AZAbAjArAzAAAQ 4@A2tAz@A]f\<A=AK#@?AuL?A?A*AO2:?2A/ս:A=BAO2:?JA/սRA=٘i)I9z@YG J+JJJJE&K YL_]~?y9]AdE{7{7Uv90B)E[[Q?[g]~?[J[[[[BZYY i) o;I I?i;Tn ?))??kڪYxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036305.543165 s, next control iter: 1743036305.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9804, header.stamp.nsec: 00 temperature: 13.564059* salinity: 33.375469, density: 1025.000000* values[0]: 0.582728F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036305.943165 s.^dI~,[]|'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036305.943304F (some fields omitted in printout)Aq= #&@A&@A7^~? AʫA%"AAbtNA"AZAbAjArAzAAAj6|M4@A )tA"z@A <Ad=AkE?A`=?A ?A-*A3:?2Aۦս:A =BA3:?JAۦսRA =٘i)I9z@Y1G JVJJJJE&K Yu]~?y]AgEb77v9/B)^BE[[?[k]~?[o[[[[BZYY i) 2?3;II?i'AJ"J*J2J:J?BJ?nJW5vJAY&@AmOL&@A&3^~? AƫAX%"AAtNA"AZAbAjArAzAAA^m$:4@A5C7tAuy@A1|AO=A.J?A$?A@u?A}᳼*AY3:?2AJֽ:A5 =BAY3:?JAJֽRA5 =Y?ZJ?yO=J}ٓHrh?1`?˶?x?#?őO%?)? I٘i)I9uy@YG JzJh;JJJE&Kv> Y]~?yX/]AJ?jEŧ7b7v9)cB[[?[]~?[v[[[[BZYY i) b:II?iu: ?))/J??7תYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036306.403165 s, next control iter: 1743036306.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9805&, header.stamp.nsec: 0&0 temperature: 13.564240&* salinity: 33.375477&, density: 1025.000000&* values[0]: 0.582090&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036306.783165 s.[+I~,'AA(\&@A_vO&@AG^~? A(AM%"AAtNA"AZAbAjArAzAAAKr4@At1tAax@A0"AC=Ag6P?A`q?A7?A ⮼*Ag3:?2Aֽ:A^=BAg3:?JAֽRA^=٘i)I9x@YyG JJJJJE&K Y]~?y\AlE7{7v9.B)gBE[[j"?[]~?[I[[[[BZYY i) l:I;H?ilC_ U?)) U?U?kԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036306.803165 s, next control iter: 1743036307.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036307.203165 s.3I~, 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743036307.203270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ&@AI'&@A \^~? AAP%"AA tNA"AZAbAjArAzAAA_[65@A  tANx@AX_Ad=ASsU?A #?A?A;*A?:?2A31ֽ:A=BA?:?JA31ֽRA=٘i)I9Nx@Y G JDJJJJE&K Y]~?yЏ]\AoE)7ŧ7v9*B)E[[Y(?[]~?[闪[[[[BZYY i) @kIH?i^Ǿ1 ^)?))^)?^)?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036307.243165 s, next control iter: 1743036307.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036307.623165 s.\9I~,q'AAG&@Ac#&@Ao^~? AڶA~%"AAtNA"AZAbAjArAzAAAZseE5@A!?ӛ tAw@A'?(Apƕ=A(Z?A%?A?A.*A?:?2A7ֽ:A=BA?:?JA7ֽRA=٘i)I9w@YG JgJJJJE&K Y]]~?y[ArE{7j7@v9)lB[[2..?[1]~?[W[[[[BZYY i) 3sIH?iqܾO }?))}?}?GΪY{!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036307.663165 s, next control iter: 1743036308.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9806 , header.stamp.nsec: 0 0 temperature: 13.564414 * salinity: 33.375492 , density: 1025.000000 * values[0]: 0.581463 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036308.043165 s.@I~,'AJ"J*J2J:JBJnJvJA= ף0'@A3#'@A^~? AA%"AAtNA"AZAbAjArAzAAAG#Հ5@A%YLtAB1w@A8úAuf=AϏ_?A†?Ah?A*A ?:?2Aֽ:A'=BA ?:?JAֽRA'=٘i)I91w@YsG JJJJJE&K Y2]~?yH[AtEŧ7b7v9(B)oBE[[ 4?[~]~?[[[[[BZYY i) (IH?i  ?)) ? ? ˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036308.063165 s, next control iter: 1743036308.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036308.463165 s.WGI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036308.463278F (some fields omitted in printout)Afffff'@A\Y'@Aٖ^~? A AO%"AAuNA"AZAbAjArAzAAAF75@Aehx/OtAѢv@A<A=Awd?Au5?A ?AV*AF>:?2AWֽ:Ad=BAF>:?JAWֽRAd=YB,?d?y=O<ٓH?`L?@??@&?3R?>?)B,? I٘i)I9v@YG JJYJJJE&Kw> Y]~?yk|*[Ad?wE{7{7kv9)B)tB[[9?[3^~?[[[[[BZYY i) :N6IZH?i ?))??ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036308.483165 s, next control iter: 1743036308.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9807, header.stamp.nsec: 00 temperature: 13.564587* salinity: 33.375488, density: 1025.000000* values[0]: 0.580855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036308.883165 s.yMI~,/8'AJ"J*J2J:J?BJ?nJ5vJA('@Ay'@A^~? AyA%"AA 8uNA"AZAbAjArAzAAA 5@Ak2ZsAav@A܋Z<A_:=Ai?A?Ad?AD*Ac=:?2A/'ֽ:Ark=BAc=:?JA/'ֽRArk=٘i)I9v@YG JfJJJJE&K Y]~?yuZAzE7)7v9(B)wBE[[3??[^~?[[[[[BZYY i) .sImH?ij԰ ?))??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036308.923165 s, next control iter: 1743036309.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036309.303165 s.XTI~,gS'AA'@A'@AI^~? AǠA(%"AAqTuNA"AZAbAjArAzAAA ],6@AmsA=u@A=<A/=A&n?A`?A?AH *AI<:?2AEuֽ:AG<BAI<:?JAEuֽRAG<٘i)I9u@YrG JxJJJJE&K YJ ^~?yngZA|Ej7j7v9$B)xBE[[E?[1^~?[_z[[[[BZYY i) nIH?ixB˻ p?))p?p?WYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036309.323165 s, next control iter: 1743036309.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9808*, header.stamp.nsec: 0*0 temperature: 13.564751** salinity: 33.375507*, density: 1025.000000** values[0]: 0.580270*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036309.723165 s. [I~,Hn'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065859< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036309.723289F (some fields omitted in printout)J"J*J2J:JBJnJvJAz(@Af3'@Aq^~? AA%"AAEpuNA"AZAbAjArAzAAA^c6@A8msAu@ANs;Ar=A\t?AS3?AY?A9 *A::?2Aֽ:Ag<BA::?JAֽRAg<٘i)I9u@Y!G JJJJJE&K Y^~?ygZAEŧ7ŧ7+v9#B){BE[[DK?[F^~?[s[[[[BZYY i) IH?i6(O׻ >X?))>X?>X?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036309.743165 s, next control iter: 1743036310.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036310.143165 s.W/bI~, *'AA ףp=(@Abod0(@A6^~? A Av %"AAuNA"AZAbAjArAzAAAujF6@A Y@^~?yYKYA~?E)7ŧ7Vv9)B[[wW?[n^~?[f[[[[BZYY i) [I2H?i= %?))%?%?ŸYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036310.603165 s, next control iter: 1743036310.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9809, header.stamp.nsec: 00 temperature: 13.564886* salinity: 33.375523, density: 1025.000000* values[0]: 0.579738F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036310.983165 s.oI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036310.983294F (some fields omitted in printout)A\(@A"(@A_~? AۈA%"AA5uNA"AZAbAjArAzAAAi7@AL YsA١s@AOA=A(?A ;?Am?AW*A,:?2Ag׽:Ai<BA,:?JAg׽RAi<٘i)I9s@YHG JC=JJJJ E&K YmO^~?y0RXAE77v9)B[[Yo]?[^~?[_[[[[BZYY i)  IXH?iI@  ?)) ? ?y♽@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036311.003165 s, next control iter: 1743036311.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036311.403165 s.&vI~,'AJ"J*J2J:JX?BJX?nJ5vJAQ(@A=(@A_~? AA p%"AAuNA"AZAbAjArAzAAAW37@A>a]sA0s@AA2χ=A?A_~?A@^T?Aښ*A&:?2A&׽:A<BA&:?JA&׽RA<٘i)I90s@YG JB=JJJJ E&K Y^^~?yJXAEb7v9B)B E[[Rqc?[^~?[X[[[[BZYY i) tIH?i%T+ ?))??ﺪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036311.423165 s, next control iter: 1743036311.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9810", header.stamp.nsec: 0"0 temperature: 13.565043"* salinity: 33.375542", density: 1025.000000"* values[0]: 0.579233"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036311.823165 s.|I~,:'AAGz)@Ar)@AA#_~? A@|A%"AAsuNA"AZAbAjArAzAAArwd7@A'w!sAdr@AbƁ;A=A==?A`?A ?Ax*A :?2Aֽ:A[=BA :?JAֽRA[=٘i)I9r@YG JaC=JJJJE&K Y,n^~?ygCQ[[[[BZYY i) `O)IH?iS\ n?))n?n?FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036311.843165 s, next control iter: 1743036312.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036312.243165 s.I~,~'AJ"J*J2J:J9?BJ9?nJm5vJ,n^~?)gCvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036312.243314F (some fields omitted in printout)Aףp=J)@A U1=)@A2_~? AuAg%"AA vNA"AZAbAjArAzAAAu)7@A[P1sACr@A@<Aib=AYȉ?Ar?A?A/?*A%:?2A>ֽ:A*=BA%:?JA>ֽRA*=٘i)I9Cr@YsG JJJJJE&K Y}^~?y<WAE{7Z7v9B)BE[[co?[^~?[I[[[[BZYY i) >8IH?izb% ?))??ϿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036312.263165 s, next control iter: 1743036312.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036312.663165 s.I~,q*'AtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9811, header.stamp.nsec: 00 temperature: 13.565153* salinity: 33.375549, density: 1025.000000* values[0]: 0.578760F (some fields omitted in printout)A)@Au:r)@AIB_~? A?oA%"AA."vNA"AZAbAjArAzAAA<7@AN1sAq@A[<Ao4=A\a?A`5?A.?A*A:?2AGֽ:A.=BA:?JAGֽRA.=Y`??y.1=*\<ٓHR?w1?@j?6?`A?it?@?)`? IҖI٘i)I9q@Y'G JJ<JJJE&Kx> Yh^~?y,4WA?E)7ŧ7Av9)B[[Xu?[^~?[FB[[[[BZYY i) DVHI }H?iRo* ?))??NªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036312.683165 s, next control iter: 1743036313.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036313.083165 s.DI~,SE'AJ"J*J2J:JBJnJvJA)\µ)@Ap(|)@A(Q_~? AhAg%"AA9vNA"AZAbAjArAzAAAm 7@AK#sAJq@A <<A =Ax ?A@j?At?A$*A:?2Aֽ:A'=BA:?JAֽRA'=٘i)I9Jq@YG J:JJJJE&K YF^~?yV,%WAEŧ77v9B)BE[[{?[^~?[:[[[[BZYY i) WIoH?i'zN ?))??ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036313.103165 s, next control iter: 1743036313.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036313.503165 s.I~,H4`'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075169< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036313.503294F (some fields omitted in printout)AR)@Az)@A__~? AaA+%"AALOvNA"AZAbAjArAzAAAqw8@AB_swsAp@AґκARՐ=AR?A`ƛ?A@ ?A*A, :?2AQ׽:A=BA, :?JAQ׽RA=٘i)I9p@YG JJJJJE&K Y&^~?y~$VAE77kv9)B[[ۀ?[0^~?[2[[[[BZYY iR) -gIaH?i{$% ?))??GǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036313.523165 s, next control iter: 1743036313.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9812, header.stamp.nsec: 00 temperature: 13.565302* salinity: 33.375549, density: 1025.000000* values[0]: 0.578226F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036313.923165 s.8I~,{'AJ"J*J2J:JBJnJvJA{G!*@A;*@Am_~? A [An%"AAdvNA"AZAbAjArAzAAA5e&F8@AsA`Qp@A(A^Ւ=A"n?A@?A??Ah瓼*A:?2A׽:A*=BA:?JA׽RA*=٘i)I9Qp@YCG JJJJJE&K Y^~?ygVAE777v9B)BE[[?[ ^~?[*[[[[BZYY i) vIdSH?iބn* ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036313.943165 s, next control iter: 1743036314.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036314.343165 s.A%"AAvNA"AZAbAjArAzAAA8@ApMxsAGn@A<A=Ac?Aat?A&?Aɫ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Gn@YG JJJJJ(E&K Y^~?yLTAE777V w9)B[[_9?[o5_~?[M [[[[BZYY i) #IH?i `>. K?))K?K?}۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036315.623165 s, next control iter: 1743036316.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9814 , header.stamp.nsec: 0 0 temperature: 13.565624 * salinity: 33.375542 , density: 1025.000000 * values[0]: 0.577143 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036316.023165 s.ZI~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036316.023283F (some fields omitted in printout)AHz.+@Amɪ!+@A_~? A7A%"AA-vNA"AZAbAjArAzAAAl 9@A=!DsAm@A~^<A ΢=A;?Af?A?A)*A9?2A uֽ:A=BA9?JA uֽRA=٘i)I9m@YG JCJJJJ*E&K Ya^~?yvTAE77w9B)BE[[hL?[&B_~?[[[[[BZYY i) ١I^ H?i]+ ?))??ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036316.063165 s, next control iter: 1743036316.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036316.443165 s.;I~,O]'AJ"J*J2J:JBJnJvJAq= c+@AOV+@A_~? A^0A%"AAvNA"AZAbAjArAzAAAv&9@AϷsAm@A?9<A=Aݣ?A@g?AQ?Aoq*A9?2AǢֽ:A=BA9?JAǢֽRA=٘i)I9m@YOG JkJJJJ-E&K Y?^~?y.TAE{7j7w9 B)BE[[b]?[*N_~?[ [[[[BZYY i) 􎩼I9G?ij(  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036316.463165 s, next control iter: 1743036316.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9815, header.stamp.nsec: 00 temperature: 13.565832* salinity: 33.375568, density: 1025.000000* values[0]: 0.576501F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036316.863165 s.+I~,>7'AA+@A&+@Al_~? A)A9%"AA%vNA"AZAbAjArAzAAAlG9@AꭍPsAl@AGN;A(=Aʏ?A_?A ?A)*A9?2Aֽ:A=BA9?JAֽRA=Y?E?y=N;ٓH`?0=p?=? ???`@i?i?)? I٘i)I9l@YG JfB=J(<JJFJ0E&Km> Y_~?y#SA?Eŧ7b7w9)B[[j?[vY_~?[S[[[[BZYY i) 鰼IG?i}. Y?))Y?Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036316.883165 s, next control iter: 1743036317.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036317.283165 s.0RI~,R'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084141< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743036317.283251F (some fields omitted in printout)A(\+@AoKS+@A_~? A!AS%"AAvNA"AZAbAjArAzAAAӟQbf9@A4ǮsAk@AWڻA>]=AF?AW?A?A9*AU9?2AOS׽:A =BAU9?JAOS׽RA =٘i)I9k@YG JC=JJJJ2E&K YD _~?yܩMSAE77w9)B[[%|?[#d_~?[}[[[[BZYY i) VCIsG?ib3 ?))??"YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036317.303165 s, next control iter: 1743036317.683174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 98162, header.stamp.nsec: 020 temperature: 13.5660832* salinity: 33.3755952, density: 1025.0000002* values[0]: 0.5758072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036317.703165 s.غI~,m'AAQ,@Ay7+@AY_~? AA \%"AA&wNA"AZAbAjArAzAAA؜Ճ9@A3sA5Gk@ASA޲=As?A?A?AƼ*A<9?2Ayq׽:A=BA<9?JAyq׽RA=٘i)I9Gk@Y2G JNJJJJ5E&K Y_~?y-ԩRAE777Aw9 B)BE[[;?[+n_~?[ݩ[[[[BZYY i) A %"AA0wNA"AZAbAjArAzAAAф 9@A}JDsATi@At);Ae=A?A?A~Y?AwѼ*A+9?2A~ֽ:AZ=BA+9?JA~ֽRAZ=Y??y]e=Ⱥ;ٓHA?v?n? c?õ?@tE@*r??)? I٘i)I9Ti@YG JͼJF<JJJ=E&K(x> Y|(_~?yQA?Eb77*w9)B[[RҨ?["_~?[7©[[[[BZYY i) ռIG?i@  @)) @ @.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036318.983165 s, next control iter: 1743036319.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036319.383165 s.I~,''AA(,@A,@A:_~? AA%"AA#[[[[ZZBZYY i) ļImG?i2G i# @))i# @i# @zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036320.243165 s, next control iter: 1743036320.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036320.643165 s.u I~,*)'AJ"J*J2J:J?BJ?nJ5vJA ףp}-@AGvep-@AY `~? A"Au%"AA[wNA"AZAbAjArAzAAA:4':@AFsAlf@AAS=A:?A@Z?A?AC*Aּ9?2Aֽ:A4<BAּ9?JAֽRA4<٘i)I9lf@Y= G JJJJJHE&K YK;_~?yۗOAŸEb77W8w9)үB[[;?[_~?[Μ[[[[ZZBZYY i) CI\G?i-G @ @))@ @@ @ltReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9819, header.stamp.nsec: 00 temperature: 13.566895* salinity: 33.375591, density: 1025.000000* values[0]: 0.573509F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036320.663165 s, next control iter: 1743036321.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036321.063165 s.I~,_ D'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036321.063297F (some fields omitted in printout)A3333-@AeI)-@A`~? ABܪA %"AAdwNA"AZAbAjArAzAAAa)8:@AB%xsAje@AR2AP=A?AOx?A?Aߖ*A9?2A!׽:A=<BA9?JA!׽RA= Y%=_~?y?OA?ȸE)7b7;w9B)֯BE[[&W?[?_~?[V[[[[ZZBZYY i) QIKG?i|$L ^2 @))^2 @^2 @y=HϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036321.103165 s, next control iter: 1743036321.463183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743036321.483165 s.|_I~,^'AJ"J*J2J:JBJnJvJA\-@A Y-@A*`~? AYԪA#%"AA!mwNA"AZAbAjArAzAAAcQH:@AI?sAd@ABgA>Eo=Ad?A ?A@ ?A16*Az9?2A ׽:AQ<BAz9?JA ׽RAQ<٘i)I9d@Y= G JJJJJME&K Y>_~?yINAʸEb7?w9)ݯB[[t?[_~?[ω[[[[ZZBZYY i) |I[:G?i O @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036321.503165 s, next control iter: 1743036321.883183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9820, header.stamp.nsec: 00 temperature: 13.567262* salinity: 33.375580, density: 1025.000000* values[0]: 0.572536F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036321.903165 s.J "J *J 2J :J ?BJ ?nJ 5vJ I~,y'AAQ.@A"O.@A`~? Ah̪AC&"AAtwNA"AZAbAjArAzAAA"'WV:@A1jjzsAd@A7&A+=A?A i?Ap ?Aȼ*A9?2AYֽ:A;BA9?JAYֽRA;٘i)I9d@Y G JۼJJJJPE&K Y@_~?y}wNA͸Eŧ7Cw9)B[[Q?[ȫ_~?[=[[[[ZZBZYY i) ޕI(G?iP C@))C@C@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036321.923165 s, next control iter: 1743036322.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036322.323165 s.{$I~,:'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743036322.323272F (some fields omitted in printout)AGzT.@A!oG.@A`~? ApĪA6&"AA8{wNA"AZAbAjArAzAAA[rWb:@AiuusAqc@A?kA<AY?A?A4?AP*Aj9?2AYֽ:ABAj9?JAYֽRA٘i)I9qc@Yl G JJJJJSE&K YB_~?ytNAиESI7SI7Fw9)B[[ ?[_~?[v[[[[ZZBZYY i) AIKG?i(P  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036322.343165 s, next control iter: 1743036322.723182 s, wait time: 0.380017 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9821*, header.stamp.nsec: 0*0 temperature: 13.567579** salinity: 33.375587*, density: 1025.000000** values[0]: 0.571692*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036322.743165 s.W+I~,q'AJ"J*J2J:JBJnJvJAףp=.@Ae1}.@Ay#`~? AqA{&"AAwNA"AZAbAjArAzAAA0m:@A)I qsAb@A<A><A-?A8ַ?A,F?Aゼ*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G JИJJJJUE&K YD_~?ykMAҸE777BJw9B)BE[[?[T_~?[m[[[[ZZBZYY i) !G}IG?iIO [@))[@[@5SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036322.763165 s, next control iter: 1743036323.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036323.163165 s.w}2I~,q'AA.@AG.@A&`~? AmAj&"AA!wNA"AZAbAjArAzAAA'1av:@Ai(lsAFb@AQ<A<\Ah?A?AU?A7*A9?2Aֽ:AI{BA9?JAֽRAI{Y缾?=?yW Q<ٓHY@?Y?è } ? ??)缾? I٘i)I9b@Y G JeJhDJJJXE&Kqx> YC_~?ycMA?ոE{7j7Mw9)B[[?[_~?[fc[[[[ZZBZYY i[{=) yjI!F?i R @))@@M)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036323.183165 s, next control iter: 1743036323.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036323.583165 s.8I~, S'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036323.583331F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\.@A^.@A )`~? AdA$&"AAdwNA"AZAbAjArAzAAAd_~:@Aj@gsARb@A*<AxAbT?A`W>?A`Ha?Aƻ*A 9?2ACֽ:AJBA 9?JACֽRAJ٘i)I9Rb@Y G JJJJJ[E&K Y|B_~?yIZMAظE7{7lQw9)B[[?[ܯ_~?[Y[[[[ZZBZYY i=) >WICF?i'^T o@))o@o@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036323.603165 s, next control iter: 1743036323.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9822, header.stamp.nsec: 00 temperature: 13.567775* salinity: 33.375607, density: 1025.000000* values[0]: 0.571156F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036324.003165 s.x @I~,L4'AAR+/@A_^}/@A +`~? AWA2Q&"AA܍wNA"AZAbAjArAzAAA^:@A~yVbsA :b@AY;AlrA?A@?Ak?Ap*A@9?2Aֽ:A&мBA@9?JAֽRA&м٘i)I9:b@Y G JdJJJJ]E&K YuA_~?ywQMAڸE7Uw9)[[;?[_~?[P[[[[BZYY i) DI[F?iS!U @))@@O?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036324.023165 s, next control iter: 1743036324.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036324.423165 s.uFI~,'AJ"J*J2J:J.?BJ.?nJH5vJA{Ga/@A0/>T/@A,`~? AGA&"AAwNA"AZAbAjArAzAAAm:@A j]sAFb@AiA:Aq?A6e?A r?A;*A9?2A9<ֽ:AKBA9?JA9<ֽRAK𼙘٘i)I9Fb@Y G J:JJJJ`E&K Yn@_~?yHMAݸE77{7Xw9B)BE[[^?[[_~?[oF[[[[BZYY i) 2IF?iΥ;T Ί@))Ί@Ί@y=z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036324.443165 s, next control iter: 1743036324.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9823, header.stamp.nsec: 00 temperature: 13.567827* salinity: 33.375587, density: 1025.000000* values[0]: 0.570991F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036324.843165 s.LI~,5'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072208< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036324.843318F (some fields omitted in printout)Ap= /@A/@A}-`~? A5A&"AAlwNA"AZAbAjArAzAAAܬ(:@ApJ}XsArb@ADWA!^A?A?A zv?A <*A߭9?2A5ֽ:A\)BA߭9?JA5ֽRA\)٘i)I9rb@Y G J;B=JJJJcE&K Yf?_~?y?MAEŧ7b7-\w9)B[[Y?[_~?[<[[[[BZYY i) LFIF?i Q @))@@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036324.863165 s, next control iter: 1743036325.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036325.263165 s.TI~,P'AJ"J*J2J:JBJnJvJA/@Aj0 ÿ/@A-`~? A"A)&"AAwNA"AZAbAjArAzAAA 8G:@A|!<:SsABb@AMIAFO|Aǚ?A`q?A@`x?AB<*Ag9?2A3ֽ:AR BAg9?JA3ֽRAR Y_??y^J|x5JٓH@n?| 1??:?)_? I٘i)I9b@Y G J&<C=JJJJfE&Kiw> Y;_~?y77NA?Ej7Z7_w9)B[[?[֧_~?[;3[[[[BZYY iw)h=) UtIF?iS գ@))գ@գ@Ū*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036325.283165 s, next control iter: 1743036325.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 98242, header.stamp.nsec: 020 temperature: 13.5677512* salinity: 33.3755612, density: 1025.0000002* values[0]: 0.5712022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036325.683165 s.lZI~,ck'AA(\0@Av/@A-`~? AAI&"AA˓wNA"AZAbAjArAzAAAG:@A|NsA]c@A=¨A AD?AA`w?Al<*Aܧ9?2Aֽ:ABAܧ9?JAֽRA٘i)I9c@Y2 G JV<JJJJhE&K Y7_~?y^.NAEb77Wcw9B)BE[[?[_~?[)[[[[BZYY i) AI9F?ižT /@))/@/@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036325.683165 s, next control iter: 1743036326.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036326.103165 s.J "J *J 2J :J F?"aI~BJF?,ݚ'AnJa5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056680< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036326.103285F (some fields omitted in printout)AQ80@A4F+0@A/-`~? A{Ad&"AADwNA"AZAbAjArAzAAA5A :@AYu!IsA}c@AD;AƒA@?AuwA`t?A<*A)9?2A-ֽ:A#BA)9?JA-ֽRA#٘i)I9}c@Yt G J<JJJJkE&K Y3_~?y%NAE{7j7fw9)B[[?[O_~?[" [[[[BZYY i) ߻ImwF?iS @))@@Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036326.123165 s, next control iter: 1743036326.503187 s, wait time: 0.380022 s 3_~?) % rAdjusting time to match Gazebo time: 1743036326.523165 s.gI~,{'AAHzn0@A~;a0@A,`~? AsA&"AAwNA"AZAbAjArAzAAA~4~:@AСDsAc@A)B<A+(A?AGA]o?Am<*Ab9?2A׽:AF BAb9?JA׽RAF ٘i)I9c@Y G J<JJJJnE&K Y/_~?y5OAE77jw9B)BE[[n?[_~?[[[[[BZYY i0=) IeF?iQ J!@))J!@J!@yeh=*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036326.543165 s, next control iter: 1743036326.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9825, header.stamp.nsec: 00 temperature: 13.567556* salinity: 33.375580, density: 1025.000000* values[0]: 0.571686F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036326.943165 s.WdnI~,>]'AJ"J*J2J:JBJnJvJAq= ף0@Ag,Ζ0@AO*`~? AkA&"AAȏwNA"AZAbAjArAzAAAS:@AY<~?sA>|d@AˤR<A(A@?A%Ag?A@t<*Am9?2A׽:A\ BAm9?JA׽RA\ ٘i)I9|d@Y G JÝ<JJJJpE&K Y+_~?y/OAE7nw9)ܯB[[%?[ӓ_~?[: [[[[BZYY i) MIsTF?iS~N `"@))`"@`"@yIh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036326.963165 s, next control iter: 1743036327.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036327.363165 s.uI~,>'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066010< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036327.363266F (some fields omitted in printout)A0@A1%0@A(`~? AcA;=&"AA֌wNA"AZAbAjArAzAAA&B5{:@Aϳ@:sAe@AM;AA?A MA%]?A<*AO9?2Aֽ:AZ BAO9?JAֽRAZ Y?N?y;ٓHJο??|qο }@y?`|??)? I٘i)I9e@Yd G J <J JJJsE&K(x> YI%_~?y OA?E77qw9B)ׯBE[[D?[_~?[[[[[BZYY i) @ICF?i]O c$@))c$@c$@yI=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036327.383165 s, next control iter: 1743036327.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9826&, header.stamp.nsec: 0&0 temperature: 13.567320&* salinity: 33.375587&, density: 1025.000000&* values[0]: 0.572614&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036327.783165 s.X{I~,'AJ"J*J2J:JBJnJvJA(\1@AlzPP1@AS%`~? A[A6&"AAwNA"AZAbAjArAzAAAeى85s:@A[br 6sAӚe@Aص A꛽AP?A~ٵAcP?A<*A־9?2A[oֽ:A) BA־9?JA[oֽRA) ٘i)I9e@Y G J)<JJJJvE&K Y_~?y[PAEb77Buw9)үB[[c?[j_~?[[[[[BZYY i) mHI1F?iN X%@))X%@X%@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036327.803165 s, next control iter: 1743036328.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036328.203165 s.I~, 'AAQE1@AKr81@A "`~? ASAv &"AAwNA"AZAbAjArAzAAAGi:@A)1sA1f@A.A\ΚA?A@A@QA?Ao<*Ak9?2A:ֽ:A BAk9?JA:ֽRA ٘i)I91f@Y G J<JJJJxE&K Y_~?yPAE7777xw9)ίB[[?[ }_~?[K[[[[BZYY i) Q Il F?i8M |'@))|'@|'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036328.223165 s, next control iter: 1743036328.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036328.623165 s.WI~,]''AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066010< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036328.623300F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz1@AQm1@AB`~? AKA  &"AA@wNA"AZAbAjArAzAAAX>]:@A I,sA}f@A7YA֘A2l?A\A`/?AD<*A9?2ACֽ:A' BA9?JACֽRA' іI٘i)I9f@Yv G J<B=JJJJ{E&K Y0_~?y,QAEb77m|w9)ɯB[[?[!t_~?[![[[[BZYY i) lIuF?iĝI m )@))m )@m )@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036328.643165 s, next control iter: 1743036329.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9827 , header.stamp.nsec: 0 0 temperature: 13.567048 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.572976 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036329.043165 s.I~,B'AA= ף1@A1@A`~? ACA &"AA$ywNA"AZAbAjArAzAAAs6P:@AsSyl'sA1ag@A%A$RA?A[A?AU<*A9?2Aֽ:ABA9?JAֽRA٘i)I9ag@Y G Jv<C=JJJJ~E&K Y} _~?ynQAE7{7w9B)ůBE[[?[wj_~?[ߨ[[[[BZYY i) ~IE?iE.xE *@))*@*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036329.063165 s, next control iter: 1743036329.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036329.463165 s.WI~,]'AJ"J*J2J:JBJnJvJAffff1@A[a^1@A`~? A;A8J &"AA Y_~?y!QA?E7w9)B[[?[`_~?[֨[[[[BZYY i) #:ILE?i?E  ,@)) ,@ ,@I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036329.503165 s, next control iter: 1743036329.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9828, header.stamp.nsec: 00 temperature: 13.566782* salinity: 33.375587, density: 1025.000000* values[0]: 0.573647F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036329.883165 s.yI~,Dx'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066010< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036329.883295F (some fields omitted in printout)A(2@AUO2@A`~? A3A &"AAjwNA"AZAbAjArAzAAA~ 1:@A=sA}h@A<A Alt?A@\ĿA` ?AVw<*A9?2A!׽:A/=BA9?JA!׽RA/=٘i)I9}h@Y G J<C=JJJJE&K Y^~?yب[RAE77-w9)B[[a?[T_~?[$ͨ[[[[BZYY i) v:IE?i㘿5C -@))-@-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036329.903165 s, next control iter: 1743036330.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036330.303165 s.RI~,fg'AJ"J*J2J:J1?BJ1?nJ-:5vJAQ2@A1A D2@A `~? A,A~ &"AAbwNA"AZAbAjArAzAAA*c9:@AOsAji@A[<A'펽A?A^=ƿAZ?AU<*A9?2A,׽:AJBA9?JA,׽RAJ٘i)I9i@Y G J<JJJJE&K Y^~?yШRAE7Šw9B)B E[[ ?[:I_~?[TĨ[[[[BZYY i) ";IE?iE@ 7/@))7/@7/@*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743036330.323165 s, next control iter: 1743036330.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9829*, header.stamp.nsec: 0*0 temperature: 13.387135** salinity: 33.391636*, density: 1025.000000** values[0]: 0.694006*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036330.723165 s.I~,H'AAz2@AB[Υz2@Aq`~? AH$AE &"AAXwNA"AZAbAjArAzAAAgru :@An*,sApi@A^,<AkA?AȿA@[?A{ə<*A9?2APֽ:ABA9?JAPֽRA٘i)I9i@Y G J<B=JJJJE&K Y^~?y>Ȩ"SA DE7ŧ7Xw9)B E[[@[<_~?[[[[[BZYY i) _;IӽE?iXW< 0@))0@0@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036330.743165 s, next control iter: 1743036331.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036331.143165 s.U/I~,*'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066010< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036331.143275F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp2@ArMd2@A_~? A~Aΰ &"AANwNA"AZAbAjArAzAAA&S;|9@A\,ksAmj@A ;AKHA4?A`-ɿA)?AǙ<*A9?2Aֽ:A{BA9?JAֽRA{٘i)I9j@YnG J<C=JJJJE&K Y6^~?ySAEŧ7b7w9)B[[@[/_~?[[[[[BZYY i) h;ItE?i7  Y^~?ySA@ E77j7w9B)BE[[&&@["_~?[[[[[BZYY i\=) Kr;I.E?i 5 #3@))#3@#3@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036331.583165 s, next control iter: 1743036331.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9830, header.stamp.nsec: 00 temperature: 13.386952* salinity: 33.391647, density: 1025.000000* values[0]: 0.694878F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036331.983165 s.J I~"J*J2J,'A:J1?BJ1?nJ:5vJA\(3@A3@A._~? A AM&"AAD8wNA"AZAbAjArAzAAAb豇9@Ac1sAk@ASA ߇A%@A/ͿAJ?Aƹ<*A9?2AZֽ:A@+BA9?JAZֽRA@+٘i)I9k@Y G J<JJJJE&K Y^~?y>TA Eŧ7b7w9)B[[@[_~?[1[[[[BZYY i) |;IE?iJ63 a5@))a5@a5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036332.003165 s, next control iter: 1743036332.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036332.403165 s.&I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036332.403276F (some fields omitted in printout)AQ^3@A=[Q3@A_~? AiA"u&"AA+wNA"AZAbAjArAzAAAYAҮl9@A͓PTsAuk@A@AAVt@A\YϿAJ#?A<*A9?2A ֽ:ANBA9?JA ֽRAN٘i)I9k@YXG J<JJJJE&K Yݶ^~?yTAE77w9B)BE[[:@[_~?[[[[[BZYY i) ;IfE?i󈿉L/ 6@))6@6@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036332.423165 s, next control iter: 1743036332.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9831", header.stamp.nsec: 0"0 temperature: 13.386759"* salinity: 33.391659", density: 1025.000000"* values[0]: 0.695738"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036332.823165 s.I~,64'AJ"J*J2J:JBJnJvJAGz3@Ap3@A_~? AA &"AAwNA"AZAbAjArAzAAAA~׉^9@AcerAk@A}AA6@AпA?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9k@YG J'<JJJJE&K Y^~?yTAE77Cw9B)BE[[@[M^~?[ڑ[[[[BZYY i) @I elevatorAngleAction: 0.076349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036333.663302F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9832, header.stamp.nsec: 00 temperature: 13.386590* salinity: 33.391670, density: 1025.000000* values[0]: 0.696516F (some fields omitted in printout)A4@A3@A~_~? AA0&"AAMwNA"AZAbAjArAzAAAʽ;Y9@AꞗDrAsl@AS G<AoAw@A^ҿA`y?Ay&<*A9?2A<׽:ANBA9?JA<׽RANY?'j@y3mD~G<ٓH`X ?@1M?`6Y*?@B? ?)? I٘i)I9l@Y,G J<JB9JJJE&KDx> Y^~?yUAj@E777mw9 B)BE[[w @[^~?[[[[[BZYY i) XQ$@)),>@,>@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036334.543165 s, next control iter: 1743036334.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9833, header.stamp.nsec: 00 temperature: 13.386411* salinity: 33.391678, density: 1025.000000* values[0]: 0.697245F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036334.923165 s.:I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036334.923302F (some fields omitted in printout)A{G4@A{0)>4@Aӧ_~? AةA&"AAvNA"AZAbAjArAzAAA)""8@A1RDrAd@n@A>kRASAM @A.ԿA@d?A݇<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9@n@YG J<JJJJE&K Y d^~?y zVA E77.w9 B)BE[[`@[3^~?[qk[[[[BZYY i) Rd[[[[BZYY i) gb YbD^~?yzkWA @%Ej7j7Xw9B)BE[[]d@[$y^~?[&][[[[BZYY i) q elevatorAngleAction: 0.076349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036336.183302F (some fields omitted in printout)A(\B5@A55@A_~? AxéAF&"AA9vNA"AZAbAjArAzAAAv[ˆ8@ArA$o@A% ApA0@A 7x׿AT?AU<*A9?2Aֽ:AZBA9?JAֽRAZ٘i)I9o@YG J<JJJJE&K Y^3^~?ytdWA(E7{7w9)B[[%@[Te^~?[:V[[[[BZYY i) d elevatorAngleAction: 0.085588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036337.443304F (some fields omitted in printout)Aq= 5@A5@AY_~? AݮAQ&"AA%^vNA"AZAbAjArAzAAA14f] 8@A3rAJeq@A=Y<AbxA04@A zٿA ?Ag<*A9?2A.׽:A> BA9?JA.׽RA> ٘i)I9eq@YG J<B=JJJJE&K YN^~?y_OYA0ESI7SI7w9B)BE[[`@[{'^~?[B[[[[BZYY i) .w'AJ"J*J2J:JBJnJvJA6@A?6ɏ 6@APK_~? A-A&"AAkHvNA"AZAbAjArAzAAA3u,7@A$krAq@AH#<Ab4A;}@AֶڿA@L?A<*A%9?2Ahֽ:A*BA%9?JAhֽRA*Y_j@p@y[25#<ٓHWmή?`_? 1`*?h??)_j@ I٘i)I9q@Y>G J<C=J4JJJE&K7x> Y]~?yHYAp@3E77{7Cw9B)BE[[@[^~?[J<[[[[BZYY i) 3 elevatorAngleAction: 0.085588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036338.703277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ6@Alx6@A,_~? AA&"AAvNA"AZAbAjArAzAAAME77{7w9B)wBE[[@[S]~?[+%[[[[BZYY i) wI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743036339.963327F (some fields omitted in printout)Affff&7@A[7@A^~? A1A&"AA!uNA"AZAbAjArAzAAA 6@AڎrAt@AN-vA[>A@Av޿A`?A<*A9?2Aܦֽ:A˟BA9?JAܦֽRA˟Y# @H@y > wٓHA` ? > ? @ӭB?n?)# @ I٘i)I9t@YG Js<JrxJJJĹE&K$x> Y ]~?yT)[A@@E.w9B)tBE[[9!@[]~?[[[[[BZYY i) ))W>^S@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036340.403165 s, next control iter: 1743036340.783184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9839", header.stamp.nsec: 0"0 temperature: 13.385221"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.702930"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036340.803165 s.zALI~,g3'AA7@A]P߄7@A^~? A!|A&"AAouNA"AZAbAjArAzAAA?)oO6@A rAE6v@AK<AgAǠ@A߿A1?Aks<*A9?2AR#׽:AhBA9?JAR#׽RAh٘i)I96v@YG JX<JJJJɹE&K Y`]~?y\AFES77Yw9B)kBE[[#$@[oq]~?[[[[[BZYY i) f elevatorAngleAction: 0.085588< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036341.223285F (some fields omitted in printout)J"J*J2J:JBJnJvJAz7@AX7@A^~? AEvA/s&"AAuNA"AZAbAjArAzAAARS(O6@A rAv@AHJ<AMrA@ALA@-?A<*Am9?2Aֽ:AaBAm9?JAֽRAa٘i)I9v@Y?G JU<JJJJ̹E&K YqK]~?y\AHEb7b7w9B)hB޹E[[%@[ZY]~?[[[[[BZYY i) α4?BJ >4?nJ <5vJ `I~,_ 'AA333338@Aq&&8@Aޢ^~? AjAS&"AAvLuNA"AZAbAjArAzAAA7< r5@A}rA9x@AvAbAp!@A`A 0?A0<*A 9?2A?ֽ:AuBA 9?JA?ֽRAuY4p@Xv!@y wٓHઑ?|?`6嫿@ ?`n?)4p@ I٘i)I99x@YG J<C=J5JJJѹE&Kw> YD]~?y ]Av!@NEŧ7ŧ7w9"B)`BڹE[[6v(@[`(]~?[[[[[ZZZZ¸>BZYY i¸>Y ) %?A}=*A9?2A{Nֽ:A˹BA9?JA{NֽRA˹٘i)I9z@YG J=C=JJJJٹE&K YX\~?yW_AVE7w9%B)PBԹE[[޾,@[0\~?[[[[[ZZZZBZYY i) ˰?A7<*A39?2Aֽ:A䧻BA39?JAֽRA䧻Y&@J'@y/W3<ٓHh߿`tե?"? 懿@?e?`?)&@ I٘i)I93|@YG J<J=JJJ޹E&KBw>  x9YǪ\~? x9yA `A'@[Ej7Z7x9(B)GBιE[[/@["\~?[[[[[ZZZZBZYY i) 5vJA{G9@AN>=9@A^~? AJBAew&"AA]ZtNA"AZAbAjArAzAAA6 3@AB,;rAx}@A:A/;Aj+@A!]A w?A/<*An9?2Aֽ:Aav<BAn9?JAֽRAav<٘i)I9}@YcG JY<JJJJE&K Ya\~?y+`AcEŧ7b7 x9-B)@BǹE[[e3@[F\\~?[t[[[[ZZZZBZYY iC) 6-s. :  -)) -&e@y𥳐YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036345.443165 s, next control iter: 1743036345.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9844, header.stamp.nsec: 00 temperature: 13.383951* salinity: 33.391716, density: 1025.000000* values[0]: 0.709080F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036345.843165 s.ݜI~,u'AAp= :@AC :@A]~? A=A{&"AA9tNA"AZAbAjArAzAAA4(.3@A+}rAC}@AnAџ<A/-@A;A?A5;*Ab9?2A&ֽ:A<BAb9?JA&ֽRA<٘i)I9}@YG J<JJJJE&K YnH\~?y`AfEYx9)>BĹE[[,/5@[NB\~?[[[[[ZZZZBZYY i) ]d; B+))B+sf@y֖4ةYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036345.863165 s, next control iter: 1743036346.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036346.263165 s.I~,ؐ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036346.263276F (some fields omitted in printout)J"J*J2J:JBJnJvJAL:@A;i?:@A)]~? As9A&&"AAtNA"AZAbAjArAzAAA>r3@AWRքrA~@AiWA=A.@A`LA ?A;*A9?2Ajֽ:A<BA9?JAjֽRAJJJE&K=x> Y.\~?y?ߧ`Ax.@hEb77x9/B)E[[Q6@['\~?[6[[[[BZYY i%l) D'LUG5; /*))/*g@yc3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036346.303165 s, next control iter: 1743036346.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 98452, header.stamp.nsec: 020 temperature: 13.3838832* salinity: 33.3917052, density: 1025.0000002* values[0]: 0.7094592F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036346.683165 s.lI~,c'AA(\:@A\߇u:@A]~? A=5Az&"AAsNA"AZAbAjArAzAAA y/3@A@ DrA~@A=P6An2=AB/@A#A ?A *Am9?2Açֽ:A{<BAm9?JAçֽRA{<٘i)I9~@YG JU9JJJJE&K Y\~?yۧ`AkEZ7Z7x9)[[7@[z \~?[[[[[BZYY i=) (:x|S; ())(\i@y@MtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036346.683165 s, next control iter: 1743036347.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036347.103165 s.I~,'AJ"J*J2J:J5?BJ5?nJq>5vJAQ:@A;4,F:@A]~? A+1A&"AAsNA"AZAbAjArAzAAA~{ʁ2@ArA}@AلEAY=A1@A`A.fv; V'))V'j@yli,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036347.143165 s, next control iter: 1743036347.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036347.523165 s.I~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067845< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036347.523286F (some fields omitted in printout)AHz:@A;s :@AՒ]~? A=-A &"AAsNA"AZAbAjArAzAAA5骦2@AN"La}rA~}@A/;Aw=AT2@AdAYj?Aq8*A9?2A ֽ:A =BA9?JA ֽRA =٘i)I9}@YdG J4JJJJE&K Y[~?yԧG`AqE{7Z7x91B)DBE[[κ:@[[~?[ߧ[[[[BZYY i) '; ;%));%z3l@y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036347.543165 s, next control iter: 1743036347.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9846, header.stamp.nsec: 00 temperature: 13.383933* salinity: 33.391712, density: 1025.000000* values[0]: 0.709295F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036347.943165 s.XdI~,B]'AJ"J*J2J:JBJnJvJAq= #;@A_;@A{]~? As)A]e &"AAsNA"AZAbAjArAzAAAa2@AG{rA/R}@AX<A7=A3@A.Aؔ?AI{n*A|9?2ANս:A =BA|9?JANսRA =٘i)I9R}@Y.G JIRJJJJE&K Y[~?yѧ`AsEŧ7b7D!x93B)HBE[[1<@[o[~?[ݧ[[[[BZYY i) \'AAY;@A|%L;@Ad]~? A%A &"AAnsNA"AZAbAjArAzAAA!S2@A~QxrA|@AP<A=A4@A? AY?A*Aݓ9?2A/ ֽ:AR=BAݓ9?JA/ ֽRAR=Y&@4@y=OQ<ٓH \}ӿS'G?yl ^?< @ ?@?)&@ I٘i)I9|@YG JǀB=Jt=JJJE&KZw> Y[~?yHΧ_A4@vE77$x95B)NBE[[dv=@[ף[~?[[ܧ[[[[BZYY il)  ;I D?in ?x; M#))M#ho@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036348.383165 s, next control iter: 1743036348.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9847&, header.stamp.nsec: 0&0 temperature: 13.384122&* salinity: 33.391731&, density: 1025.000000&* values[0]: 0.708614&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036348.783165 s.ZI~,2'AJ"J*J2J:Jg5?BJg5?nJ7>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743036348.783277F (some fields omitted in printout)A(\;@A^emS;@A@M]~? AP"A &"AAJsNA"AZAbAjArAzAAA}W1@A 7gvrAk|@A;Avږ=A=6@A@A@?AJk*A9?2Apfֽ:Af=BA9?JApfֽRAf=٘i)I9k|@YG J@C=JJJJE&K Y?[~?y˧Y_AyEj7j7o(x9)RB[[>@[L[~?[ڧ[[[[BZYY i) 2e;IGD?i? ,; N!))N!gkp@cϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036348.803165 s, next control iter: 1743036349.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036349.203165 s.I~,TM'AAQ;@Ai;@A5]~? AA6!&"AA'sNA"AZAbAjArAzAAAѺ1@Aɝ=trA{@AAFŚ=Aė7@AKtA ?A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@YQG JJJJJE&K Ybv[~?yȧ^A{E777,x96B)WBE[[U.@@[n[~?[٧[[[[BZYY i) !;I0D?i%?-; =N ))=N xq@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036349.223165 s, next control iter: 1743036349.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036349.623165 s.SI~,Lg'AJ"J*J2J:JBJnJvJAG;@AJV;@A]~? AAv!&"AAsNA"AZAbAjArAzAAAYSC1@A5olrrA]{@AcEA=J=A8@AAB?A~*A9?2A׽:A =BA9?JA׽RA =٘i)I9]{@YG JwJJJJE&K Y[[~?yƧ^A~E{7j7/x98B)]BE[[lA@[T[~?[ا[[[[BZYY i) ;ID?i5?t; ))#6s@ylתYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743036349.643165 s, next control iter: 1743036350.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9848 , header.stamp.nsec: 0 0 temperature: 13.384347 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.707639 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036350.043165 s.I~,Â'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200822 time: 1743036350.043362F (some fields omitted in printout)A= ף0<@A3f#<@A]~? AAȳ!&"AArNA"AZAbAjArAzAAA2ĉ0@AAAIprAz@AW[A=A=:@A@A*7?A*A9?2A|ֽ:A c=BA9?JA|ֽRA c=٘i)I9z@YG J}B=JJJJE&K Y@[~?yfç6^AE7777/3x99B)bBE[[B@[O:[~?[ק[[[[BZYY i) bf;ID?i9G?t;  )) t@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036350.063165 s, next control iter: 1743036350.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036350.463165 s.^I~, 'AJ"J*J2J:JBJnJvJAfffff<@A(\Y<@AW\~? AA!&"AA rNA"AZAbAjArAzAAAw0@Aw9=orA:z@AUAJ8=A;@A8A@.T?A텰*Ac9?2Aֽ:AaV=BAc9?JAֽRAaV=Ynt-@z;@y7= ٓH 1ʿ`> ?H ? :B?)nt-@ I٘i)I9:z@YLG JӮC=J9<JJJE&KFx> Y%[~?y]Az;@Eb776x9:B)hBE[[4D@[[~?[ ק[[[[BZYY i) *;IE?iQ?xd< #))#u@tԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036350.483165 s, next control iter: 1743036350.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9849, header.stamp.nsec: 00 temperature: 13.384610* salinity: 33.391708, density: 1025.000000* values[0]: 0.706534F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036350.883165 s.yI~,<'AA(<@Av3<@A\~? AA$"&"AArNA"AZAbAjArAzAAAp4f0@AWnmrAy@A;A1=A<@A`)A?A䲼*A9?2AZfֽ:A=BA9?JAZfֽRA=٘i)I9y@YG JJJJJ E&K Yu [~?yg]AE77Z:x9;B)nBE[[^E@[o[~?[֧[[[[BZYY i) z:IE?i^?l< ))]w@cЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036350.923165 s, next control iter: 1743036351.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036351.303165 s.UI~,sg'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743036351.303274F (some fields omitted in printout)J"J*J2J:JBJnJvJA<@A$a<@A;\~? AAX"&"AAorNA"AZAbAjArAzAAA'a0@An krAy@Am#.<A$-=A>@A PA?A@"*A@9?2A4ֽ:Ab9=BA@9?JA4ֽRAb9=٘i)I9y@YG JJJJJ E&K YZ~?yֽ\AE7777=x9hrAw@A#<A"=A@@A`ݘA,s?Al*AD9?2A}ֽ:A<BAD9?JA}ֽRA<٘i)I9w@YG JJJJJE&K YZ~?y!0\AEj7Z7Ex9>B)~BE[[ހI@[GZ~?[է[[[[BZYY i) -I8E?iY??-< e))eP|{@yٿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036352.163165 s, next control iter: 1743036352.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036352.563165 s.I~,N $'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036352.563298F (some fields omitted in printout)A3333s=@Aa'f=@AXq\~? A A "&"AAqNA"AZAbAjArAzAAAQq.@AgrAkw@A]c9A>=AA@A A:?A7*Au9?2A@ֽ:A<BAu9?JA@ֽRA=,\d9ٓH$ 8@ి'?@~?k{,?@?)3@ I٘i)I9kw@YG JJJJJE&K)x> YZ~?y([AA@E77Hx9?B)BE[[J@[$Z~?[ ֧[[[[BZYY i) IGE?iЌ?>4< E))E|@}YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036352.583165 s, next control iter: 1743036352.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9851, header.stamp.nsec: 00 temperature: 13.385164* salinity: 33.391716, density: 1025.000000* values[0]: 0.704269F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036352.983165 s.I~,>'AJ"J*J2J:JK4?BJK4?nJ =5vJA\=@At =@AX\~? AA #&"AAqNA"AZAbAjArAzAAAfT-@AfrAov@A8Al=AUC@AAh?A*A#9?2AR׽:AW<BA#9?JAR׽RAW<٘i)I9v@YKG JݒJJJJE&K Y~Z~?y0z[AE{7Z7ELx9@B)BE[[$L@[+Z~?[[֧[[[[BZYY i) CIWE?i(?\<< ))6~@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036353.003165 s, next control iter: 1743036353.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036353.403165 s.&I~,Y'AAQ=@Ax}=@A>\~? AA/#&"AAHqNA"AZAbAjArAzAAA˽]?-@AݖierA{v@Aw_A =AƧD@A4A?A*A[9?2A"׽:A<BA[9?JA"׽RA<٘i)I9{v@YG JኼJJJJE&K YmbZ~?y7[AE7777Ox9AB)BE[[PsM@[diZ~?[֧[[[[BZYY i) (IZhE?i^?E< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036353.423165 s, next control iter: 1743036353.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9852", header.stamp.nsec: 0"0 temperature: 13.385435"* salinity: 33.391743", density: 1025.000000"* values[0]: 0.703315"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036353.823165 s.I~,-t'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: -0.066759< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036353.823302F (some fields omitted in printout)AGz>@A 4s>@A=%\~? AUAQ#&"AAqNA"AZAbAjArAzAAA)f6w,@A-{jdrA v@AK4A =A;E@A` A?A*A@9?2Aֽ:A*n<BA@9?JAֽRA*n<٘i)I9 v@YG JB=JJJJE&K YWFZ~?y>ZAE77pSx9BB)BE[[N@[OZ~?[tק[[[[BZYY i㶚)  ˟IyE?ip?8O< 1))1w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036353.843165 s, next control iter: 1743036354.223176 s, wait time: 0.380011 s*WFZ~?)*> rAdjusting time to match Gazebo time: 1743036354.243165 s.#I~,d'AAףp=J>@A7+1=>@A \~? AA{o#&"AA eqNA"AZAbAjArAzAAAyJO ,@At'crAu@A7+A|=A6G@A "A?A,*A9?2A"ֽ:A <BA9?JA"ֽRA <٘i)I9u@Y{G J7C=JJJJE&K YE*Z~?yFhZAEŧ7b7Wx9CB)BE[[ P@[6Z~?[=ا[[[[BZYY i) 澻I>E?iZ?U[< 7))7#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036354.263165 s, next control iter: 1743036354.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036354.663165 s.*I~,q'AJ"J*J2J:J3?BJ3?nJ<5vJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9853, header.stamp.nsec: 00 temperature: 13.385645* salinity: 33.391743, density: 1025.000000* values[0]: 0.702446F (some fields omitted in printout)A>@Ar>@A[~? AAŠ#&"AA6>qNA"AZAbAjArAzAAAӫm+@AkbrA(u@A);A渂=AyH@A`5Ax?A8*A9?2Agֽ:A<BA9?JAgֽRA YZ~?y2ZAH@E{7j7Zx9DB)BE[[SVQ@[Z~?[1٧[[[[BZYY i) R޻IDE?i԰?Wb< k))k%́@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036354.683165 s, next control iter: 1743036355.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036355.083165 s.E1I~,&S'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036355.083282F (some fields omitted in printout)A)\µ>@A{f>@A8[~? AhA#&"AA>qNA"AZAbAjArAzAAAhm*@Ar(brA t@Aj'X<A=A^HAaFA ?AC#*A9?2AKֽ:A=BA9?JAKֽRA=٘i)I9t@YG JlC=JJJJ$E&K YY~?yYAEj7Z70^x9)B[[tR@[Z~?[Lڧ[[[[BZYY i) IE?i)?rj< K: ))K: r@yHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036355.103165 s, next control iter: 1743036355.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036355.503165 s.7I~,L4'AJ"J*J2J:JBJnJvJAR>@AwNy>@Ad[~? AlA#&"AA)pNA"AZAbAjArAzAAAkR4*@A21!karADt@Ai2I<A#=AGAUA ?A*A9?2Ahmֽ:A=BA9?JAhmֽRA=٘i)I9Dt@YG JއJJJJ'E&K YY~?y `YAEŧ7ŧ7ax9EB)BE[[zS@[Y~?[ۧ[[[[BZYY i) ;IjE?iY?s< E ))E 8@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036355.523165 s, next control iter: 1743036355.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9854, header.stamp.nsec: 00 temperature: 13.385891* salinity: 33.391724, density: 1025.000000* values[0]: 0.701573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036355.923165 s.:>I~,'AA{G!?@A^}<?@A[~? AA#&"AApNA"AZAbAjArAzAAARi g)@A&A`rAs@Ae;A[=A7EAnaA }?A慼*A{9?2Aֽ:A$!=BA{9?JAֽRA$!=٘i)I9s@YfG JІJJJJ*E&K Y?Y~?yYAE77{7Zex9FB)BE[[71U@[Y~?[ܧ[[[[BZYY i) kCIE?ib?}<  )) @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036355.943165 s, next control iter: 1743036356.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036356.343165 s. YۀY~?ySXACE77j7lx9GB)BE[[ڼW@[Y~?[7[[[[BZYY i) sl=I F?i?< ))h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036356.803165 s, next control iter: 1743036357.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036357.183165 s.RI~,gK'AJ"J*J2J:JBJnJvJA(\?@A ˂?@AV[~? A A#&"AASpNA"AZAbAjArAzAAAa>'@A`rARr@A\UA=AýAA wA@;?A|*A9?2AE׽:A(=BA9?JAE׽RA(=٘i)I9r@YG J҆JJJJ2E&K YdY~?yWAEj7SI7px9HB)B}E[[ZY@[IY~?[[[[[BZYY i) LIl!F?i?< e))e(@ĪYFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743036357.203165 s, next control iter: 1743036357.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036357.603165 s.84YI~,f'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036357.603300F (some fields omitted in printout)AQ?@A'UH?@A<[~? AA#&"AA+pNA"AZAbAjArAzAAA !'@Ae_rAO r@AAё=Aw@AyA`$ |?A#ڐ*A9?2Aֽ:A-U=BA9?JAֽRA-U=٘i)I9 r@YQG JrB=JJJJ4E&K YHY~?yYWAE)7ŧ7sx9IB)BzE[[FZ@[$pY~?[[[[[BZYY i) U\I9F?i?< ))E@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036357.623165 s, next control iter: 1743036358.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9856 , header.stamp.nsec: 0 0 temperature: 13.386298 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.699873 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036358.023165 s.Z`I~,|'AJ"J*J2J:JBJnJvJAHz.@@A{IlF?i?K< E))E8@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036358.483165 s, next control iter: 1743036358.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9857, header.stamp.nsec: 00 temperature: 13.386526* salinity: 33.391716, density: 1025.000000* values[0]: 0.698953F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036358.863165 s.+mI~,>'AJ"J*J2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743036358.863308F (some fields omitted in printout)A@@Aph@@AZ~? AuA.#&"AA^oNA"AZAbAjArAzAAACH%@Af8`rAkp@A^<As=A<A ppA,AD*A9?2A;ֽ:A!=BA9?JA;ֽRA!=٘i)I9p@YbG JC=JJJJ=E&K Y;X~?yι}VAE777p~x9JB)ƯBtE[[^@[)Y~?[[[[[BZYY i)  YIF?i2?Oh< '))'G#@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036358.883165 s, next control iter: 1743036359.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036359.283165 s.5RtI~,'AA(\@@A_vO@@AZ~? AAZ#&"AAoNA"AZAbAjArAzAAAP_$@Afa `rAo@A<A=AT;A`hA`:ӪAT*Am9?2A~ֽ:A=BAm9?JA~ֽRA=٘i)I9o@YG JܣJJJJ?E&K YX~?yVAE7x9DB)įBqE[[;_@[Y~?[P[[[[BZYY i) IOF?iF@< ))翈@yժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036359.303165 s, next control iter: 1743036359.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9858., header.stamp.nsec: 0.0 temperature: 13.386794.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.697935.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036359.703165 s.պzI~, 'AJ"J*J2J:JBJnJvJAQA@AP@@AZ~? AAK#&"AAfoNA"AZAbAjArAzAAA#2$@A-w`rApo@A ˹Aͱ=A9A]ABAi*AO9?2Aֽ:AQ=BAO9?JAֽRAQ=٘i)I9po@YG JXJJJJBE&K YX~?yrUAE77{7x9EB)ɯBnE[[$r`@[^X~?[[[[[BZYY i) ͔IF?i@*< 7))7 [@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036359.723165 s, next control iter: 1743036360.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036360.123165 s.6I~,X'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036360.123283F (some fields omitted in printout)AG:A@AV@-A@AנZ~? AlA#&"AAo?oNA"AZAbAjArAzAAATq#@AkarAJn@AVA=Aҡ8APAA0*As9?2A!׽:Ab=BAs9?JA!׽RAb=٘i)I9n@YfG J̤JJJJEE&K Y۟X~?yCcUAE70x9)ͯBkE[[4a@[RX~?[[[[[BZYY i) IuF?i@̶< m))m@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036360.163165 s, next control iter: 1743036360.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036360.543165 s.II~,"'AJ"J*J2J:J2?BJ2?nJ7;5vJA= ףpA@AocA@AZ~? AhA{#&"AAFoNA"AZAbAjArAzAAA"@A5brAYn@A^A9=AO7A"AAAB*Aݛ9?2Aq(׽:AK=BAݛ9?JAq(׽RAK=٘i)I9Yn@YG J0JJJJGE&K YX~?yUAĹEŌx9)үBhE[[b@[X~?[j[[[[BZYY i) 3AIG?i'@9< ))S@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036360.583165 s, next control iter: 1743036360.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9859, header.stamp.nsec: 00 temperature: 13.387068* salinity: 33.391712, density: 1025.000000* values[0]: 0.696928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036360.963165 s.yI~,='AAffffA@AJ_A@ALmZ~? AAĤ#&"AA6nNA"AZAbAjArAzAAA7ʪ8"@A%0}brAm@A+A)=A6A@/A0A఼*A9?2A8ֽ:A=BA9?JA8ֽRA=YN@6yv'=n5,ٓH,? ,ҿŗX޴;t@G?)N@ IϖI٘i)I9m@YG JB=Ju=JJJJE&K> YhX~?yTA6ƹE77[x9)֯BeE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #57q/9^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036361.003165 s, next control iter: 1743036361.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036361.383165 s.ؕI~,8X'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036361.383287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(A@A&BA@ASZ~? AA#&"AAEnNA"AZAbAjArAzAAA$>!@AYDRcrA0m@AKAt$=A4A`A Q6AcI*AΓ9?2A$ֽ:A*=BAΓ9?JA$ֽRA*=٘i)I90m@Y\G JC=JJJJME&K YMX~?y:§$TAɹE7x9)ۯBbE[[zGe@[X~?[[[[[BZYY i) AI!G?i@< ()) (ŋ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036361.403165 s, next control iter: 1743036361.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9860", header.stamp.nsec: 0"0 temperature: 13.387316"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.695848"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036361.803165 s.}AI~,gs'AAB@A>;B@A:Z~? AaAq#&"AAsnNA"AZAbAjArAzAAAU!>!@AhxDrdrAAl@Ac;AD=A3A`A¿Awļ*AhZ:?2A\:A=BAhZ:?JA\RA=٘i)I9l@YG JDJJJJOE&K Y2X~?yħSA̹E7x9)B[[a~f@[X~?[[[[[BZYY i) VICG?i@< 6)),a@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036361.843165 s, next control iter: 1743036362.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036362.223165 s.gI~,H'AJ"J*J2J:JBJnJvJAzGB@AoH:B@A Z~? A AGR#&"AA|nNA"AZAbAjArAzAAA,~g @AverAk@A]L<A_=AM3A)A kÿA˼*Ak:?2AA½:A=BAk:?JAA½RA=٘i)I9k@YG J$ȼJJJJRE&K YX~?y^ǧDSAιEj7j7x9DB)B_E[[dg@[yX~?[4[[[[BZYY i) IdfG?iy!@< P))P@ YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036362.243165 s, next control iter: 1743036362.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036362.643165 s.}ЩI~,$*'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036362.643286F (some fields omitted in printout)A ףp}B@AhpB@A#Z~? AA~1#&"AAVnNA"AZAbAjArAzAAA`yL@AfrAX;k@A65:<A=A2AA`AſASiϼ*Ao:?2AdŽ:A 0=BAo:?JAdŽRA 0=٘i)I9;k@Y*G JͼJJJJUE&K YW~?yɧRAѹE77{7x9)B\E[[Fh@[dX~?[[[[[BZYY i) XɼIG?i%@\< ))@tY]ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036362.663165 s, next control iter: 1743036363.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9861, header.stamp.nsec: 00 temperature: 13.387611* salinity: 33.391697, density: 1025.000000* values[0]: 0.694654F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036363.063165 s.I~,J 'AJ"J*J2J:JBJnJvJA3333B@A 2*B@AY~? A AV#&"AA/nNA"AZAbAjArAzAAAbm1g@AgrAvj@A;Apڱ=Aq0AAƿAgм*A&m:?2A9Ƚ:A=BA&m:?JA9ȽRA=٘i)I9j@YG J6мJJJJWE&K YW~?y̧dRAԹE77Fx9)BYE[[j@[FPX~?[9 [[[[BZYY i) lмIG?i*@E< ))뿩]-@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036363.083165 s, next control iter: 1743036363.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036363.483165 s.s_I~,'AA\B@AHcB@AY~? A A"&"AA* nNA"AZAbAjArAzAAAkI4@A/.}hrAWi@A A=Aȝ/A@ۺA`ȿA%м*AIf:?2Ac˽:A=BAIf:?JAc˽RA=٘i)I9i@YUG JмJJJJZE&K YW~?yϧQAֹE77ۥx9)BVE[[Dk@[@ASkrA~h@ABAJ=A,A{A@˿AOoӼ*AZS:?2A?н:Az=BAZS:?JA?нRAz=٘i)I9~h@Y G JѼJJJJ`E&K YڐW~?y:ԧQAܹEb77x9)B[[m@[X~?[c[[[[BZYY i) ρI"H?i9@]< s))s俩>@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036364.343165 s, next control iter: 1743036364.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9863*, header.stamp.nsec: 0*0 temperature: 13.388246** salinity: 33.391697*, density: 1025.000000** values[0]: 0.692131*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036364.743165 s.WI~,/'AJ"J*J2J:JBJnJvJAףp=C@AR1}C@AY~? AAf"&"AA/mNA"AZAbAjArAzAAA˧@AE*mrAg@AͻA|=A+A@nWA@HͿA(ּ*AD:?2A/ѽ:A5}=BAD:?JA/ѽRA5}=٘i)I9g@Y G JEԼJJJJbE&K YuW~?y֧PA޹E777x9)BQE[[n@[X~?[A[[[[ZZ¸BZYY i¸إ=) ڼI LH?i?@h< _;))_;⿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036364.763165 s, next control iter: 1743036365.143181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036365.163165 s.x}I~,qJ'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.080980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036365.163280F (some fields omitted in printout)AC@AևC@ApY~? AEA4"&"AAqmNA"AZAbAjArAzAAA}|@ACnrAg@A,-;Aɸ=Acf*Ad0A@*EϿA4ܼ*AD6:?2Aҽ:A =BAD6:?JAҽRA =YY@vb*yȸ=B.;ٓH7G@?`Ǵ@\eݿe qࣱe? ?)Y@ I٘i)I9g@Y G JؼJ<JJJeE&K> Y\W~?yڧ'PAb*Eb770x9) BNE[[Ko@[W~?[Y[[[[ZZBZYY i) юμIuH?iCB@ǧ< ߿))߿!@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036365.183165 s, next control iter: 1743036365.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036365.583165 s.I~,Se'AJ"J*J2J:JBJnJvJA)\C@AV}C@AaXY~? AA"&"AA]LmNA"AZAbAjArAzAAA- CZS@AqprAGf@AӴ&<A1v=A0)AaAпA#*AC;:?2AEӽ:A=BAC;:?JAEӽRA=٘i)I9Gf@Y' G JJJJJhE&K YCW~?yާOAE777Ʒx9)BKE[[q@[W~?[ [[[[ZZBZYY i) Cx¼I:H?i0E@uf< wݿ))wݿ}@y =:YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036365.603165 s, next control iter: 1743036365.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9864, header.stamp.nsec: 00 temperature: 13.388562* salinity: 33.391674, density: 1025.000000* values[0]: 0.690811F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036366.003165 s. I~,n4'AAR+D@AuRzD@A@Y~? AA[!&"AA_'mNA"AZAbAjArAzAAAˍ,@A88rrAbe@AH<AK؜=A1'AA:`ѿAhu*AC:?2AԽ:A<BAC:?JAԽRA<٘i)I9be@Y G J{JJJJjE&K Y*W~?y/OAE)7ŧ7[x9BB)BHE[[0Dr@[DW~?[$[[[[ZZBZYY i) b`IYH?iH@=R= /ۿ))/ۿD@y;=@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036366.023165 s, next control iter: 1743036366.403182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036366.423165 s.uI~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.080980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743036366.423272F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GaD@A8h>TD@A'Y~? AA6!&"AAmNA"AZAbAjArAzAAAKzI!@AcXtrAvd@A ;A}=A~t&AکAiAҿAZ*AH:?2AaUս:A}<BAH:?JAaUսRA}<٘i)I9d@Y G JAJJJJmE&K YW~?yNAE77x9)B[[ms@[ W~?[$)[[[[ZZBZYY i) fHIEH?i3L@K= [ؿ))[ؿؒ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036366.443165 s, next control iter: 1743036366.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9865, header.stamp.nsec: 00 temperature: 13.388947* salinity: 33.391674, density: 1025.000000* values[0]: 0.689218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036366.843165 s.I~,'AAp= D@A9D@A Y~? A6!AR!&"AABlNA"AZAbAjArAzAAAZf )@Ak vrAc@AA(9=A"%AzA`:"ӿAռ*AJ:?2Aս:AB;BAJ:?JAսRAB;٘i)I9c@Y G JZJJJJpE&K YV~?y7NAE7777x9)$BEE[[t@[2W~?[-[[[[ZZBZYY i^=) p1II?iGP@L= ֿ))ֿol@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036366.863165 s, next control iter: 1743036367.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036367.263165 s.I~,'AJ"J*J2J:J=0?BJ=0?nJ85vJAD@AnD@AYX~? A$A !&"AA)lNA"AZAbAjArAzAAA@A;xrA5c@A"A<A:#AHAlԿAv=*ANH:?2A6ֽ:AhʺBANH:?JA6ֽRAhʺYL`@#y <R#ٓH@H?9˖@vc ^ V?)L`@ I٘i)I9c@Y6 G JRżJ:JJJrE&Kz> YV~?yNA#E77x9))BBE[[Ru@[^W~?[#2[[[[ZZBZYY i\=) *ϓIiR@s= 6Կ))6Կ$@j$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036367.283165 s, next control iter: 1743036367.663175 s, wait time: 0.380010 s6tReceived state from Gazebo (printed only once in a while):60 header.stamp.sec: 98666, header.stamp.nsec: 060 temperature: 13.3892766* salinity: 33.3916706, density: 1025.0000006* values[0]: 0.6877866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036367.683165 s.lI~,Z'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036367.683277F (some fields omitted in printout)A(\E@AS!D@AX~? A(A &"AAelNA"AZAbAjArAzAAAel @A_ť>zrAb@A^A:<A!y"AAԿAu*A<:?2Aaֽ:AjBA<:?JAaֽRAj٘i)I9b@Y G JB=JJJJuE&K YxV~?yMAEb7b7x9AB)-B@E[[v@[W~?[6[[[[ZZBZYY i) nkIiBU@P|= ;ѿ));ѿL@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036367.683165 s, next control iter: 1743036368.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036368.103165 s.J "J I~*J2J,'A:J/?BJ/?nJ85vJAQ8E@AwF+E@AX~? A+A$ &"AArlNA"AZAbAjArAzAAAX*@A5z|rAU4b@A*AA?+!ARA8տAZ3*A7:?2ABֽ:AxBA7:?JABֽRAx٘i)I94b@Y G JJeC=JJJJxE&K YֱV~?yMAE77{7Fx9)0B[[8x@[pW~?[;[[[[ZZBZYY ig=) d~IiSX@!s = Ͽ))Ͽ+@y)=A(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036368.123165 s, next control iter: 1743036368.503179 s, wait time: 0.380014 sֱV~?) rAdjusting time to match Gazebo time: 1743036368.523165 s.I~,(|!'AAHznE@Ar aE@AX~? A/AX@ &"AAOlNA"AZAbAjArAzAAAot@A4~rAka@A:AݓAAAֿA Jӻ*A0:?2A^ֽ:A#BA0:?JA^ֽRA#٘i)I9a@Y G JeJJJJzE&K Y2V~?y{MAEx9)1B=E[[Q:y@[`W~?[W@[[[[ZZBZYY i) PNiIi[@ = BͿ))BͿ$@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036368.543165 s, next control iter: 1743036368.923181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9867, header.stamp.nsec: 00 temperature: 13.389499* salinity: 33.391663, density: 1025.000000* values[0]: 0.686985F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036368.943165 s.YdI~,F]<'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036368.943290F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףE@A˖E@AX~? A3A&"AA;-lNA"AZAbAjArAzAAA@w @A"C7rAa@ADm;AB\AAfAl׿A &*A#:?2A׽:AļBA#:?JA׽RAļ٘i)I9a@Yr G J*JJJJ}E&K YV~?yUuMAEqx9@B)2B:E[[_z@[OW~?[4E[[[[BZYY i) TIi_@*= oʿ))oʿQ@y߼=%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036368.963165 s, next control iter: 1743036369.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036369.363165 s.I~,>W'AAE@A FE@AgX~? A7A2&"AA lNA"AZAbAjArAzAAAY1ۗ @AH}rAa@AJ<A*A5A`-'A ]@ؿANj:*A?:?2AHD׽:AֈBA?:?JAHD׽RAֈY~f@>y*KJ<ٓH2`??x ?@Q8 b?T?`C?`C?)~f@ I٘i)I9a@Yn G JSJV*JJJE&Ky> YlV~?yMA>Ej7SI7x9)1B7E[[e{@[e?W~?[5J[[[[BZYY ig=) ˞CIia@j= ȿ))ȿ@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036369.383165 s, next control iter: 1743036369.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9868&, header.stamp.nsec: 0&0 temperature: 13.389584&* salinity: 33.391651&, density: 1025.000000&* values[0]: 0.686732&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036369.783165 s.VI~,r'AJ"J*J2J:JBJnJvJA(\F@AjQF@A3oX~? A;AT&"AAkNA"AZAbAjArAzAAAk@AMrAa@A1<A3qSA!A@oAVٿA];*AX :?2A-׽:A8`BAX :?JA-׽RA8`٘i)I9a@Y| G JV;JJJJE&K YVV~?y}MAE77{7x9)0B[[|@[/W~?[HO[[[[BZYY i =) 2Iid@= [[ƿ))[[ƿy@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036369.803165 s, next control iter: 1743036370.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036370.203165 s.#I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036370.203284F (some fields omitted in printout)AQEF@Ar&8F@AHYX~? A8@A&"AAkNA"AZAbAjArAzAAAcX]}{@AؼrAb@A`;AktAA 4AٿA~.)<*AN:?2Aֽ:ABAN:?JAֽRA٘i)I9b@Y G J;JJJJE&K Y@V~?y!NAE7771x9?B)/B5E[[}@[W~?[kT[[[[BZYY i) !Iif@;= wĿ))wĿ @X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036370.223165 s, next control iter: 1743036370.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036370.623165 s.X)I~,a'AJ"J*J2J:JBJnJvJAGzF@A.4mF@ACX~? ADAF&"AAkNA"AZAbAjArAzAAA3Yn@AoﺋrAnb@AaAjA\A0`AڿA:b<*A@:?2AҚֽ:Ac BA@:?JAҚֽRAc ٘i)I9nb@Y G JCD<JJJJE&K Y*V~?yZNA DE{7{7x9)+B1E[[r~@[W~?[Y[[[[BZYY i) Iij@= ))@A*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036370.643165 s, next control iter: 1743036371.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9869 , header.stamp.nsec: 0 0 temperature: 13.389540 * salinity: 33.391617 , density: 1025.000000 * values[0]: 0.687001 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036371.043165 s.0I~,'AA= ףF@AZ.F@AS.X~? A`IAP&"AAkNA"AZAbAjArAzAAABi@AE rA9b@Af HA7AMA@A`kۿA<*A:?2A[vֽ:A\BA:?JA[vֽRA\٘i)I9b@Y G J,y<B=JJJJE&K YV~?y:NAE)7ŧ7\x9)(B[[ @[W~?[^[[[[BZYY i) :Iim@= σ))σ.@yd4=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036371.063165 s, next control iter: 1743036371.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036371.463165 s.W7I~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: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743036371.463272F (some fields omitted in printout)AffffF@Ay[F@AMX~? A(NA&"AAekNA"AZAbAjArAzAAA9Pk@A){rAPc@AGA㕽AJA`A0ܿA<*Ao:?2Aֽ:ABAo:?JAֽRAY_m@yᕽ5HٓH@v?ݮ? G?۷?v?)_m@ I٘i)I9Pc@YY G Jܐ<C=JJJJE&K]x> Y V~?yu%NA EZ7SI7x9>B)$B.E[[@[V~?[rA_AܿA)<*A:?2Aֽ:AUBA:?JAֽRAU٘i)I9c@Y G Jם<JJJJE&K YU~?y+]OA E)7ŧ7x9)B+E[[0@[UV~?[i[[[[BZYY i) ûIiq@= ))R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036371.903165 s, next control iter: 1743036372.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036372.303165 s.SDI~,jg'AJ"J*J2J:JBJnJvJAQG@ATDG@A:W~? AXAv5&"AA#'kNA"AZAbAjArAzAAAf?AQXrA`d@A l;A elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743036372.723284F (some fields omitted in printout)AzG@A7zG@A2W~? AH]A&"AAkNA"AZAbAjArAzAAAgSC?Aힾ~rAd@A5<AVgAA`eA@/t޿A<*A*:?2Ax׽:A/ BA*:?JAx׽RA/ ٘i)I9d@YT G J<JJJJE&K Y6U~?y'8&PAE77x9/B)B)E[[ R@[ V~?[t[[[[BZYY i) ]Iiv@ = [o))[ot@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036372.743165 s, next control iter: 1743036373.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036373.143165 s._/RI~,,*I'AJ"J*J2J:Jz0?BJz0?nJ 95vJA ףpG@AYeG@AW~? AbAk&"AAcjNA"AZAbAjArAzAAA w?AlorA}e@AP<Az~ApA|A+.߿A<*A`:?2Al׽:A^ BA`:?JAl׽RA^ ٘i)I9}e@Y G Jt<JJJJE&K YCU~?yc>PAE777Gx9)B[[@[V~?[Dz[[[[BZYY i) OIi8z@P$ = 0))0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036373.183165 s, next control iter: 1743036373.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036373.563165 s.XI~,N d'AA3333G@A6,G@A.W~? AhA &"AAjNA"AZAbAjArAzAAA+o?AI'BrAf@A;A2A)A`iFA`>߿AZ<*A:?2A*׽:AaBA:?JA*׽RAaYs@2y;ٓH?@$?d)o?;?}?@?)s@ I٘i)I9f@Y G J<B=JKJJJE&Kx> YtU~?y8EPA2Eb7b7x9.B)B&E[[}r@[V~?[[[[[BZYY i) MIi{@!= ))x@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036373.603165 s, next control iter: 1743036373.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9872, header.stamp.nsec: 00 temperature: 13.388969* salinity: 33.391594, density: 1025.000000* values[0]: 0.689934F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036373.983165 s._I~J"J*J2J,~'A:J0?BJ0?nJ395vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036373.983276F (some fields omitted in printout)A\(H@AH@A5W~? AmA0&"AAjNA"AZAbAjArAzAAAƔ?A^rA@f@A0̴AT/AAAIAγ<*A2:?2Aֽ:AeBA2:?JAֽRAe٘i)I9f@Y` G J4<C=JJJJE&K YU~?y L]QAE{7{7qx9)B#E[[@[V~?[[[[[BZYY i) ݯIi}@+E"= s))s$@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036374.003165 s, next control iter: 1743036374.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036374.403165 s.&fI~,͙'AAQ^H@AQH@AW~? A4sA*&"AA=jNA"AZAbAjArAzAAA%F]?A=rA>g@AA<A A !A@A <*A:?2Aֽ:ASBA:?JAֽRAS٘i)I9>g@Y G J<JJJJE&K  y9Y{U~? y9yRQAEŧ7b7y9/B)B$E[[@[{V~?[[[[[BZYY i) Vp߹Ii@ݱ#= Om))Om@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036374.423165 s, next control iter: 1743036374.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9873", header.stamp.nsec: 0"0 temperature: 13.388735"* salinity: 33.391571", density: 1025.000000"* values[0]: 0.691120"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036374.823165 s.lI~,-'AJ"J*J2J:JBJnJvJAGzH@AoH@A[}W~? AxAd&"AAJwjNA"AZAbAjArAzAAA5XW?AF SrAg@A XSAr0AKX A`GAA*IJ<*A' :?2Aֽ:A3BA' :?JAֽRA3٘i)I9g@Y G Jk<JJJJE&K YjU~?yY/RAE777y9.B)B!E[[!@[V~?[U[[[[BZYY i) R:Ii/@[%= C0))C0C@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036374.863165 s, next control iter: 1743036375.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036375.243165 s.sI~,m'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036375.243300F (some fields omitted in printout)Aףp=H@A:x&4H@AkW~? A~AI&"AA[jNA"AZAbAjArAzAAAwPwA0J7rAih@A*A&A Ay߿A CJAȬ<*Ai :?2AZֽ:ABAi :?JAZֽRA٘i)I9ih@Ys G Jt<JJJJE&K Y@XU~?y`RA!Eb7b71 y9)B[[n@[YV~?[5[[[[BZYY i) 4:Ii@B'= ))iҞ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036375.263165 s, next control iter: 1743036375.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036375.663165 s.zI~,q'AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9874, header.stamp.nsec: 00 temperature: 13.388496* salinity: 33.391548, density: 1025.000000* values[0]: 0.692310F (some fields omitted in printout)AI@A5H@A ZW~? AބA&"AAAjNA"AZAbAjArAzAAAD!4˿A$rAh@AgHA,Ak A$߿AKAy<*AZ :?2A+(׽:ABAZ :?JA+(׽RAY mz@ y, IٓH r?a?=`? ?,I?) mz@ I٘i)I9h@Y G J@<Jn<JJJE&K}x> YHU~?ygRA $E77 y9-B)BE[[@@[9uV~?[/[[[[BZYY i) y;IiA@3(= G))G b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036375.683165 s, next control iter: 1743036376.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036376.083165 s.DI~,S'AA)\5I@AGtϺ(I@AHW~? AAb_&"AA&jNA"AZAbAjArAzAAAڿA:7rAi@A <AyA.UAh޿A A5<*A :?2Ag׽:ArBA :?JAg׽RAr٘i)I9i@YG JǠ<JJJJE&K YF9U~?yFoZSA'EE77\y9)B[[Uφ@[wjV~?[4[[[[BZYY i) =V;Ii@)(= +z))+zP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036376.123165 s, next control iter: 1743036376.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036376.503165 s.I~,;4 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036376.503270F (some fields omitted in printout)J"J*J2J:JBJnJvJARkI@Av5y^I@AQ8W~? A3A &"AA[ jNA"AZAbAjArAzAAA$OAũohrAi@AkzR<A]A'AݿA`=A5<*A :?2A;u׽:ABA :?JA;u׽RA٘i)I9i@YjG J[<JJJJE&K Y)U~?yvSA*E77y9.B)ޯBE[['^@[`V~?[C[[[[BZYY i) ;Ii@+9*= >))>"@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036376.523165 s, next control iter: 1743036376.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9875, header.stamp.nsec: 00 temperature: 13.388274* salinity: 33.391548, density: 1025.000000* values[0]: 0.693405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036376.923165 s.9I~,;'AA{GI@Al@I@A(W~? AAl&"AAgiNA"AZAbAjArAzAAA@aA]QDrA|j@A'0<AnA̶ApܿA Ay<*A :?2AK׽:ABA :?JAK׽RA󼙘ΖI٘i)I9|j@YG J<B=JJJJE&K YMU~?y~TA,Eŧ7b7y9)گB[[@[VV~?[\[[[[BZYY i):=) Ȩ;Ii!@[+= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036376.963165 s, next control iter: 1743036377.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036377.343165 s. elevatorAngleAction: 0.074818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036377.763294F (some fields omitted in printout)A J@A `I@AW~? AyAq&"AAbiNA"AZAbAjArAzAAAasAvf,rADsk@ACͻA1=A-A wdۿA`9AL<*Ah:?2APֽ:ABAh:?JAPֽRAY@y@'y<ͻٓH`gݿ \f?nh?7X@T}ݿ?`k?qy@?)@y@ I٘i)I9sk@YLG JW<J8*<JJJE&Kix> YT~?y/TA'2Ey9)үB[[@[CV~?[[[[[BZYY i) ;Ii@Y-= ))*@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036377.803165 s, next control iter: 1743036378.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036378.183165 s.ˢI~,^'AJ"J*J2J:JBJnJvJA(\BJ@A‚5J@AV~? AA&"AAUiNA"AZAbAjArAzAAAM8 A6rAik@AN!IA(AZAڿA@`A)P<*AB:?2Aֽ:A)BAB:?JAֽRA)٘i)I9k@YG Jm<JJJJE&K YT~?y2UA4E{7G#y9/B)ϯBE[[b@[:V~?[[[[[BZYY i) r elevatorAngleAction: 0.074818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036379.023294F (some fields omitted in printout)AHzJ@Ad9 J@A=V~? AA&"AA7iNA"AZAbAjArAzAAA AҊBurAl@APA͕AAٿA+Ai<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9l@Y)G J <JJJJE&K YT~?yUA:Ej7Z7r*y9)ǯB[["@[9)V~?[Ψ[[[[BZYY i) 9 "'AJ"J*J2J:JG2?BJG2?nJ:5vJAK@AK K@AkV~? AwƩA&"AAWiNA"AZAbAjArAzAAAznpArAm@A9<AA (AX׿A`eA <*Aj9?2ALo׽:A#7BAj9?JALo׽RA#7Yl@vAyW:<ٓH@z׿`?ԍ?@\{׿U?L~?2?@S?)l@ I٘i)I9m@YG J<JJJJúE&Kx> YdT~?yVAA?Eb771y9.B)BE[[$΋@[V~?[Hۨ[[[[BZYY i) ;A elevatorAngleAction: 0.074818< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036380.283279F (some fields omitted in printout)A(\OK@A:$PBK@AV~? AͩAU&"AA-DiNA"AZAbAjArAzAAADAB?:rA9n@AL<AaAAπֿA Aы<*A9?2AZ׽:AlBA9?JAZ׽RAl٘i)I99n@YG J<JJJJƺE&K YT~?y׼VABE7725y9)B[[[@[V~?[[[[[BZYY i) ]P elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036381.543291F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףK@AcK@A^V~? A%A&"AAv iNA"AZAbAjArAzAAAϝAomrAo@A&ALAAiӿADA<*A49?2AH}ֽ:AF~BA49?JAH}ֽRAF~٘i)I9o@YG J<JJJJκE&K YٕT~?yiըXAJE777?y9/B)BE[[@[RU~?['[[[[BZYY i) y~ Y0T~?yݨXA9LE)7b7Cy9.B)BE[[䏎@[U~?[[[[[BZYY i) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036382.403165 s, next control iter: 1743036382.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9881", header.stamp.nsec: 0"0 temperature: 13.387014"* salinity: 33.391445", density: 1025.000000"* values[0]: 0.699475"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036382.803165 s.zAI~,g'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036382.803291F (some fields omitted in printout)AL@A߄L@AVsV~? AcA&"AA;hNA"AZAbAjArAzAAAk(p}ArAIq@ARsA)AA`OѿA@A<*A9?2A ׽:AoBA9?JA ׽RAo٘i)I9Iq@YG Jo<JJJJֺE&K Y~T~?yKYARE77Jy9)B[[@[BU~?[[[[[BZYY i)  $sA2br@ABQ<A AvAοA C*AP<*A+9?2AkT׽:AwkBA+9?JAkT׽RAwk٘i)I9br@YG Jv<C=JJJJۺE&K YoT~?yZAWE77Qy9/B)BE[[u@[hU~?[[[[[BZYY i) E elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036384.063292F (some fields omitted in printout)A33333M@AQ(&M@AXV~? A-AF&"AA³hNA"AZAbAjArAzAAA@tC AisAEr@Ag (<ALA.߿A .ͿA`PAO<*A 9?2A ׽:A[BA 9?JA ׽RA[Y@@/߿yJg(<ٓHſ?0o?kFſu?@_??@?)@@ I٘i)I9r@YG J<JJJJ޺E&KMx> YjT~?yrZA/߿ZE77rUy9)B[[N@[U~?[[[[[BZYY i)  elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036385.323283F (some fields omitted in printout)AGzM@AfJoM@ABV~? Aj'Aw &"AAhNA"AZAbAjArAzAAA ( AШ sApt@AKAjA׿AǿA A=<*A9?2AJ<ֽ:A$BA9?JAJ<ֽRA$٘i)I9t@YG Jx<JJJJE&K Y#\T~?ys"[AbE)7ŧ72`y9)B[[ @[U~?[0[[[[BZYY i) ʶ/A &"AAhNA"AZAbAjArAzAAA6Kax A˂QsApu@A<AᱯAԿAſAPA $<*AD9?2A_ֽ:ABAD9?JA_ֽRA٘i)I9u@YlG J<JJJJE&K YIWT~?y+I\AeEb77cy9)B[[@[U~?[y7[[[[BZYY i) I YIUT~?y3\A'ҿgE)7ŧ7]gy9,B)zBE[[ @[U~?[.>[[[[BZYY i) N elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036386.583287F (some fields omitted in printout)A)\uN@A-`hN@AN1V~? A?A &"AAiuhNA"AZAbAjArAzAAAW.S A $sAv@A;A"mA~ϿA¿AAAK*<*A9?2A ׽:ArBA9?JA ׽RAr٘i)I9v@Y?G J<JJJJE&K YHST~?y<6]AjE77jy9)uB[[@@[U~?[D[[[[BZYY i) e*<*AU9?2A#׽:A BAU9?JA#׽RA ٘i)I95x@YG J<JJJJE&K YGOT~?y4N#^AoEZ7Z7ry9+B)iB E[[r@[U~?[]R[[[[ZZZZ¸>BZYY i¸>3) @q;??`G?(pe?)Đ@ I٘i)I9y@YG J<C=J5i;JJJE&K'x> Y%NT~?y__A ſuE{7Z7Hyy9)^B[[BȖ@[U~?[_[[[[ZZZZBZYY i) ߻'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082974< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743036390.363297F (some fields omitted in printout)AYP@Ap!LP@A@V~? A%A7&"AAMhNA"AZAbAjArAzAAAc# A*'PsA:}@AA&<A*AW*A@<AQtADt<*A`9?2A'Wֽ:A<BA`9?JA'WֽRAJJJE&Kv> YVUT~?y`A-E{7j73y9)BB[[#+[U~?[[[[[ZZZZBZYY i() BB[[Ź[U~?[[[[[ZZZZBZYY i) !"]JJJE&K6x> YjT~?yE`A%Ej7j7y9)?BE[[-[iU~?[ [[[[BZYY i8h) n%A9rsA+}@A[Ax=A6A抸?A`5CA1i*A9?2Awֽ:AA =BA9?JAwֽRAA =٘i)I9+}@YG JEJJJJE&K YwT~?ykȩB`AE{7{7Hy9)DB[[Ǯ[U~?[Z[[[[BZYY i) + YCT~?yI_A$E77 y9)PB[[-[wU~?["ĩ[[[[BZYY i) N>;Ii@ 6= /K))/K/KDԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036394.583165 s, next control iter: 1743036394.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9893, header.stamp.nsec: 00 temperature: 13.567817* salinity: 33.374992, density: 1025.000000* values[0]: 0.580300F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036394.983165 s.I~,'AJ"J*J2J:JBJnJvJA\R@AcxR@A5V~? AQߪAu|%"AAyshNA"AZAbAjArAzAAA3c AʻZsA$'{@Ac;A==AA@?AA *A19?2AKֽ:A4A=BA19?JAKֽRA4A=٘i)I9'{@YG J{JJJJ$E&K YT~?y2^AE7{7y9/B)UBE[[3[+U~?[ʩ[[[[BZYY i) ;Iiڍ@5= ))֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036395.003165 s, next control iter: 1743036395.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036395.403165 s.&I~,'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036395.403320F (some fields omitted in printout)AQR@A%R@Au;V~? A1AL%"AA{hNA"AZAbAjArAzAAAФ# A%]])sA&z@A^}AO=AY㘿A?A At*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9z@YG JЭJJJJ&E&K Y٠T~?yz^AE774y9)ZBE[[ţ[>V~?[1ѩ[[[[BZYY i) [;IiJ@$4= &))&&(תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036395.443165 s, next control iter: 1743036395.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9894", header.stamp.nsec: 0"0 temperature: 13.568061"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.579663"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036395.823165 s.I~,O'AJ"J*J2J:JBJnJvJAGzS@AOoS@AAV~? AAH%"AA„hNA"AZAbAjArAzAAA%_A Ar0sAzz@A9A=A5A@?A`]A8*A9?2AV׽:A=BA9?JAV׽RA=٘i)I9z@Y*G JnJJJJ)E&K Y#T~?y^AE777ɹy9)_B[[[ V~?[ש[[[[BZYY i) E;Ii@]4= v"))v"v"֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036395.843165 s, next control iter: 1743036396.223181 s, wait time: 0.380016 s&#T~?)& rAdjusting time to match Gazebo time: 1743036396.243165 s.I~,'AAףp=JS@A]7=S@AvHV~? AA'%"AAhNA"AZAbAjArAzAAA_`꥝ A0R\csANry@AxRA=A$A@g`?AA~Ŭ*A9?2Ay׽:A=BA9?JAy׽RA=٘i)I9ry@YG JB=JJJJ,E&K YnT~?y#]AEj7Z7^y90B)eB E[[Z[~V~?['ީ[[[[BZYY i) :Ii@@4= fJ))fJ뾩fJ>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036396.263165 s, next control iter: 1743036396.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036396.663165 s.I~,q*'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036396.663300F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9895, header.stamp.nsec: 00 temperature: 13.568310* salinity: 33.375004, density: 1025.000000* values[0]: 0.578999F (some fields omitted in printout)AS@A rS@AOV~? AAJ%"AA/hNA"AZAbAjArAzAAA\ܥl? AosAx@AA_=A~ A@o4?AvA-*Au9?2Aֽ:A6Y=BAu9?JAֽRA6Y=Yŝ@9y^=KaٓH`x?@?£? `1 ?`;'5 ?)ŝ@ I٘i)I9x@YyG JyC=JJJJ.E&KEx> YaT~?y D]AE)7)7y9)iB[[#'[V~?[[[[[BZYY i) :Ii@92= |))|⾩|9ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036396.683165 s, next control iter: 1743036397.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036397.083165 s.DI~,SE'AA)\µS@A_S@AWV~? AIAO%"AAhNA"AZAbAjArAzAAA/0 A}y#sAMx@A :Ag=A;A?A`RA௼*A9?2A]xֽ:AR=BA9?JA]xֽRAR=٘i)I9Mx@Y G JJJJJ1E&K YUT~?y\AE77{7y91B)nB!E[[[#!V~?[[[[[BZYY i) ߪIi@]1= پ))پپЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036397.103165 s, next control iter: 1743036397.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036397.503165 s.I~,;4`'AJ"J*J2J:JBJnJvJARS@AyS@A_V~? A AD%"AAhNA"AZAbAjArAzAAA@g Ah1ТsAw@A"<A|=AA?A@u,A(*A9?2AlCֽ:Au=BA9?JAlCֽRAu=٘i)I9w@YG J$JJJJ4E&K YIT~?yv\AE77y92B)tB$E[[[)V~?[K[[[[BZYY i) wIi@0= о))ооIͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036397.523165 s, next control iter: 1743036397.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9896, header.stamp.nsec: 00 temperature: 13.568539* salinity: 33.375008, density: 1025.000000* values[0]: 0.578337F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036397.923165 s.7I~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036397.923287F (some fields omitted in printout)A{G!T@A3<T@AhV~? AA9V%"AAhNA"AZAbAjArAzAAAօd2A:tsA&w@A/U<AeC=AiA#L?AA*A9?2AGֽ:A2=BA9?JAGֽRA2=٘i)I9&w@YlG JJJJJ7E&K Y=T~?y #\AEj7j7y9)xB[[炖[G1V~?[[[[[BZYY i) Iim@]/= Ǿ))ǾǾɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036397.943165 s, next control iter: 1743036398.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036398.343165 s. YT~?y2I[AE{7j7y93B)B(E[[[BV~?["[[[[BZYY i3L) Ii·@-= f/))f/f/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036398.783165 s, next control iter: 1743036399.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036399.183165 s.I~,c'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036399.183272F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\T@AUT@AօV~? A,Aŝ%"AAhNA"AZAbAjArAzAAA5ԄYAV)sAcu@A6 Az=AfA?A`zA$i*A9?2A׽:A<BA9?JA׽RA<٘i)I9u@YrG JƚJJJJ?E&K Y/ U~?y :ZAE77ty9)B[[mۏ[ LV~?[R [[[[BZYY i) pIi@s,= M))MMܾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036399.203165 s, next control iter: 1743036399.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036399.603165 s.94I~,'AAQT@AFaET@AV~? A[3Ah %"AAhNA"AZAbAjArAzAAAm*ASᦹsAOu@A1UA*=Au}A ?AGA͎*A9?2A[%׽:Ap<BA9?JA[%׽RAp<٘i)I9u@Y'G JJJJJAE&K YU~?yAZAE{7{7 y94B)B+E[[1[UV~?[{[[[[BZYY i) aIiՅ@ O+= e))eeYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036399.623165 s, next control iter: 1743036400.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9898 , header.stamp.nsec: 0 0 temperature: 13.569005 * salinity: 33.375000 , density: 1025.000000 * values[0]: 0.577082 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036400.023165 s.ZI~,|'AJ"J*J2J:J?BJ?nJ5vJAHz.U@Aغ!U@AЛV~? A:A`~%"AA< iNA"AZAbAjArAzAAAn\ͷA[sAt@AE0A"=A^XxA ?AA:׌*A9?2Aֽ:Aw%<BA9?JAֽRAw%<٘i)I9t@YG JJJJJJDE&K Y-)U~?y?I.ZAE77y9)B[[se[_V~?[[[[[BZYY i) Ii @g*= v))vvy>ʼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036400.063165 s, next control iter: 1743036400.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036400.443165 s.KI~,]'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743036400.443319F (some fields omitted in printout)Aq= cU@A. VU@AV~? AAA%"AAiNA"AZAbAjArAzAAA SAπsA$t@A{c:Ả=AEFsA`?ADAȎ*A9?2A[ֽ:A <BA9?JA[ֽRA <٘i)I9$t@YG J$B=JJJJGE&K Y7U~?yPYAºE{7{74y96B)B/E[[([CjV~?[[[[[BZYY i) Ii@x)= F))FFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036400.463165 s, next control iter: 1743036400.843184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9899, header.stamp.nsec: 00 temperature: 13.569184* salinity: 33.375015, density: 1025.000000* values[0]: 0.576550F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036400.863165 s.+ I~,>7'AJ"J*J2J:J?BJ?nJ5vJAU@A 5U@AV~? AHAd%"AA,iNA"AZAbAjArAzAAA>tAkVhsAs@A^;A=A:nA0e?AvAI*A%9?2Afֽ:ARV=BA%9?JAfֽRARV=YI@hnyW=;ٓHL??% ?n?`֭@BZz?@?)I@ I٘i)I9s@YMG J'C=J JJJIE&Kx> YHU~?yWrYAnźEb77y9)B[[[tV~?["[[[[BZYY i) FIi0@6'= >))>>BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036400.903165 s, next control iter: 1743036401.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036401.283165 s.2RI~,R'AA(\U@APU@AOV~? APA%"AAb?iNA"AZAbAjArAzAAĂBAF+sA.s@A3{M<AJ8=ADiA8?A`ngA<*A9?2AGֽ:A;=BA9?JAGֽRA;=٘i)I9.s@YG J㓼JJJJLE&K YqYU~?y^YAȺEb7_y97B)B2E[[Q[V~?[([[[[BZYY i) Ii@W&= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036401.303165 s, next control iter: 1743036401.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9900., header.stamp.nsec: 0.0 temperature: 13.569354.* salinity: 33.375034., density: 1025.000000.* values[0]: 0.576038.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036401.703165 s.ԺI~,m'AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036401.703267F (some fields omitted in printout)AQV@A jU@AeV~? A WAP%"AARiNA"AZAbAjArAzAAAŽI A nsAr@AjC<A=AcA ?A)A*w*A9?2Afֽ:AVt=BA9?JAfֽRAVt=٘i)I9r@YG JB=JJJJOE&K YUjU~?yeXAʺE77y9)B[[u[sV~?[.[[[[BZYY i) C=.Ii@t%= AkZ=ASA {?A:bA㱓*AS9?2A-׽:A=BAS9?JA-׽RA=Y_@Q TyW=>ٓHດ?? ?O?禿G@?)_@ I٘i)I99q@YG JC=JM <JJJWE&K\x> Y1U~?yzWA TҺEŧ77y99B)B9E[[nw[үV~?[?[[[[BZYY i) z\Ii{@!= x9))x9x9^ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036402.983165 s, next control iter: 1743036403.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036403.383165 s.5I~,<'AJ"J*J2J:J@?BJ@?nJh5vJA(V@AapV@A@W~? ArA<%"AAiNA"AZAbAjArAzAAA0DAsAp@ANAH=ANAD?A`AI*A9?2A׽:A~=BA9?JA׽RA~=٘i)I9p@YG JJJJJYE&K YJU~?y8WAպE77Iy9:B)BA*Aҭ9?2A:ֽ:Az=BAҭ9?JA:ֽRAz=٘i)I9.o@YG JJJJJbE&K YU~?yVAݺE77j7 z9 YV~?yeUA:Eb77z9)ǯBCE[[`[;V~?[[[[[[BZYY i)  MIi^o@/2=  ))  تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036405.083165 s, next control iter: 1743036405.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036405.483165 s.q_WI~,^'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036405.483271F (some fields omitted in printout)A\W@AmW@AVW~? AA~%"AA jNA"AZAbAjArAzAAA 5ϿA<į@sAn@A9<A䒟=A4A`?A`A^*Aq9?2Axֽ:Aj=BAq9?JAxֽRAj=٘i)I9n@YG JbJJJJgE&K YV~?y>?UAE774 z9=B)ͯBFE[[G\[W~?[`[[[[BZYY i) y̛IiQl@V>=  ))  c۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036405.503165 s, next control iter: 1743036405.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9904, header.stamp.nsec: 00 temperature: 13.570061* salinity: 33.375065, density: 1025.000000* values[0]: 0.573784F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036405.903165 s.]I~,y'AJ"J*J2J:J?BJ?nJ5vJAQX@AʢX@ALhW~? AAV%"AA:jNA"AZAbAjArAzAAA`9GA sA}m@A@8A=A{/A!?AMAp *A/9?2Aֽ:AG=BA/9?JAֽRAG=٘i)I9}m@YG JJJJJjE&K Y*V~?yTAE77{7z9)ѯB[[W[W~?[Cf[[[[BZYY i) KIii@G= j))jjުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036405.923165 s, next control iter: 1743036406.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036406.323165 s.xdI~,-'AAGzTX@AoGX@A zW~? AA%"AATjNA"AZAbAjArAzAAAij?A@LsAl@AS<A=A,*A2?AA=*A/9?2A׽:A =BA/9?JA׽RA =٘i)I9l@Y1G JJJJJlE&K Y?V~?y﫪lTAE{7Z7_z9>B)ׯBIE[[%S[W~?[zk[[[[BZYY i) hʪIiZg@= ^!))^!^!nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036406.343165 s, next control iter: 1743036406.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9905*, header.stamp.nsec: 0*0 temperature: 13.570268** salinity: 33.375061*, density: 1025.000000** values[0]: 0.573169*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036406.743165 s.WkI~,i'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036406.743292F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=X@A5}X@A-W~? AlAep%"AAojNA"AZAbAjArAzAAAWks?A/ sAVl@A˿TAu=A$A?AยA*Av9?2A!׽:A =BAv9?JA!׽RA =٘i)I9Vl@YG JJJJJoE&K YUV~?yȱTAE7777z9@B)ݯBME[[ÍN[ YkV~?ySAEz9)B[[J[>W~?[u[[[[BZYY i) ڜIia@Vz= p))ppYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036407.183165 s, next control iter: 1743036407.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036407.583165 s.xI~, S'AJ"J*J2J:JBJnJvJA)\X@A1X@AW~? AAݒ%"AAݧjNA"AZAbAjArAzAAAۛd?AÝtAk@AA}=AA2?A 3߿Az*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9k@YG JμJJJJtE&K YۂV~?ySAEŧ7b7z9)BPE[[#mE[NW~?[z[[[[BZYY i) Iin^@?[= h<))h<h<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036407.603165 s, next control iter: 1743036407.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9906, header.stamp.nsec: 00 temperature: 13.570459* salinity: 33.375095, density: 1025.000000* values[0]: 0.572519F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036408.003165 s.y I~,P4'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083792< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036408.003299F (some fields omitted in printout)AR+Y@A~Y@AW~? AA'%"AAjNA"AZAbAjArAzAAA_?AN7tAyj@A;Aj=AAT?A3߿Aɼ*Ac9?2A.ֽ:ACM=BAc9?JA.ֽRACM=٘i)I9yj@YG J0żJJJJwE&K YV~?y9RAE77!z9AB)BSE[[@[l_W~?[}[[[[BZYY i) [AȼIi~[@/z = =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036408.023165 s, next control iter: 1743036408.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036408.423165 s.uI~,'AJ"J*J2J:JBJnJvJA{GaY@A[@h=TY@A[W~? AaA%"AAjNA"AZAbAjArAzAAAi?A云t tAi@AvO<A˯=ADA?A [|޿Atϼ*A&9?2A= ֽ:A\=BA&9?JA= ֽRA\=٘i)I9i@YLG J̼JJJJzE&K YV~?y^ƪ:RAE7J%z9BB)BVE[[3<[6pW~?[O[[[[BZYY i) dϼIiX@ = M=))M=M=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036408.443165 s, next control iter: 1743036408.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9907, header.stamp.nsec: 00 temperature: 13.570679* salinity: 33.375069, density: 1025.000000* values[0]: 0.571826F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036408.843165 s.݌I~,5'AAp= Y@AY@ADW~? AAX%"AAjNA"AZAbAjArAzAAA:<_R?Ab.ĞtAi@A#><A\=A^ A ?A@ݿAѼ*A:9?2A3ֽ:AIf=BA:9?JA3ֽRAIf=̖I٘i)I9i@Y G JмJJJJ|E&K YV~?y˪QAEŧ7b7(z9)B[[W7[YW~?[[[[[BZYY i뽽) 5ּIiV@t =  =)) = =YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036408.883165 s, next control iter: 1743036409.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036409.263165 s.I~,P'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036409.263264F (some fields omitted in printout)J"J*J2J:JBJnJvJAY@A3Y@AX~? AëA%"AAbkNA"AZAbAjArAzAAA<%(?ActA0nh@Ay4;AMI=AbAm?AݿA6AѼ*A9?2AŌֽ:A=BA9?JAŌֽRA=YP@yH=%;ٓH1? ?֙?`p߿?" Fr?>?)P@ I٘i)I9nh@Yv G JѼJ<JJJE&Kx> YV~?yϪPQAEb77u,z9)BZE[[2[W~?[[[[[BZYY i) ޼IiR@@= ɰ=))ɰ=ɰ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036409.283165 s, next control iter: 1743036409.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9908., header.stamp.nsec: 0.0 temperature: 13.570916.* salinity: 33.375088., density: 1025.000000.* values[0]: 0.571074.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036409.683165 s.lI~,Rk'AA(\Z@AfY@AX~? AȫAQ%"AAM=kNA"AZAbAjArAzAAA7m@AӶtAg@A@AC=AA?AN<ܿA}Uͼ*AS9?2A'ֽ:A=BAS9?JA'ֽRA=٘i)I9g@Y G J~ϼJJJJE&K Y`V~?yLԪPAE{7j7 0z9DB)B^E[[V.[3W~?[0[[[[ZZ¸BZYY i¸&=) I#ҼIiFO@= `=))`=`=YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743036409.683165 s, next control iter: 1743036410.083175 s, wait time: 0.400010 sF`V~?)FLԪ rAdjusting time to match Gazebo time: 1743036410.103165 s.I~,'AJ"J*J2J:JBJnJvJAQ8Z@AnE+Z@A)X~? AWͫAQ3%"AA\kNA"AZAbAjArAzAAAcS@AVأtAg@A9AAb"=ArlA ?A`tۿA̼*Ae}9?2A׽:Ae=BAe}9?JA׽RAe=٘i)I9g@Y G J̼JJJJE&K YW~?yتbPA DEŧ7b73z9) BaE[[c)[/W~?[[[[[ZZBZYY i) $ƼIiL@+= =))==yٽuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036410.143165 s, next control iter: 1743036410.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036410.523165 s.I~,{'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743036410.523261F (some fields omitted in printout)AHznZ@AHaZ@A2?X~? AѫA%"AA|kNA"AZAbAjArAzAAA4@AA={tAiTf@AJKA=AA.E?AzڿAL*A9?2Aֽ:A*<BA9?JAֽRA*<٘i)I9Tf@Y. G JJJJJE&K YA)W~?yݪOAEj7Z757z9)B[[%[W~?[[[[[ZZBZYY i) 'IiNI@= 6>))6>6>y =?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036410.543165 s, next control iter: 1743036410.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9909, header.stamp.nsec: 00 temperature: 13.571160* salinity: 33.375111, density: 1025.000000* values[0]: 0.570325F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036410.943165 s.WdI~,>]'AJ"J*J2J:JBJnJvJAq= ףZ@A~nhʖZ@ATX~? A֫A0}%"AAkNA"AZAbAjArAzAAAjG @ADQl>tA}e@AٻAQ =AA?A4ٿA-k*A9?2Azֽ:Aȸ<BA9?JAzֽRAȸ<٘i)I9}e@Y G JvJJJJE&K YAW~?yztOAE777:z9EB)BdE[[O [.W~?[Q[[[[ZZBZYY i) *IiF@< @#>))@#>@#>y֨=ԪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036410.963165 s, next control iter: 1743036411.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036411.363165 s.I~,>'AAZ@ARZ@AyjX~? AګA&%"AAkNA"AZAbAjArAzAAA8KS@AtAId@A|N;Aw=A׾A?A@1ٿA6t*A\9?2Aֽ:Aq<BA\9?JAֽRAq Y|[W~?y!OA׾E{7j7`>z9) BgE[[[W~?[x[[[[ZZBZYY i) 㢼IiB@>< 5>))15>5>dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036411.383165 s, next control iter: 1743036411.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9910&, header.stamp.nsec: 0&0 temperature: 13.571449&* salinity: 33.375114&, density: 1025.000000&* values[0]: 0.569415&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036411.783165 s.SI~,'AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250379> elevatorAngleAction: 0.083256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036411.783302F (some fields omitted in printout)A(\[@ALQ[@AX~? A(߫A%"AAkNA"AZAbAjArAzAAAiK5 @A0"tA*c@AW!<A3=Aw;A` ?A FؿAaԼ*A9?2Acpֽ:A{;BA9?JAcpֽRA{;٘i)I9c@Y G JJJJJE&K YGuW~?yNA E77Az9FB)&BjE[[[X~?[[[[[ZZBZYY i) Ii>@c< iH>)) iH>iH>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036411.803165 s, next control iter: 1743036412.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036412.203165 s.I~,2 'AAQE[@A<8[@AX~? ACA%"AAlNA"AZAbAjArAzAAA o[S @A}f%tAAc@AA<A<AE8þAM?Ajr׿AȮ*A9?2ANpս:APBA9?JANpսRAP٘i)I9Ac@YO G JƼJJJJE&K YW~?yI{NA E7777Ez9),B[[=[X~?[[[[[ZZBZYY i)  YIi;@< K[>))K[>K[>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036412.223165 s, next control iter: 1743036412.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036412.623165 s.UI~,T''AJ"J*J2J:J?BJ?nJ5vJAGz[@Am[@AX~? A;A0%"AA"lNA"AZAbAjArAzAAAm-dx@AT_q'tA]b@A!;AY<AAΈ?AJֿAG僼*AR9?2AZ{ս:A` BAR9?JAZ{սRA` ٘i)I9b@Y G JB=JJJJE&K YߨW~?y(NAEŧ7b7 Iz9)0BmE[[O} [i(X~?[l[[[[ZZBZYY i) Ii8@,< 0Jn>))0Jn>0Jn>UpYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036412.643165 s, next control iter: 1743036413.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9911 , header.stamp.nsec: 0 0 temperature: 13.571689 * salinity: 33.375122 , density: 1025.000000 * values[0]: 0.568631 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036413.043165 s.I~,B'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083256< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036413.043277F (some fields omitted in printout)A= ף[@Asd嗣[@AcX~? AA%"AAElNA"AZAbAjArAzAAAºQ@Aֆ)tA"^b@A P˺AӻAͱAp?AտAP.*Aǰ9?2Axս:A}BAǰ9?JAxսRA}٘i)I9^b@Y G JbC=JJJJE&K YW~?y}MAEb7Lz9RB)?BqE[[/[))X>X>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036413.083165 s, next control iter: 1743036413.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036413.463165 s.VI~,]'AJ"J*J2J:J?BJ?nJ5vJAffff[@Aa[@AX~? AA'%"AAglNA"AZAbAjArAzAAAe.j@AN]ф,tAn$b@A AǬAsA?AԿA:*A9?2Apս:A|BA9?JApսRA|Y<Ƿ@XyŬ ٓH[?44?sU0Կ\? O?`R?c?)<Ƿ@ I٘i)I9$b@Y G JM B=JFJJJE&Kt> YW~?yFMAXE7KPz9)ABtE[[[PX~?[޶[[[[ZZBZYY i q=) ߆YIi 1@ ?< %>)) x} %> %> g)YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036413.503165 s, next control iter: 1743036413.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9912, header.stamp.nsec: 00 temperature: 13.571783* salinity: 33.375153, density: 1025.000000* values[0]: 0.568174F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036413.883165 s.yI~,8x'AA(\@AR\@AX~? AIAmT%"AAlNA"AZAbAjArAzAAAiUI@A4-0.tAb@AXVA< A)A!/?A@%ԿA f *A9?2Aս:AڼBA9?JAսRAڼ٘i)I9b@Y G JTC=JJJJE&K YaW~?yNAE77j7Sz9)BBwE[[-t[YeX~?[l[[[[BZYY ik=) GIi-@.< >)) >>O:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036413.903165 s, next control iter: 1743036414.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036414.303165 s.QI~,bg'AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036414.303278F (some fields omitted in printout)AQ\@AD\@Au Y~? AA%"AAlNA"AZAbAjArAzAAA$,&b@AN'C0tA b@A A$8A揾Ae?ACӿA;*A 9?2A$Խ:A BA 9?JA$ԽRA 𼙘٘i)I9b@Y G J:JJJJE&K Y=X~?y,NAEŧ7b7uWz9)zE[[[DzX~?[Ὢ[[[[BZYY i) 5q5Ii*@J< B>))B>B>w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036414.323165 s, next control iter: 1743036414.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9913., header.stamp.nsec: 0.0 temperature: 13.571715.* salinity: 33.375149., density: 1025.000000.* values[0]: 0.568166.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036414.723165 s.I~,H'AAz\@AbKz\@AE"Y~? AA%"AAlNA"AZAbAjArAzAAA>7+@A>b>2tA.Cb@A .A-\AׅA ҕ?AhҿA;*A9?2A ս:A!BA9?JA սRA!٘i)I9Cb@Y G J;B=JJJJE&K Y.X~?yINAE7777 [z9)@B[[E6[X~?[<[[[[BZYY i) b#Ii&@;< q>))q>q>y=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036414.743165 s, next control iter: 1743036415.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036415.143165 s.W/I~, *'AJ"J*J2J:Jy?BJy?nJ5vJA ףp\@AYQi\@AI:Y~? AA%"AAlNA"AZAbAjArAzAAAJr@A9!4tAVb@A%;AyAuA`r?A>ѿAW0<*A9?2Aս:A?BA9?JAսRA?٘i)I9b@Y G J^<C=JJJJE&K YHX~?yjfNA E77^z9SB)>B}E[[5[X~?[|Ī[[[[BZYY i) STIi$@^< >))>>+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036415.163165 s, next control iter: 1743036415.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036415.563165 s.I~,J 'AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743036415.563314F (some fields omitted in printout)A3333\@A~k'\@ARY~? AAwV%"AA]mNA"AZAbAjArAzAAAlZ @A5tARb@AH<Aj,A`A?AпA|]<*A9?2Aս:Aej BA9?JAսRAej Y6@Hay)8gI<ٓH '??g˿:?e?!?J?@?)6@ I٘i)I9b@Y G JE<J߽JJJE&K*u> YdX~?yWNAa#Ej7j76bz9)))z0>0>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036415.603165 s, next control iter: 1743036415.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9914, header.stamp.nsec: 00 temperature: 13.571492* salinity: 33.375160, density: 1025.000000* values[0]: 0.568451F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036415.983165 s.I~,'AJ"J*J2J:JBJnJvJA\(]@A"]@AjY~? AAO%"AA1@mNA"AZAbAjArAzAAA8v 5@Av27tA:c@A,<AⒽA1-LAm?AϿA<*A9?2Aս:A1tBA9?JAսRA1t٘i)I9:c@YK G Jq<JJJJE&K YX~?yCOA&E777ez9)9BE[[MJξ[aX~?[ʪ[[[[BZYY i) Ii@* < i>)) i>i>p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036416.003165 s, next control iter: 1743036416.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036416.403165 s.&J~,(AAQ^]@AsQ]@A}Y~? AeA-%"AANemNA"AZAbAjArAzAAAIp5_@A.>9tAc@As T;AAQX8AD?A`6ͿAݛ<*A9?2ASRԽ:A&BA9?JASRԽRA&٘i)I9c@Y G J<B=JJJJE&K YX~?y0zOA(EZ7Z7`iz9)5BE[[)ľ[X~?[hͪ[[[[BZYY i) |ŻIi@P< >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036416.423165 s, next control iter: 1743036416.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9915", header.stamp.nsec: 0"0 temperature: 13.571222"* salinity: 33.375164", density: 1025.000000"* values[0]: 0.568981"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036416.823165 s. J~,:4(AJ"J*J2J:JvPublished command to Gazebo (printed only once in a while):BJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036416.823292F (some fields omitted in printout)AGz]@A1zn]@A?Y~? AA%"AAmNA"AZAbAjArAzAAA|n@A&dn:tA=d@AbAAj$AJi?A˿A<*A9?2ANNԽ:A<BA9?JANNԽRA<٘i)I9=d@Y G Jf<C=JJJJE&K Y;X~?y OA+E)7b7lz9)1BE[[˺[X~?[(Ъ[[[[BZYY i) oIi@s< %T>))%T>%T>y_j=*Y(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036416.863165 s, next control iter: 1743036417.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036417.243165 s.J~,iO(AAףp=]@A1]@A'Y~? A7 A%"AANmNA"AZAbAjArAzAAA<*@A7/)))>)>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036417.263165 s, next control iter: 1743036417.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036417.663165 s.J~,qj(AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9916, header.stamp.nsec: 00 temperature: 13.570856* salinity: 33.375187, density: 1025.000000* values[0]: 0.569728F (some fields omitted in printout)A^@AC]@A6Y~? Ae Ax[%"AA(mNA"AZAbAjArAzAAA$ja@A=tAoe@A>A1AA?AhȿA޹<*Af9?2AHս:A= BAf9?JAHսRA= Y4@y1/?ٓH`R?\??@;?@? }߇?)4@ I٘i)I9oe@Y G JA<JJJJE&Kqt> YX~?y PA0Eŧ7b7 tz9)'B[[=[k*Y~?[Bժ[[[[BZYY i) HRIi @<  >))tx > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036417.683165 s, next control iter: 1743036418.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036418.083165 s.D!J~,S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242803> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036418.083302F (some fields omitted in printout)A)\5^@A5(^@AgY~? Al A?2%"AA:mNA"AZAbAjArAzAAA&@Al_]>tA f@AnAVA{,ͽA`?AőƿAU<*A9?2Aս:AGBA9?JAսRAG٘i)I9 f@Y G J <JJJJE&K Y Y~?y& QA3E77wz9)"BE[[r[eAY~?[ת[[[[BZYY i) Ii@W(< >)) >>h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036418.103165 s, next control iter: 1743036418.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036418.503165 s.'J~,D4(AJ"J*J2J:J?BJ?nJ 5vJARk^@A-z^^@AZ~? AHA1 %"AA"nNA"AZAbAjArAzAAA\u"N@AҲH?tAמf@A#|;AᖽAA ?AiĿA<*A9?2A~Խ:ABA9?JA~ԽRA٘i)I9f@Y\ G J<JJJJE&K Y&Y~?y4mQA6Eb77K{z9RB)BE[[[XY~?[٪[[[[BZYY i) 9Ii @N< >))>>}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036418.523165 s, next control iter: 1743036418.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9917, header.stamp.nsec: 00 temperature: 13.570420* salinity: 33.375210, density: 1025.000000* values[0]: 0.570531F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036418.923165 s.8.J~,(AA{G^@A]=^@A1Z~? AA?%"AAHnNA"AZAbAjArAzAAAhҿlA @A_7@tA.g@A4<A7MAarAm?A@5¿A^ئ<*A;9?2AԽ:ABA;9?JAԽRA٘i)I9.g@Y G J<JJJJE&K YBY~?yBQA8E7{7~z9)BE[[[DpY~?[۪[[[[BZYY i) пIi@< z=?))z=?z=?y=3*Y] YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036418.943165 s, next control iter: 1743036419.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036419.343165 s.J "J *J 2J <5J~:J)?BJ)?,(AnJB5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036419.343273F (some fields omitted in printout)Ap= ^@A<*^@A3Z~? AA^%"AAonNA"AZAbAjArAzAAA\L7l @A` AtAwg@A+K<AABc A?A@(AZ<*AC9?2APս:A@ZBAC9?JAPսRA@Z٘i)I9g@Y G J<JJJJE&K Y^Y~?yP?RA;E{7j7vz9SB)BE[[N[Y~?[ݪ[[[[BZYY i) 9Iie?,< *< ?))*< ?*< ?*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036419.363165 s, next control iter: 1743036419.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9918&, header.stamp.nsec: 0&0 temperature: 13.570045&* salinity: 33.375221&, density: 1025.000000&* values[0]: 0.571299&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036419.763165 s.6;J~,(AA _@A^@AiMZ~? AA%"AAtnNA"AZAbAjArAzAAAcw!@Aj?BtA*@h@Ae;A׏A%Ae1?ANA۠<*Af:?2Asս:Ab;BAf:?JAsսRAb;Y|j@Ly#֏sW;ٓH`3?“? q^<A?7x?`}??)|j@ I٘i)I9@h@YZ G J<J'k<JJJ»E&Kt> Y/{Y~?y}RAL>Eb77 z9)BE[[k[ПY~?[ߪ[[[[BZYY i) :Ii ?//< -?))i'w-?-?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036419.783165 s, next control iter: 1743036420.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036420.183165 s.BJ~,V (AJ"J*J2J:JX?BJX?nJt5vJA(\B_@APۆ5_@A'gZ~? A%Aߒ%"AAfnNA"AZAbAjArAzAAA%>"@A+bwCtAh@AIۺA6ЍAW9A@C?ArA<*A:?2A~ս:A7BA:?JA~սRA7٘i)I9h@Y G J<JJJJŻE&K YmY~?ySA@E7z9) BE[[#W[ԷY~?[e[[[[BZYY i) i;Ii~?Y< )?)))?)?M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036420.203165 s, next control iter: 1743036420.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036420.603165 s.B4IJ~,ݚ&(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261108> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743036420.603300F (some fields omitted in printout)AQx_@A+MFk_@AZ~? A5A]|%"AAynNA"AZAbAjArAzAAATnȭ"@AC$MDtAMi@AA͋A;<A@V?A`.A <*A=:?2Aӽ:AiBA=:?JAӽRAi٘i)I9Mi@Y G Jv<JJJJȻE&K YY~?y`SACE77{76z9)BE[[ÄC[Y~?[[[[[BZYY i) U;Ii?Ƒ< .?)) .?.?J*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036420.623165 s, next control iter: 1743036421.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9919 , header.stamp.nsec: 0 0 temperature: 13.569661 * salinity: 33.375240 , density: 1025.000000 * values[0]: 0.572027 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036421.023165 s.ZPJ~,{A(AJ"J*J2J:JBJnJvJAHz_@A# _@AߚZ~? AAh%"AA oNA"AZAbAjArAzAAA"M#@AP8DtAJi@A%?NAΉA =AEd?AA<*Ah :?2A.Խ:ABAh :?JA.ԽRA٘i)I9i@YOG JҞ<B=JJJJʻE&K YY~?ySAFEb77ːz9)B[[#J/[Y~?[V[[[[BZYY i) ;Ii?]< R=?))R=?R=?ѻ*Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036421.043165 s, next control iter: 1743036421.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036421.443165 s.8VJ~,B]\(AAq= _@A&_@AѴZ~? AAX%"AA2oNA"AZAbAjArAzAAAy#@A[EtAPUj@A=KA뇽As=Ao?A׮A<*AG :?2AԽ:ASBAG :?JAԽRAS٘i)I9Uj@YG Jٚ<C=JJJJͻE&K Y"Y~?y0"TAHE7`z9)BE[[[tZ~?[[[[[BZYY i) K;Ii?;< R"?))R"?R"?=*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743036421.463165 s, next control iter: 1743036421.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9920, header.stamp.nsec: 00 temperature: 13.569289* salinity: 33.375240, density: 1025.000000* values[0]: 0.572740F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036421.863165 s.+]J~,>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: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036421.863286F (some fields omitted in printout)A`@A( `@AZ~? ArAoK%"AAMZoNA"AZAbAjArAzAAA@6O$@ADzEtAj@AA/VAAy=Ax?AeKA=<*Ao:?2Afս:ABAo:?JAfսRAY@ۉ=y.VOٓH?_ B??sǰ?t?a?)@ I٘i)I9j@YG J}<B=J4<JJJлE&Kt> YMZ~?y{|TA=KE)7)7z9RB)BE[[s[Z~?[[[[[BZYY i=) b;Iid?s< >['?))zv>['?>['? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036421.883165 s, next control iter: 1743036422.263183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036422.283165 s.6RdJ~,(AA(\O`@AO7PB`@AZ~? AAmA%"AAoNA"AZAbAjArAzAAASMr&%@A EtAIk@A<A6AO=A@ ?A@|TA_R<*A/:?2Aֽ:ASBA/:?JAֽRAS򼙘٘i)I9Ik@Y3G J<C=JJJJһE&K Yu$Z~?yTANE77{7z9PB)BE[[&[2Z~?[[[[[BZYY i) ;Ii?&{< m,?))7im,?m,?x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036422.303165 s, next control iter: 1743036422.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9921., header.stamp.nsec: 0.0 temperature: 13.568915.* salinity: 33.375275., density: 1025.000000.* values[0]: 0.573434.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036422.703165 s.J "J *J 2J :J ?BJ ?nJ 5vJ غjJ~,(AAQ`@A{x`@A[~? A A:%"AA/oNA"AZAbAjArAzAAAtom%@Ab29EtAk@A{|M<A+!AS=A!?A县A-5<*A4:?2AzԽ:AXBA4:?JAzԽRAX٘i)I9k@YxG J<B=JJJJջE&K Y@Z~?y0UAPE)7ŧ7!z9)BE[[[LZ~?[o[[[[BZYY i)  elevatorAngleAction: 0.077509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036423.123277F (some fields omitted in printout)AG`@Aխ`@A[~? A7A+7%"AAoNA"AZAbAjArAzAAA"b&@A KqEtA(l@ALB)<A1tA=O>A`0?A`>IA<*A/:?2AWԽ:A_BA/:?JAWԽRA_٘i)I9(l@YG Jx<C=JJJJػE&K Y\Z~?y\UASEb7z9OB)BE[[[aeZ~?[[[[[BZYY i) RA`?A@?AI<*Ax):?2AԽ:ABAx):?JAԽRA٘i)I9l@YG J <B=JJJJۻE&K YxZ~?y UAVE77Lz9)BE[[LR[~Z~?[[[[[BZYY i) 70"A@݀?Ajǜ?Aeύ<*A":?2AԽ:ANeBA":?JAԽRANeY]@8>y%.9ԻٓHRh?`ƿf?`g{?)w@Wb?prz`?)]@ I٘i)I9 m@YFG J=<C=JJJJݻE&K:t> YZ~?y BVA8>YEj7Z7z9NB)BE[[[3Z~?[[[[[BZYY i)  1 elevatorAngleAction: 0.077509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036424.383309F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\a@AѲOa@Ak[~? AA(?%"AA*GpNA"AZAbAjArAzAAAxQp<(@A'EtAm@ACGA֍AhL>A z?Aޥ?A.<*A:?2A>ս:A1 BA:?JA>սRA1 ٘i)I9m@YG J/<JJJJE&K YZ~?y} VA[E77vz9)BE[[/=9[Z~?[[[[[BZYY i) 7!AAs?AƼ?A<*A1:?2A&ӽ:A BA1:?JA&ӽRA ˖I٘i)I9n@YG JД<JJJJE&K YSZ~?yVA^E7777 z9)ޯB[[/<[nZ~?[[[[[BZYY i) kPA`Vi?AW?Afח<*A.:?2AnԽ:A BA.:?JAnԽRA ٘i)I9n@Y)G JV<JJJJE&K YZ~?yTZWAaE77z9MB)ٯBE[[<[RZ~?[[[[[BZYY i) ` elevatorAngleAction: 0.077509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036425.643285F (some fields omitted in printout)A ףpa@A@1da@A[~? AfAc%"AASpNA"AZAbAjArAzAAA5'*@A%Xټ:DtAo@A;AፕA>A [?A H?A|<*Ay(:?2A'/ս:A BAy(:?JA'/սRA ٘i)I9o@YwG J.<JJJJE&K Y[~?yWAcE)7ŧ76z9)կBE[[tiM=[\Z~?[[[[[BZYY i) 1oA K?A\ ?Au<*A":?2AUս:A{q BA":?JAUսRA{q Y|=Ï>y+8<ٓHu?ѿ u?Ǽ?`?q??)|= I٘i)I9o@YG J9<JhwJJJE&K|t> Y[~?yOXAÏ>fEŧ7b7̻z9LB)ЯB¹E[[y=[[~?[[[[[BZYY i) ~A X9?A?˽?AJ<*A:?2Aֽ:A BA:?JAֽRA ٘i)I9p@YG JR<JJJJE&K Y':[~?yXAiEb7az9KB)˯BŹE[[Z=[3[~?[v[[[[BZYY i)  elevatorAngleAction: 0.077509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036426.903309F (some fields omitted in printout)AQb@ASͬb@AY\~? AA%"AA2qNA"AZAbAjArAzAAA +@Al.+ BtAp@A;A&A,>A%?A@?AI<*A2:?2AKԽ:AZBA2:?JAKԽRAZ٘i)I9p@YhG J!<JJJJE&K YHU[~?ynXAkE77z9)ƯBȹE[[ =[M[~?[[[[[BZYY i) wA?Aޜ?A<*A/:?2AVԽ:ABA/:?JAVԽRA٘i)I9q@YG J<JJJJE&K Yjp[~?yQYAnE77{7z9JB)B˹E[[>[Eg[~?[[[[[BZYY i/=) -A ?A-i?A<*Ac*:?2A Խ:ABAc*:?JA ԽRA٘i)I9q@YG J3<JJJJE&K Y[~?yYAqE7ŧ7!z9)B[[m>[[~?[s[[[[BZYY i) Η elevatorAngleAction: 0.087005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036428.163284F (some fields omitted in printout)A@c@Ay"2c@AR\~? A A%"AAqNA"AZAbAjArAzAAAT*-@A= >tAIr@ACNAAK>A?A:?A<*A :?2A Խ:A%BA :?JA ԽRA%Yq%>o>yYXkOٓH ?@׿@?ö? #;?{؉?)q%> I٘i)I9Ir@YvG J}<J;JJJE&Kt> Y[~?yG$ZA>sE77j7z9)BιE[[U2>[y[~?[[[[[BZYY i) xA@c?A ?A"<*A+:?2Aoս:ABA+:?JAoսRA٘i)I9r@YG JU<B=JJJJE&K Y[~?yZAvE7{7Lz9IB)BѹE[[U.H>[[~?[[[[[BZYY i) :tA@?A ?Af<*AG':?2AژԽ:ABAG':?JAژԽRA٘i)I9|s@Y1G J<C=JJJJE&K Y'[~?yZAyEb77z9FB)BӹE[[]>[[~?[[[[[BZYY i) ] elevatorAngleAction: 0.087005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036429.423291F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gc@Ay<-?c@A>\~? AWAbz%"AArNA"AZAbAjArAzAAA3/@A.s* ;tAt@A <A=AL>A2y?A |?A=<*Aj:?2A:ս:A][BAj:?JA:սRA][٘i)I9t@YG Jz<B=JJJJE&K Y^[~?ytj[A{E7)7wz9EB)BֹE[[Us>[[~?[ު[[[[BZYY i) Q>AS?AE?ANr<*A:?2Aս:A|BA:?JAսRA|٘i)I9t@YG Jo<C=JJJJE&K Y\~?y/[A~E77 z9)B[[Kń>[\~?[ܪ[[[[BZYY i) >; @?))@?@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036429.883165 s, next control iter: 1743036430.243186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743036430.263165 s.'J~,bؐ(AJ"J*J2J:JBJnJvJALd@AU?d@A\~? ADA,%"AAdrNA"AZAbAjArAzAAApkW0@A.7tA|Ou@A.!<AA>A+?ApT?A<*A4:?2Aս:A,ABA4:?JAսRA,AYf>9>yҌ7"<ٓHA?[ݿ "?`X?ʵ? =??)f> I٘i)I9Ou@YMG J<JnJJJE&Ku> Y'\~?yL\A>E{7j7z9DB)BٹE[[>[\~?[ڪ[[[[BZYY i) '/; o?))R{o?o?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036430.283165 s, next control iter: 1743036430.663184 s, wait time: 0.380019 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 99292, header.stamp.nsec: 020 temperature: 13.5658792* salinity: 33.3753892, density: 1025.0000002* values[0]: 0.5791972F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036430.683165 s.lJ~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245191> elevatorAngleAction: 0.087005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036430.683310F (some fields omitted in printout)A(\d@A<ud@A9\~? AA%"AA rNA"AZAbAjArAzAAAs0@A4(?6tAu@A;A1WA?A ?A?A<*A:?2Asս:AAOBA:?JAsսRAAO٘i)I9u@YG J<JJJJE&K Y@\~?y \AEZ7SI77z9CB)BܹE[[ώ>[7\~?[Gت[[[[BZYY i) Dd; +?)) +?+?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036430.683165 s, next control iter: 1743036431.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743036431.103165 s.J~,(AJ"J*J2J:Jd?BJd?nJ5vJAQd@A0Ed@A]~? AAE%"AArNA"AZAbAjArAzAAA 1R0@A(;w4tAv@A^AA&w?A`?Acr?A-<*A+:?2AE?Խ:A;BA+:?JAE?ԽRA;٘i)I9v@YG J<JJJJ E&K YY\~?yܪ6]AEj7j7z9BB)B߹E[[;>[Q\~?[ժ[[[[BZYY i) ,F?; |?))|?|?*YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743036431.123165 s, next control iter: 1743036431.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036431.523165 s.J~,|(AAHzd@Aud@A]~? AAD%"AArNA"AZAbAjArAzAAAzi41@A}ڌ~2tA&Uw@AHA}Ao ?A?ATJ?A(<*A :?2AxԽ:A BA :?JAxԽRA ٘i)I9Uw@YG J<JJJJE&K Yr\~?yت]AE7777az9)BE[[K>[k\~?[Ҫ[[[[BZYY i) te; @?))@?@?*Y.YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036431.543165 s, next control iter: 1743036431.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9930, header.stamp.nsec: 00 temperature: 13.565467* salinity: 33.375404, density: 1025.000000* values[0]: 0.580108F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036431.943165 s.`dJ~,d](AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036431.943301F (some fields omitted in printout)Aq= #e@Ale@A0]~? AKAt%"AArNA"AZAbAjArAzAAAj|1@A0tA" x@Aa6AAD?Axx?A *%?A'~<*A_:?2AԽ:A BA_:?JAԽRA ٘i)I9 x@YG J<JJJJE&K Y\~?yԪ ^AE7z9)B[[7ݻ>[u\~?[Ϫ[[[[ZZZZ¸>BZYY i¸>rf) =; ;?));?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036431.963165 s, next control iter: 1743036432.343186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743036432.363165 s.J~,>(AAYe@AuLe@A9H]~? AA%"AA1sNA"AZAbAjArAzAAA1@AeU.tAx@AWA8AJ?A@2E?A ?A><*AN9?2A"ս:A:LBAN9?JA"սRA:LYD>??y}8{犻ٓH?pͳm?@K?{@?Jq?)D> I٘i)I9x@YiG J<B=J&8JJJE&Ku> Y\~?yϪ^A?E77z9>B)xBE[[w>[؞\~?[̪[[[[ZZZZBZYY i) ĿQ: KC?))~KC?KC?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036432.383165 s, next control iter: 1743036432.763179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9931&, header.stamp.nsec: 0&0 temperature: 13.564996&* salinity: 33.375404&, density: 1025.000000&* values[0]: 0.581042&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036432.783165 s.V J~,2(AJ"J*J2J:J?BJ?nJ5vJA(\e@A[;Qe@A_]~? AkA@%"AA?sNA"AZAbAjArAzAAA]5 2@A.n,tApy@A9;AAk?A ?A L?A=*A:?2ALֽ:A[BA:?JALֽRA[٘i)I9y@YG Jw<C=JJJJE&K Y\~?y$˪_AEb77"z9=B)pBE[[>[6\~?[bɪ[[[[ZZZZBZYY i) ڪ<AA?A?A ?A=*A#:?2A~eս:AbBA#:?JA~eսRAb٘i)I9pz@YlG J=JJJJE&K Y6\~?yNƪ_AEz9[\~?[Ū[[[[ZZZZBZYY i) F[\~?[ª[[[[ZZZZBZYY i) []~?[.[[[[ZZZZBZYY i) i/?y.⼙ٓH?@5 C3??t@D?@b\?)> I٘i)I9|@YG J<C=J>JJJ E&Kv>  {9YC]~? {9y`A/?Ej7Z7w{9:B)TBE[[sV>[]~?[[[[[ZZZZBZYY i e)  ?A6c?Ai?Ap;*Ag*:?2Aս:Aoȟ<BAg*:?JAսRAoȟ<٘i)I9}@YG J<JJJJ(E&K YY]~?yW#aAE77{94B)EBE[[?[e]~?[[[[[ZZZZBZYY i) .[JJJ.E&Ktu> Y]~?yaAH?Ej7j7b{93B)CBE[[~?[x]~?[[[[[BZYY ii) I6(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057070< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743036436.983308F (some fields omitted in printout)J"J*J2J:JBJnJvJA\g@A9^g@A;^~? A~īAw%"AAtNA"AZAbAjArAzAAA3N-X4@Am:tA}@A.N<A4V=AkM?A?A@R?A*A:?2Aս:Aa=BA:?JAսRAa=٘i)I9}@YG JJJJJ1E&K Y]~?yO`AE77{92B)E[[PN"?[Ǭ]~?[[[[[BZYY i%) Dm% Y]~?yz_Ab?E)7ŧ7M'{9)IB[[9?[ ^~?[[[[[BZYY i) PS;IH?iXǻ ?))??ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036438.683165 s, next control iter: 1743036439.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036439.083165 s.DqJ~,S(AA)\µh@AGtϺh@A^~? AAu%"AA&uNA"AZAbAjArAzAAA?e5@A~ՠtA{@A/A2=AVh?A ?AoB?AJf*Am9?2A׽:Ac=BAm9?JA׽RAc=٘i)I9{@YUG J>JJJJ>E&K Y]~?ysX_AE77*{9+B)KBE[[??[^~?[[[[[BZYY i) ;IH?iy(׻ l?))l?l?_ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036439.103165 s, next control iter: 1743036439.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036439.503165 s.wJ~,D4(AJ"J*J2J:Jg?BJg?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036439.503283F (some fields omitted in printout)ARh@AXyh@A#^~? AmA.%"AAYCuNA"AZAbAjArAzAAAay 6@AJ:˧sAHd{@AFzA,+=A>mm?A`ݤ?A2?Aީ*A9?2A~ֽ:Ao=BA9?JA~ֽRAo=٘i)I9d{@YG JnJJJJAE&K Y^~?y(m^AE77j7x.{9'B)LBE[[ƫE?[1^~?[Vz[[[[BZYY i) ߤ;IH?i<3l Q?))Q?Q?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036439.523165 s, next control iter: 1743036439.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9938, header.stamp.nsec: 00 temperature: 13.563539* salinity: 33.375511, density: 1025.000000* values[0]: 0.583346F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036439.923165 s.8~J~,(AA{G!i@A;i@Ag^~? AAQ%"AAX_uNA"AZAbAjArAzAAAB(xJB6@Aat"sAlz@A;Aay=Axr?A@N?A?A_׳*A9?2AXֽ:Al+=BA9?JAXֽRAl+=٘i)I9z@YG J֮JJJJCE&K Y^~?yVf^AE{7{7 2{9#B)MBE[[=K?[F^~?[s[[[[BZYY i) X;I˸H?i< Z>?))Z>?Z>?l۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036439.943165 s, next control iter: 1743036440.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036440.343165 s.J "J *J 2J :J B?BJ B?nJ 5vJ <J~,(AAp= Wi@AOIi@AK^~? AɘA%"AAzuNA"AZAbAjArAzAAAIx6@A/usA7z@Ae9<AsN=Aw?A@?A BA?A%*AT9?2Axֽ:A=BAT9?JAxֽRA=٘i)I97z@YJG JJJJJFE&K Yl,^~?y_)^AE75{9)QB[[yQ?[B[^~?[+m[[[[BZYY i) ;IPH?iBPZ 0?))0?0?B۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036440.383165 s, next control iter: 1743036440.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9939&, header.stamp.nsec: 0&0 temperature: 13.563745&* salinity: 33.375511&, density: 1025.000000&* values[0]: 0.582704&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036440.763165 s.8J~,#0(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036440.763295F (some fields omitted in printout)Ǎi@A3i@A^~? A̒A6%"AAuNA"AZAbAjArAzAAAVǎ6@A.wsAߚy@A=<A=A |?A@6?Ai?Ak*A 9?2Aֽ:Aw =BA 9?JAֽRAw =Y&D?}?y0=]B><ٓH?Ҵ`m?`???# ??)&D? IʖI٘i)I9y@YG JJ<JJJIE&Kx> Y;^~?y*X]A}?ĻE{7j789{9"B)UB E[["W?[o^~?[ef[[[[BZYY i) Z:IH?iHPJM ?))??w٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036440.803165 s, next control iter: 1743036441.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036441.183165 s.˒J~,cK(AJ"J*J2J:JBJnJvJA(\i@Ai@A^~? AAȬ%"AAޯuNA"AZAbAjArAzAAAiDs6@Aԝe+sA3x@Aϼ;Asϛ=A?A |?Ah?A*A:?2Aֽ:A =BA:?JAֽRA =٘i)I9x@YG JYJJJJKE&K YzK^~?yPU]AƻEj7Z7<{9)ZB[[ ]?[^~?[o_[[[[BZYY i) :INH?i[S ?))??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036441.223165 s, next control iter: 1743036441.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036441.603165 s.74J~,f(AAQi@A{Ei@A_~? A~A$%"AAuNA"AZAbAjArAzAAA8d7@AVasAgx@AJKAN=Aƒ?Aɾ?A`3?A**Aw:?2A6׽:AYY=BAw:?JA6׽RAYY=٘i)I9gx@Y0G JHJJJJNE&K Y[^~?yvI\AɻE77b@{9B) E[[+c?[^~?[IX[[[[BZYY i)  IH?iEe ?))??*ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036441.623165 s, next control iter: 1743036442.003175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9940 , header.stamp.nsec: 0 0 temperature: 13.563934 * salinity: 33.375530 , density: 1025.000000 * values[0]: 0.582053 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036442.023165 s.ZJ~,{(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036442.023296F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.j@A E !j@A_~? A.A%"AAuNA"AZAbAjArAzAAAHBsE7@AvesAw@A)A}Ɩ=Ap?Ap?A g?A`*A:?2Af׽:AZ=BA:?JAf׽RAZ=٘i)I9w@YG J׭JJJJQE&K Yj^~?yB\A̻EZ7Z7C{9)_B[[i?[3^~?[P[[[[BZYY i) HI?~H?il `?))`?`?ϪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036442.043165 s, next control iter: 1743036442.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036442.443165 s.7æJ~,>](AAq= cj@AcVj@A(_~? AyA3%"AAuNA"AZAbAjArAzAAAL! u7@A7sAHHw@AЭGA5^=A?A9?Ao?A'*A:?2A^׽:Ao<BA:?JA^׽RAo<٘i)I9Hw@YG J[JJJJSE&K Yz^~?y:\AϻE{7{7G{9B)bBE[[o?[J^~?[}I[[[[BZYY i) ÈI9qH?i2r ?))??`̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036442.463165 s, next control iter: 1743036442.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9941, header.stamp.nsec: 00 temperature: 13.564137* salinity: 33.375538, density: 1025.000000* values[0]: 0.581440F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036442.863165 s.+J~,>(AJ"J*J2J:J?BJ?nJ5vJAj@A|%j@A08_~? A@sAZ%"AAvNA"AZAbAjArAzAAA\ X7@AsAv@A A=A@?A t?A`?AXX*Al:?2AO&׽:A<BAl:?JAO&׽RAD?)#_? I٘i)I9v@Y,G J(JaJJJVE&Kx> Y^~?y2[A?ѻEZ7#K{9)fB[[Vu?[^~?[A[[[[BZYY i) ӮLIcH?iR~T" i?))i?i?CɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036442.883165 s, next control iter: 1743036443.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036443.283165 s.1RJ~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066477< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036443.283282F (some fields omitted in printout)A(\j@ACƣTj@A3G_~? AlAh%"AA)vNA"AZAbAjArAzAAA97@AFf;sA3v@A7,o:Aޏ=A)?A@?AZ?A飼*A:?2Aֽ:AaS<BA:?JAֽRAaS<٘i)I93v@YG JJJJJYE&K Y,^~?y%+S[AԻEN{9B)E[[{?[^~?[+:[[[[BZYY i) 섻IUUH?i7<) (?))(?(?;ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036443.303165 s, next control iter: 1743036443.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9942., header.stamp.nsec: 0.0 temperature: 13.564302.* salinity: 33.375526., density: 1025.000000.* values[0]: 0.580809.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036443.703165 s.ӺJ~,(AJ"J*J2J:J?BJ?nJ5vJAQk@Ao.j@AU_~? AeAL%"AA7@vNA"AZAbAjArAzAAAo! 7@A[sAgu@A<A=A?A?Aෞ?Aw*AG:?2Aֽ:AT=BAG:?JAֽRAT=٘i)I9u@YG JwB=JJJJ\E&K Y;^~?yU#ZA׻E777NR{9)jB[[?[^~?[A2[[[[BZYY i) eIFH?iAg. x?))x?x?+êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036443.723165 s, next control iter: 1743036444.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036444.123165 s.9J~,e(AAG:k@AY8-k@Ac_~? A%_A%"AAVvNA"AZAbAjArAzAAAj^(8@Ay]sA"u@AH<Aa=AG?A?A?A柼*A:?2Aֽ:AY=BA:?JAֽRAY=٘i)I9"u@Y2G J١C=JJJJ^E&K YG^~?yZAٻEj7j7U{9)oB[[E?[^~?[2*[[[[BZYY ipT) »I7H?iCB2 ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036444.143165 s, next control iter: 1743036444.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036444.543165 s.IJ~,"(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036444.543290F (some fields omitted in printout)A= ףpk@Ack@Aq_~? ADXAh%"AA kvNA"AZAbAjArAzAAAAp iR8@A Y^~?y YA?߻Eŧ7]{9B)rBE[[ A?[_~?[[[[[BZYY i) iIH?i; %"AAOvNA"AZAbAjArAzAAA&c8@A) BsA6s@A]EA=A?Ar?A`V?AF}*A9?2Ag׽:A=<BA9?JAg׽RA=<٘i)I96s@YG JJJJJiE&K Y^~?y*YAEb778d{9)xB[[׽:A<BA_9?JA>׽RA<٘i)I9r@YG JJJJJlE&K Y^~?yXAE77g{9)|B[[ً?[$C_~?[[[[[BZYY i) |.I-G?iQH B?))B?B?8YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743036446.243165 s, next control iter: 1743036446.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036446.643165 s.tJ~,)(AA ףp}l@Afdpl@A_~? A4AW%"AA7vNA"AZAbAjArAzAAA 9@A]ksAPr@AӂPAB=A?A?A@B?Aݍ*A 9?2Adֽ:A=BA 9?JAdֽRA=٘i)I9Pr@YzG JĊJJJJnE&K Y^~?yeXAEb77ck{9B)E[[?[IO_~?[3[[[[BZYY i) D&>I>G?i~I ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036446.663165 s, next control iter: 1743036447.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9945, header.stamp.nsec: 00 temperature: 13.564813* salinity: 33.375568, density: 1025.000000* values[0]: 0.579186F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036447.063165 s.J~,F (AJ"J*J2J:JE?BJE?nJy5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075356< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036447.063289F (some fields omitted in printout)A3333l@A_`V(l@A_~? AL-A%"AAvNA"AZAbAjArAzAAADb-9@A˺sAq@AN;A2c=A?A',?A1t?A *A9?2Aֽ:Ak=BA9?JAֽRAk=Yl??yb=;ٓH q?K`?E??,?ȱ`Qw??)l? I٘i)I9q@Y0G JcJ;JJJqE&K/x> YA^~?ySXA?E7n{9 B)BE[[Ù?[Z_~?[U[[[[BZYY i) MIG?iXO V?))V?V?êYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036447.083165 s, next control iter: 1743036447.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036447.483165 s.s_J~,(AA\l@A#l@A[_~? A%Av%"AA>vNA"AZAbAjArAzAAAYjrHM9@A%disAvXq@A=<A\^=A$?A M?A@??A!*AS9?2Aֽ:AA =BAS9?JAֽRAA =٘i)I9Xq@YG J[JJJJtE&K Y^~?y٩WAEO9N9r{9)B[[~?[we_~?[X[[[[BZYY i) \IG?iqS z?))z?z?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036447.523165 s, next control iter: 1743036447.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9946, header.stamp.nsec: 00 temperature: 13.564987* salinity: 33.375572, density: 1025.000000* values[0]: 0.578669F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036447.903165 s.J~,(AJ"J*J2J:J#?BJ#?nJU5vJAQm@A]hm@AD_~? AiA%"AAvNA"AZAbAjArAzAAA/H Sk9@AXn٬sAp@A:<A'=A?Aj?A`j?A›*A9?2Aֽ:Ag =BA9?JAֽRAg =٘i)I9p@YG JyJJJJvE&K Y_~?yaѩFWAE7{7#v{9)B[[:?[o_~?[>ܩ[[[[BZYY ih) gRlIG?iڧ,V @))@@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036447.923165 s, next control iter: 1743036448.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036448.323165 s.vJ~,%(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036448.323274F (some fields omitted in printout)AGzTm@AqGm@A_~? AAi%"AAV wNA"AZAbAjArAzAAARP?އ9@A7?sASp@AP;A1=Ak?A?A?A*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9Sp@YDG JJJJJyE&K Yh_~?yȩVAEb7b7y{9 B)BE[[`$?[x_~?[ ө[[[[BZYY i) {IˎG?i7pX J@))J@J@@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036448.343165 s, next control iter: 1743036448.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9947., header.stamp.nsec: 0.0 temperature: 13.565157.* salinity: 33.375557., density: 1025.000000.* values[0]: 0.578098.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036448.743165 s.J "J *J 2J :J ?BJ ?nJ .5vJ W J~,/(AAףp=m@A2}m@A_~? AHA.%"AAAwNA"AZAbAjArAzAAA=Dx9@Ad.sAo@AOoA=A?A@,7?A`g(?A)*A9?2A-׽:Au =BA9?JA-׽RAu =٘i)I9o@YG JJJJJ|E&K Y _~?ypVAEŧ7N}{9 B)BE[[|G?[_~?[ɩ[[[[BZYY i) ߌI|G?itX )@)))@)@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036448.763165 s, next control iter: 1743036449.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036449.163165 s.u}J~,qJ(AAm@Am@A_~? AA%"AAi$wNA"AZAbAjArAzAAA#2{a9@A?sAFQo@A-A=A*ɲ?Aa?A`O?AЗ*A9?2AV׽:Ae =BA9?JAV׽RAe =Y뢖?9?y=5.ٓH@3?̓-Md?l?)?=?0`?)뢖? I٘i)I9Qo@YG JJB<JJJ~E&Kx> Y _~?yŷ VA?E7777{9)B[["h?[_~?[x[[[[BZYY i) IiG?i'5] @))@@ylѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036449.183165 s, next control iter: 1743036449.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036449.583165 s.J~,Se(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036449.583282F (some fields omitted in printout)A)\m@A[Υm@A_~? AAX%"AA0wNA"AZAbAjArAzAAA)S9@A>sAn@A[CA5=Ag?A?A@-t?AD*A9?2A D׽:A=BA9?JA D׽RA=٘i)I9n@YXG JJJJJE&K Y_~?yUA DE{7{7y{9B)BE[[?[Ȑ_~?[[[[[BZYY i) gI WG?i/` :@)):@:@t֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036449.603165 s, next control iter: 1743036449.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9948, header.stamp.nsec: 00 temperature: 13.565361* salinity: 33.375565, density: 1025.000000* values[0]: 0.577525F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036450.003165 s.~ J~,e4(AAR+n@AW zn@AK_~? A/Ar%"AAjb @))@@g۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036450.023165 s, next control iter: 1743036450.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036450.423165 s.u&J~,(AJ"J*J2J:JBJnJvJA{Gan@AL… Y0_~?yQTA?E77Β{9B)BE[[#?[@_~?[搩[[[[BZYY i) 8I| G?i⳿@f "n @))"n @"n @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036451.283165 s, next control iter: 1743036451.663180 s, wait time: 0.380015 s&0_~?)&Q.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9950., header.stamp.nsec: 0.0 temperature: 13.565796.* salinity: 33.375587., density: 1025.000000.* values[0]: 0.576237.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036451.683165 s.l:J~,^(AA(\o@Abn@A`~? AتAR%"AA5cwNA"AZAbAjArAzAAA4:@A[,ZsAk@A0<A=A9?A@1S?A]?AB*A9?2Agֽ:A[=BA9?JAgֽRA[=٘i)I9k@YG JAC=JJJJE&K Y2_~?ySA E77c{9)B[[J?[_~?[B[[[[BZYY i) IF?idh b@))b@b@%YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036451.683165 s, next control iter: 1743036452.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036452.103165 s.AJ~, (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036452.103297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8o@AwF+o@A`~? AЪAa%"AAjwNA"AZAbAjArAzAAA=C:@A}sAeAk@Ap:A =AJ?A`m?A?A>¼*A׮9?2A ֽ:Ab=BA׮9?JA ֽRAb=٘i)I9Ak@Y.G Jr¼JJJJE&K Y4_~?yz2SA E{9)B[[*r?[t_~?[}[[[[BZYY i) XIbF?i,.i @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036452.123165 s, next control iter: 1743036452.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036452.523165 s.GJ~,{! (AAHzno@Akծ ao@A`~? AȪA&"AAqwNA"AZAbAjArAzAAA\1P:@AMxsANj@AHPA0Ϯ=A]?A@A?A/?A0ü*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9j@YG JUüJJJJE&K Y6_~?yqRAE77{7{9)B[[H?[i_~?[s[[[[BZYY i) ȼIF?ih |@))|@|@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036452.543165 s, next control iter: 1743036452.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9951, header.stamp.nsec: 00 temperature: 13.566074* salinity: 33.375595, density: 1025.000000* values[0]: 0.575474F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036452.943165 s.ZdNJ~,J]< (AJ"J*J2J:JR?BJR?nJz5vJAq= ףo@AVΖo@A`~? AAN$&"AA xwNA"AZAbAjArAzAAAj= \:@AͮXssAi@Ak]GAy=AF?AM7?A@?A:Ƽ*A9?2A5׽:A=BA9?JA5׽RA=٘i)I9i@YeG JļJJJJE&K Y8_~?y8iPRAE)7ŧ7${9B)BE[[?[_~?[-j[[[[BZYY i) мIuF?i<f ;@));@;@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036452.983165 s, next control iter: 1743036453.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036453.363165 s.UJ~,y>W (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084309< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036453.363315F (some fields omitted in printout)Ao@A72o@A `~? A帪A|&"AAd}wNA"AZAbAjArAzAAAne:@A y)nsAOi@An$A)=A(?A=l?AO?A˼*A[9?2A׽:A=BA[9?JA׽RA=Y,?z?y&=i%ٓH`nW@ ?`X(?=?),? I٘i)I9Oi@Y G JOȼJ0<JJJE&KMx> Y+8_~?yn`QA?E777{9)B[[9?[_~?[z`[[[[BZYY i) ,=׼IF?i i P5@))P5@P5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036453.383165 s, next control iter: 1743036453.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9952&, header.stamp.nsec: 0&0 temperature: 13.566366&* salinity: 33.375595&, density: 1025.000000&* values[0]: 0.574702&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036453.783165 s.U[J~,r (AJ"J*J2J:J?BJ?nJE5vJA(\p@A{Op@A#`~? AްA ]&"AAwNA"AZAbAjArAzAAAVn:@AwmIisAh@A!+A =Aq`?A@i?A[?AIѼ*Ah9?2A0ֽ:A=BAh9?JA0ֽRA=٘i)I9h@Y G JμJJJJE&K Y[7_~?yW`QAEb7b7N{9)B[[?[_~?[V[[[[BZYY i) t޼I:F?iͶEi S@))S@S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036453.823165 s, next control iter: 1743036454.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036454.203165 s.cJ~, (AAQEp@A8p@A%`~? AӨA&"AAwNA"AZAbAjArAzAAAZYPt:@APesA"g@Ag;Ajo=A?A lɫ?A-e?Aؼ*AĞ9?2ANֽ:A=BAĞ9?JANֽRA=٘i)I9g@Y) G JԼB=JJJJE&K Y6_~?yNPAEŧ77{9B)BE[[R8?[_~?[ M[[[[ZZ¸BZYY i¸>=) tҼIF?iٚi R@))R@R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036454.223165 s, next control iter: 1743036454.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036454.623165 s.WiJ~,] (AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743036454.623300F (some fields omitted in printout)AGzp@AXmp@A'`~? AƠA&"AAwNA"AZAbAjArAzAAAy:@A<5)`sA8g@A^@<A=Al?A? Y@1_~?y4OA?"E77{9)ӯB[[P?[_~?[ 0[[[[ZZBZYY i) ӮIGF?i[e "@))"@"@y =6ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036455.503165 s, next control iter: 1743036455.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9954, header.stamp.nsec: 00 temperature: 13.567041* salinity: 33.375595, density: 1025.000000* values[0]: 0.573005F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036455.883165 s.y}J~,< (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036455.883294F (some fields omitted in printout)A(q@Ax'q@Aa)`~? AABo&"AAҌwNA"AZAbAjArAzAAAUЂ:@A^\eQsAd@AI؛A\o=AMb?AyuAq?A*AQ9?2AȬֽ:A [<BAQ9?JAȬֽRA [<٘i)I9d@Y6 G JJJJJE&K Y-_~?y+0OA$E77779{9)گBE[[?[u_~?[m&[[[[ZZBZYY i) .3IN4F?iue T@))T@T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036455.903165 s, next control iter: 1743036456.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036456.303165 s.WJ~,{g (AJ"J*J2J:JBJnJvJAQq@A#,*Dq@A(`~? AA &"AAwNA"AZAbAjArAzAAA -~:@Af3yLsA,d@A+AAӾ+=A?A`ʳAp?Az}Ǽ*A9?2A~ֽ:Ai:;BA9?JA~ֽRAi:;٘i)I9d@Y G JWݼJJJJE&K Y)_~?y#NA'E{7j7Ͻ{9)B[[?[_~?[[[[[ZZBZYY i) I$!F?i<$d ! @))! @! @dqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036456.323165 s, next control iter: 1743036456.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9955., header.stamp.nsec: 0.0 temperature: 13.567426.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.572006.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036456.723165 s.J~,H. (AAzq@Azq@A'`~? AuxA?&"AAwNA"AZAbAjArAzAAA>9={:@AA7QGsAhc@ATA"s<A>?A^A m?A*A9?2Aֽ:AHFBA9?JAֽRAHFɖI٘i)I9hc@Yg G JJJJJE&K Y<&_~?yYgNA*E)7b7d{9)B[[" ?[ݗ_~?[R[[[[ZZBZYY i) I8F?iU:a e!@))e!@e!@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036456.743165 s, next control iter: 1743036457.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036457.143165 s.P/J~,)I (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743036457.143262F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpq@Afq@Ay&`~? AgpAG&"AAwNA"AZAbAjArAzAAAݎv:@AyBsAb@AsA& <AC1?AAf?AUy*A9?2Aǐֽ:A"BA9?JAǐֽRA"٘i)I9b@Y G J꒼JJJJE&K Y"_~?yNA,E77{9)B[[B?[x_~?[ [[[[ZZBZYY i) ]QIE?i\ `C#@))`C#@`C#@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036457.163165 s, next control iter: 1743036457.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036457.563165 s.J~,R d (AA3333q@A)q@Ar$`~? A[hA&"AAwNA"AZAbAjArAzAAAuIp:@AL=sAWb@AEڸ:AA-?A`.A`]?A0*A9?2Ayֽ:AZBA9?JAyֽRAZY??yҚ뻙۸:ٓHvͿ`#@+h?#?@wͿiT{Is}?@HW??)? I٘i)I9b@Y G J[JGDJJJE&K_x> Y _~?y  NA?/E7{9B)BE[[`i?[L_~?[p[[[[ZZBZYY i^{=) \mIE?i\ $@))$@$@ )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036457.583165 s, next control iter: 1743036457.963175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9956, header.stamp.nsec: 00 temperature: 13.567698* salinity: 33.375584, density: 1025.000000* values[0]: 0.571342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036457.983165 s.J "J *J 2J :J C?BJ C?nJ ^5vJ J~,~ (AA\(r@Aj r@A!`~? AS`A&"AAwNA"AZAbAjArAzAAA7h:@Ai<8sARb@AG<A={Aj?AyAR?Aλ*AI9?2Aֽ:AgBAI9?JAֽRAg٘i)I9Rb@Y G J)JJJJE&K Y_~?yqNA2Eb7${9)B[[;?[c_~?[[[[[ZZBZYY i(=) t[IE?ig[ a&@))a&@a&@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036458.003165 s, next control iter: 1743036458.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036458.403165 s.&J~,͙ (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036458.403283F (some fields omitted in printout)AQ^r@AQr@A`~? AOXA &"AAfwNA"AZAbAjArAzAAA{tn_:@A`3sA~7b@AG<A A?A`FFA &D?A *A9?2AWֽ:AhʼBA9?JAWֽRAhʼ٘i)I97b@Y G J҂JJJJE&K Y_~?yNA4E{7j7{9B)BE[[ų?[y_~?[[[[[BZYY i) /HIqE?ijX %'@))%'@%'@X;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036458.423165 s, next control iter: 1743036458.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9957", header.stamp.nsec: 0"0 temperature: 13.567834"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.570995"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036458.823165 s.J~,6 (AJ"J*J2J:JBJnJvJAGzr@Apr@A1`~? AQPA &"AA\zwNA"AZAbAjArAzAAA&{T:@A͕ /sA=b@A<A8A$?A( A`_3?A ^;*A9?2Aȣֽ:ADBA9?JAȣֽRAD輙٘i)I9=b@Y G Js:JJJJE&K Y_~?yB)NA7Ej7Z7O{9B)BE[[?[mp_~?[[[[[BZYY i) \5IE?i; T )@)))@)@y2=Lw*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036458.843165 s, next control iter: 1743036459.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036459.243165 s.J~,~ (AAףp=r@Aa1r@A`~? AXHAV &"AAtwNA"AZAbAjArAzAAAB*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036459.263165 s, next control iter: 1743036459.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036459.663165 s.J~,q (AJ"J*J2J:J.?BJ.?nJH5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072102< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036459.663311F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9958, header.stamp.nsec: 00 temperature: 13.567836* salinity: 33.375587, density: 1025.000000* values[0]: 0.571018F (some fields omitted in printout)As@A%]3r@Aj`~? Ag@A4 &"AAmwNA"AZAbAjArAzAAA79:@Aۭg.V%sA@b@A! Aݩ{Av?A˽A ?A`><*A֝9?2Aֽ:A BA֝9?JAֽRA Y??yq{"ٓHԿt=c?-?Կ`2(`o?` Y^~?yWިNA? elevatorAngleAction: 0.056497< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200642 time: 1743036460.923398F (some fields omitted in printout)A{Gs@A@>s@Ad`~? A(A &"AAdUwNA"AZAbAjArAzAAA=:@AsAc@AAfAː?AVǿA`?AԴ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G J<C=JJJJʼE&K Y^~?y]ŨOADEb7:{9)B[[@[7_~?[[[[[BZYY iG݆=) hƻI]E?i B H1@))H1@H1@yg=>*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036460.943165 s, next control iter: 1743036461.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036461.343165 s.<J~,U (AJ"J*J2J:J0?BJ0?nJ)95vJAp= s@Ax>s@A_~? A A}Y &"AAKwNA"AZAbAjArAzAAA9@Ao[&sAsd@A|;AA3B?A_4ɿA?A@<*A9?2Aֽ:AT BA9?JAֽRAT ٘i)I9sd@Y G J<JJJJ̼E&K Y^~?y OAGE{7{7{9)ޯB[[>@[8*_~?[[[[[BZYY i) IME?i< 2@))2@2@y6p=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036461.363165 s, next control iter: 1743036461.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9960*, header.stamp.nsec: 0*0 temperature: 13.387973** salinity: 33.391655*, density: 1025.000000** values[0]: 0.690222*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036461.763165 s.6J~,p (AA t@AT:s@As_~? A7Aj &"AAAwNA"AZAbAjArAzAAAeTY9@A>k sA1d@A Y^~?yBPAf@JE)7ŧ7e{9B)ܯBE[[m@[7_~?[[[[[BZYY i) rI*>E?i79 `4@))`4@`4@yՙ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036461.803165 s, next control iter: 1743036462.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036462.183165 s.J~,V (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036462.183284F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bt@A5t@A_~? AAr&"AA5wNA"AZAbAjArAzAAA9@Au~sApe@AÈ9<AٚA@A ̿A@T?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9e@Y G J<<JJJJҼE&K Y^~?yPAME77{9B)ׯBE[[T@[ _~?[[[[[BZYY i) 0UI.E?in^O6 `5@))`5@`5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036462.203165 s, next control iter: 1743036462.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036462.603165 s.<4J~,Ú (AAQxt@A[$Fkt@Ay_~? A A&"AA)wNA"AZAbAjArAzAAA ⇫9@A8 sAf@A;AA@AοAO.?A<*Ae9?2A*ֽ:AkBAe9?JA*ֽRAk٘i)I9f@Y G J<JJJJԼE&K Y^~?yQAOEŧ7b7{9B)կBE[[U@[i^~?[[[[[BZYY i) IE?i m1 t7@))t7@t7@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036462.643165 s, next control iter: 1743036463.003183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9961 , header.stamp.nsec: 0 0 temperature: 13.387772 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.691180 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036463.023165 s.ZJ~, | (AJ"J*J2J:J0?BJ0?nJ95vJAHzt@Atxt@A_~? A>A&"AAwNA"AZAbAjArAzAAA-K 9@A[erAf@A噘A\AH@A ;пA?A'<*A/9?2A1[ֽ:AY*BA/9?JA1[ֽRAY*٘i)I9f@Ye G JO<JJJJ׼E&K Y^~?yyQARE777%{9)ЯB[[e@[^~?[[[[[BZYY i) LBIE?iDžB<+ 8@))8@8@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036463.043165 s, next control iter: 1743036463.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036463.443165 s.4J~,1] (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036463.443287F (some fields omitted in printout)Aq= t@A{pt@A_~? AAG&"AASwNA"AZAbAjArAzAAA6ru9@AHrACg@A :AhAP@A 5ѿA#?A)<*A9?2A9ֽ:ABA9?JA9ֽRA٘i)I9Cg@Y G J?<JJJJڼE&K Y)^~?y"QAUEj7j7{9)˯B[[ @[j^~?[[[[[BZYY i) IE?i# :@)):@:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036463.463165 s, next control iter: 1743036463.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9962, header.stamp.nsec: 00 temperature: 13.387563* salinity: 33.391666, density: 1025.000000* values[0]: 0.692143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036463.863165 s.+J~,> (AJ"J*J2J:JBJnJvJAu@Aɍ u@A_~? A4A&"AAwNA"AZAbAjArAzAAAPvØW9@AR 7rAg@AjEA̓AU@A`ҿA ?A4<*A9?2A&Rֽ:ABA9?JA&RֽRAY?@y>ɓ~=FٓHKU3]"?`k?Y`p` u??)? I٘i)I9g@Y G J<J<JJJݼE&K!x> Y^~?yERA@WEŧ77O{9B)ɯBE[[q @[x^~?[~[[[[BZYY i) 9ITD?izӃ  <@)) <@ <@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036463.883165 s, next control iter: 1743036464.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036464.283165 s.:RJ~, (AA(\Ou@AZQBu@A_~? AANl&"AAvNA"AZAbAjArAzAAA _89@Ab$x^rAgh@A}ѻAA/@AҿA~?AV<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9gh@Yr G JL<JJJJ߼E&K  |9YB{^~? |9yRAZEŧ7|9)įB[[ @[^~?[ elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743036464.703296F (some fields omitted in printout)J"J*J2J:JBJnJvJAQu@Axu@A_~? AjA&"AAvNA"AZAbAjArAzAAAT'K69@A/rALh@AH-;A[A @A oӿA@K?AiB<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G Jƣ<B=JJJJE&K Yl^~?yp~ SA]E77{|9 B)¯BE[[F|@[^~?[o[[[[BZYY i) R;ID?ij# I?@))I?@I?@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036464.723165 s, next control iter: 1743036465.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036465.123165 s.8J~,aG (AAGu@Alխu@A_~? AݩA&"AAvNA"AZAbAjArAzAAADM8@A5NrALti@A$<)<AZA, @AߣԿA ?Ah <*AP9?2A[׽:A[BAP9?JA[׽RA[٘i)I9ti@YG J <C=JJJJE&K Y[^^~?yvnSA_Ej7j7 |9)B[[@[^~?[yh[[[[BZYY i) ~S;ID?iw_ %@@))%@@%@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036465.143165 s, next control iter: 1743036465.523180 s, wait time: 0.380015 s"[^^~?)"v rAdjusting time to match Gazebo time: 1743036465.543165 s.IJ~,b (AJ"J*J2J:J1?BJ1?nJ1:5vJA= ףu@A0ku@A _~? AթA&"AAHvNA"AZAbAjArAzAAA=8@A\mTrAi@A\N<A8A. @A`տA ?Aۊ<*Ar9?2A,׽:A$BAr9?JA,׽RA$󼙘٘i)I9i@YbG JÕ<JJJJE&K YO^~?yPoSAbE77 |9 B)BE[[o}@[^~?[]a[[[[BZYY i) g<;IJD?iWR #(B@))#(B@#(B@T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036465.563165 s, next control iter: 1743036465.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9964, header.stamp.nsec: 00 temperature: 13.387138* salinity: 33.391689, density: 1025.000000* values[0]: 0.694069F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036465.963165 s.~J~, } (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743036465.963321F (some fields omitted in printout)Affff&v@AÀ%Wv@A_~? AΩA &"AAGvNA"AZAbAjArAzAAA|[$8@AatrA@mj@A6<A=Av @AWֿA?A <*AG9?2Amֽ:ABAG9?JAmֽRA󼙘٘i)I9mj@YG J<JJJJE&K YtA^~?yg5TAeEj7Z7:|9)B[[@[q^~?[tZ[[[[BZYY i) ;I̺D?i@C C@))C@C@?*YFFF]o:Waiting for Gazebo time sync: latest Gz time: 1743036465.983165 s, next control iter: 1743036466.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036466.383165 s.%J~,+ (AJ"J*J2J:J1?BJ1?nJl:5vJA(\v@AuOv@AN_~? AǩA0&"AAvNA"AZAbAjArAzAAAOM8@ANrAj@A%ڹAbAf@A``,׿A@_l?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG J<JJJJE&K Y3^~?y/`TAgE)7ŧ7|9)B[[r@[]^~?[S[[[[BZYY i=) I5;I7D?i32> --E@))--E@--E@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036466.403165 s, next control iter: 1743036466.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9965", header.stamp.nsec: 0"0 temperature: 13.386976"* salinity: 33.391682", density: 1025.000000"* values[0]: 0.694880"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036466.803165 s.xA,J~,g (AAv@A"*ބv@A?v_~? AA7&"AA(vNA"AZAbAjArAzAAAO\Y`8@A.crAVck@AAA@A׿A /?Ae<*An9?2ALdֽ:A#BAn9?JALdֽRA#٘i)I9ck@YCG JӒ<JJJJE&K Y$^~?yXTAjE777e|9B)E[[J@[ J^~?[:M[[[[BZYY i) ?;ID?i<˻ F@))F@F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036466.823165 s, next control iter: 1743036467.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036467.223165 s.g3J~,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: 0.075244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036467.223291F (some fields omitted in printout)Azv@A0v@Ah_~? A˹AA&"AAtvNA"AZAbAjArAzAAAw\d78@ATi~%,rAck@ANAqHAH@AؿA~?A[<*A9?2At^ֽ:AdBA9?JAt^ֽRAd٘i)I9k@YG JG<JJJJE&K Y^~?yQ^UAmEŧ7b7|9)B[[Y@[6^~?[F[[[[BZYY i) u Y]~?yBVA@rEj7j7%"|9)B[[>@[] ^~?[:[[[[BZYY i)  elevatorAngleAction: 0.075244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036468.483295F (some fields omitted in printout)A\hw@AGg[w@A=_~? AA&"AA3vNA"AZAbAjArAzAAA5g7@A'5ڤrA7m@A;AчA0G@AV4ۿA#?AJ<*A 9?2A׽:A BA 9?JA׽RA ٘i)I97m@Y`G J<C=JJJJE&K Y]~?y}<vVAuE77%|9B)BE[[@[]~?[4[[[[BZYY i) / elevatorAngleAction: 0.075244< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036469.743312F (some fields omitted in printout)Aףp= x@A׿3w@Am_~? AKA=K&"AAUuNA"AZAbAjArAzAAA|V %7@A(.rAn@Acx;Ac;AG+@A@|ݿA#E?A,C<*A9?2Aֽ:ABA9?JAֽRA٘i)I9n@Y/G J&<B=JJJJE&K YK]~?y(WA}Eb77{0|9B)BE[[@ @[]~?[#$[[[[BZYY i<=) a^?@C1? cu+?)n @ I٘i)I9o@YzG J<C=J ZJJJE&Kx> Y8]~?y!#WAt@E7{74|9)B[[z!@[ޜ]~?[[[[[BZYY i) ѭm&"AAKuNA"AZAbAjArAzAAA}6@An믏rAmo@AKb?A3A@A޿A༨?A-<*AP9?2ACֽ:A8BAP9?JACֽRA8٘i)I9o@YG J<JJJJE&K Y$~]~?yDHXAE887|9B)BE[["@[]~?[[[[[BZYY i) |))&/>S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036470.623165 s, next control iter: 1743036470.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9969, header.stamp.nsec: 00 temperature: 13.386331* salinity: 33.391735, density: 1025.000000* values[0]: 0.698005F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036471.003165 s.y pJ~,P4 (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036471.003284F (some fields omitted in printout)ARx@A{x@A^~? AAõ&"AA]uNA"AZAbAjArAzAAAȼꔋ6@AS֯rA p@APCA!AH@A ߿AW?AUd<*A9?2AYֽ:AYBA9?JAYֽRAY٘i)I9 p@YG J{<JJJJ E&K Yi]~?yhXAE77;;|9B)BE[[X$@[n]~?[[[[[BZYY i) #|9)B[[ %@[^V]~?[W[[[[BZYY i) ɍ]~?y mYAE{7{7eB|9B)BݹE[[C+'@[>]~?[ [[[[BZYY i) ;p elevatorAngleAction: 0.084454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036472.263283F (some fields omitted in printout)ALy@A?y@AX^~? AnA &"AAPuNA"AZAbAjArAzAAAK95@A08rAq@A,<A#Ax!@AA`-T?AϤ<*Ai9?2AG&׽:ABAi9?JAG&׽RAY@ @y!-<ٓH%??`K45?F?3?)@ I٘i)I9q@YG J<B=J%JJJE&K;x> Y (]~?yYA @E777E|9!B)BڹE[[{(@[4&]~?[[[[[BZYY i) #<*A9?2A'׽:AwBA9?JA'׽RAwȖI٘i)I9-r@YeG J@<C=JJJJE&K Y-]~?y^FZAEZ7Z7I|9)B[[)@[ ]~?[k[[[[BZYY i) R<JJJJE&K YO\~?y5ZAEb77%M|9"B)B׹E[[wf+@[\~?[y[[[[BZYY i) īY: M5))M5h\@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036473.123165 s, next control iter: 1743036473.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036473.523165 s.J~,{a(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036473.523312F (some fields omitted in printout)AHzy@AJ y@Ak^~? A1^AtO&"AAtNA"AZAbAjArAzAAAcHG85@Ap!CrAYs@AD&A+AK$@AA ݉?A<*AƔ9?2Alֽ:AkBAƔ9?JAlֽRAk٘i)I9Ys@YG J~<JJJJE&K Yp\~?y [AE7777P|9$B)BԹE[[,@[Y\~?[[[[[BZYY i) r5; 4))4 ^@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036473.543165 s, next control iter: 1743036473.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9972, header.stamp.nsec: 00 temperature: 13.385768* salinity: 33.391747, density: 1025.000000* values[0]: 0.700795F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036473.943165 s.[dJ~,O]|(AJ"J*J2J:Jg3?BJg3?nJ<5vJAq= #z@Az@AW^~? AYA5&"AAtNA"AZAbAjArAzAAAY4@AT3rAs@AhAvA9 &@AAa?A<*A9?2A $ֽ:ABA9?JA $ֽRA٘i)I9s@Y~G J<JJJJE&K Y\~?y[AE77QT|9&B)BѹE[[s,.@[\~?[,[[[[BZYY i) n~+; 2))2 y_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036473.963165 s, next control iter: 1743036474.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036474.363165 s.J~,>(AAYz@ALz@AC^~? ASA&"AAZtNA"AZAbAjArAzAAA8 (%4@A|rAt@ANAAi'@AgA?A<*AŎ9?2A@ֽ:A+BAŎ9?JA@ֽRA+Yt@z'@y}SOٓHܗ@Q XV? ?ܬ?`щ`J?)t@ I٘i)I9t@YG J<JJJJ E&Kw> Y'\~?y|\Az'@E7{7W|9'B)BйE[[/@[U\~?[[[[[BZYY i) pD; :1)):1`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036474.383165 s, next control iter: 1743036474.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9973&, header.stamp.nsec: 0&0 temperature: 13.385520&* salinity: 33.391724&, density: 1025.000000&* values[0]: 0.701911&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036474.783165 s.YJ~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036474.783303F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\z@AHPz@A/^~? ANA[|&"AAztNA"AZAbAjArAzAAAT4@ArAQu@A/~AٰAb(@A[AP?AQ<*A^9?2AdUֽ:AtBA^9?JAdUֽRAt٘i)I9Qu@YNG Ja<JJJJ"E&K Y\~?yv\AEŧ7b7{[|9)B)~B͹E[[z0@[\~?[[[[[BZYY i) w&b; /))/2Pb@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036474.803165 s, next control iter: 1743036475.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036475.203165 s.J~, (AAQz@Az@A0^~? A/JA&"AAtNA"AZAbAjArAzAAAM9| A4@AZl rAu@AeA汽A*@AAh?A3F<*A89?2A[ֽ:A7{BA89?JA[ֽRA7{٘i)I9u@YG J<JJJJ%E&K YS\~?y\AE77j7_|9*B)zBʹE[[S2@[w\~?[[[[[BZYY i) f΂; e.))e.c@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036475.223165 s, next control iter: 1743036475.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036475.623165 s.YJ~,e(AJ"J*J2J:J3?BJ3?nJ<5vJAGz@Az@A^~? AEAN8&"AAB_tNA"AZAbAjArAzAAA44@A42rAԫv@Ao;A9۲An+@A`CA@I?AZ<*A<9?2AHֽ:AO\BA<9?JAHֽRAO\٘i)I9v@Y!G J<JJJJ(E&K Yj\~?yCa]AEb|9,B)vBǹE[[3@[:^\~?[[[[[BZYY i) Ҧ!x; ,)),#e@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036475.643165 s, next control iter: 1743036476.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9974 , header.stamp.nsec: 0 0 temperature: 13.385262 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.703124 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036476.043165 s.J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036476.043283F (some fields omitted in printout)A= ף0{@A`s#{@A]~? A@AT&"AA>tNA"AZAbAjArAzAAAqU3@A*UmrAXw@AM{J<AϳA,@AA@?AX<*A_9?2A ׽:A4BA_9?JA ׽RA4٘i)I9Xw@YG J<JJJJ+E&K Y}R\~?yۧ]AEb7b7 Y8\~?y?اP^A-@Ej7SI7i|9-B)mBĹE[[j6@[+\~?[[[[[ZZZZ¸>BZYY i¸>%ͫ) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036476.483165 s, next control iter: 1743036476.863184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9975, header.stamp.nsec: 00 temperature: 13.385010* salinity: 33.391720, density: 1025.000000* values[0]: 0.704322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036476.883165 s.zJ~,f8(AA({@A{@A]~? AP8AZ>&"AAsNA"AZAbAjArAzAAAo􊥺:3@A?<$rA(x@A^U;A qAO/@A@ AX?Am<*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9x@YbG J{<JJJJ0E&K Y\~?yԧ^AE7777fm|9/B)iBE[[7@[B\~?[0[[[[ZZZZBZYY i) 3AA,1@AuA@?A=*A9?2A ֽ:AźBA9?JA ֽRAź٘i)I9bz@YdG J=JJJJ5E&K Y[~?ylͧ_AE777t|93B)_BE[[x:@[[~?[[[[[ZZZZBZYY i) SîԿ@?@w7?;[ ݑPr? r?)Gs&@ I٘i)I9{@Y]G J<J=JJJ;E&Kv> Y[~?yǧo`Ay4@E77{|94B)TBE[[%=@[[~?[ܧ[[[[ZZZZBZYY i▽) @[[~?[Dۧ[[[[ZZZZBZYY i) 3)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036479.423165 s, next control iter: 1743036479.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9978", header.stamp.nsec: 0"0 temperature: 13.384193"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.708344"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036479.823165 s.J~,-(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073675< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036479.823283F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz}@Arkm}@A*"]~? A|AA!&"AA sNA"AZAbAjArAzAAABQ1@AV%m`trAkh}@A=PV<A;A^8@A`gA r?AG<*AѮ9?2A5ֽ:Am<BAѮ9?JA5ֽRAm<٘i)I9h}@Y;G JEJ<JJJJCE&K Yf[~?yaAE77{|98B)LBE[[#A@[\[~?[ا[[[[ZZZZBZYY i%A) J\o5vJtReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9979, header.stamp.nsec: 00 temperature: 13.384094* salinity: 33.391720, density: 1025.000000* values[0]: 0.708902F (some fields omitted in printout)A}@Ar}@A\~? AoA!&"AArNA"AZAbAjArAzAAAR20@AtʼprA=}@A*Ac=A:@A<A?Asȭ:*A9?2Aֽ:AY<BA9?JAֽRAYJJJHE&Kx> Y0[~?y)aA:@¼Eŧ7b7|9)[[+C@[Q([~?[>ק[[[[BZYY ikPm) XjH5vJAR}@Ad:tz}@A\~? AAA("&"AAwrNA"AZAbAjArAzAAA.ht*0@A-m^mrA}@AMAZ=Aɟ=@A?A@.?A*A9?2Aֽ:Aى<BA9?JAֽRAى<٘i)I9}@YUG J)C=JJJJME&K YZ~?y`AȼE{7Z7є|9:B)NBE[[1fF@[Z~?[>֧[[[[BZYY i) %@AeAj?A/*Aϑ9?2Aֽ:A=BAϑ9?JAֽRA=٘i)I9V}@Y0G J?JJJJPE&K Y@Z~?y+`A˼E777f|9;B)PBE[[G@[Z~?[է[[[[BZYY i) 1t`AͼE7ŧ7|9lͱ0?@?3 ? ?)Bt3@ I٘i)I9|@YG J~C=J=JJJVE&Kaw> YZ~?y4`AzA@мE777|9=B)XBE[[IJ@[קZ~?[է[[[[BZYY im) ;IzE?i+?Ve< ))|@8ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036482.803165 s, next control iter: 1743036483.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036483.183165 s.2J~,^(AJ"J*J2J:JBJnJvJA(\~@AMg'~@A-]\~? A A"&"AA5qNA"AZAbAjArAzAAAƧ-@A"mgrA|@AΛS<A 8=A@B@AAjw?A_*A9?2AWս:A=BA9?JAWսRA=٘i)I9|@YpG JJJJJXE&K YZ~?y)_AӼESI787&|9>B)]BE[[K@[XZ~?[4֧[[[[BZYY i) a;IE?i{?%km<  H)) H}@>ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036483.203165 s, next control iter: 1743036483.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036483.603165 s.649J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057865< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743036483.603326F (some fields omitted in printout)AQ~@AD~@AC\~? A%A#&"AAqNA"AZAbAjArAzAAA2눫=^-@A0q5frAϏ{@Am(<AD=AD@A&A?A*AG9?2A2ֽ:Akr=BAG9?JA2ֽRAkr=٘i)I9{@YG JnJJJJ[E&K YmZ~?yO_AռE77j7|9?B)cBE[[9L@[uZ~?[֧[[[[BZYY i) Hȩ;IE?i?}v< ))0 @֪YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036483.623165 s, next control iter: 1743036484.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9982 , header.stamp.nsec: 0 0 temperature: 13.384439 * salinity: 33.391716 , density: 1025.000000 * values[0]: 0.707598 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036484.023165 s.Z@J~,{(AJ"J*J2J:JBJnJvJAHz.@A!@Au*\~? AsAm'#&"AAqNA"AZAbAjArAzAAAyK,@AperAz@A;A=A`E@AA?AF˯*A9?2Aֽ:A< =BA9?JAֽRA< =٘i)I9z@YG JJJJJ^E&K YuQZ~?y^AؼE{7{7Q|9)gB[[s"N@[[Z~?[#ק[[[[BZYY i) .;I.E?i? l< K))K53@y0@m)تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036484.043165 s, next control iter: 1743036484.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036484.443165 s.6FJ~,:](AAq= c@AV@A\~? AAG#&"AAlqNA"AZAbAjArAzAAAL),@A5ndrAiz@A[A;=AF@AA ?Ag*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9iz@YhG JݰJJJJ`E&K Yi5Z~?y ^AۼE777|9@B)mBE[[fO@[ CZ~?[ק[[[[BZYY i) '+Y;IE?i?)< u))u Հ@*תYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036484.463165 s, next control iter: 1743036484.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9983, header.stamp.nsec: 00 temperature: 13.384714* salinity: 33.391724, density: 1025.000000* values[0]: 0.706528F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036484.863165 s.+MJ~,>7(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057865< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036484.863280F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A猌@AM[~? AAc#&"AA,FqNA"AZAbAjArAzAAA(P+@AwZcrAy@ALAm!=A H@A"+AX޽?A!*A9?2A׽:Ap=BA9?JA׽RAp=Yc9@G@yW=rMMٓH K?X#?`ꖉ,?)c9@ I٘i)I9y@YG JRJ <JJJcE&KAx> Y/Z~?y䬧#^AG@ݼEj7j7||9AB)rBE[[P@[)Z~?[ا[[[[BZYY i) ;IE?i?؅< .)).~x@UԪYFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743036484.883165 s, next control iter: 1743036485.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036485.283165 s.8RTJ~,R(AA(\@AHP@A[~? AVA|#&"AADqNA"AZAbAjArAzAAANA@DR?A⬼*A59?2Aֽ:A{+<BA59?JAֽRA{+<٘i)I9x@Y\G JB=JJJJhE&K YY~?yT]AEŧ77|9BB)|BE[[5S@[nY~?[ڧ[[[[BZYY i) i:I F?i*?i< ; )); @!˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036485.723165 s, next control iter: 1743036486.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036486.123165 s.FA[A?AШ*A9?2Abֽ:A7@<BA9?JAbֽRA7@<٘i)I9 x@YG JC=JJJJkE&K Y|Y~?ys\AE777<|9)BE[[bvT@[Y~?[#ܧ[[[[BZYY i) b!I0F?i ?< ]e ))]e ,]@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036486.143165 s, next control iter: 1743036486.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036486.543165 s.IhJ~,â(AJ"J*J2J:JBJnJvJA= ףp@A0c@A[~? AAȵ#&"AApNA"AZAbAjArAzAAAZ!)@AarAnw@A=<A#(=ADA`fA?Au*A9?2AXDֽ:Ad<BA9?JAXDֽRAd<٘i)I9w@YG JJJJJnE&K YCY~?yN\AE7ѿ|9CB)BE[[ʴU@[Y~?[ݧ[[[[BZYY i) qIJF?i?楜< & ))& `@y49YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036486.563165 s, next control iter: 1743036486.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9985, header.stamp.nsec: 00 temperature: 13.385265* salinity: 33.391693, density: 1025.000000* values[0]: 0.704318F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036486.963165 s.ynJ~,(AAffff@Ac]@Av[~? A!An#&"AApNA"AZAbAjArAzAAA8˓I~(@AM/=arAn w@AvVH<A=AܪCA oA`?AJ*A9?2AO]ֽ:Ar<BA9?JAO]ֽRAr YY~?y)\ACEb77g|9)BE[[V@[Y~?[)ߧ[[[[BZYY i) ZqIeF?i?< ))h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036486.983165 s, next control iter: 1743036487.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036487.383165 s.uJ~,8(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: -0.066979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036487.383279F (some fields omitted in printout)A(܀@A7S!π@A\[~? AA#&"AA8[pNA"AZAbAjArAzAAA'@A)`rAv@A;A=AVBA@vAɡ?A*An9?2A@ֽ:A2<BAn9?JA@ֽRA2<٘i)I9v@Y G JJJJJsE&K YoY~?yͭ[AE7{7|9)B|E[[7X@[Y~?[[[[[BZYY i) PI;F?i@< ))=@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036487.403165 s, next control iter: 1743036487.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9986", header.stamp.nsec: 0"0 temperature: 13.385540"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.703289"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036487.803165 s.~A|J~,g(AA@A.Y@AB[~? AA#&"AA3pNA"AZAbAjArAzAAAKB'@A6ʂ7`rAv@Avw7Ac=A@AyAf?A1p*A9?2Aֽ:AZ(<BA9?JAֽRAZ(<٘i)I9v@YG JJJJJvE&K YSY~?yq[AE)7b7|9)B[[uY@[Y~?[[[[[BZYY i) XIF?i{@K< ;f));f܅@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036487.823165 s, next control iter: 1743036488.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036488.223165 s.gJ~,H(AJ"J*J2J:JBJnJvJAzG@A5:@A([~? AqA#&"AAd pNA"AZAbAjArAzAAA|8&@A{MQd`rAu@A,AF=Aj?A zAaAа*A9?2A׽:A_<BA9?JA׽RA_<٘i)I9u@Y|G J+JJJJxE&K Y7Y~?yM[AE{7j7'|9DB)ByE[[ñZ@[$hY~?[[[[[BZYY i) /gIF?iV@;< ))))z@ﴪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036488.243165 s, next control iter: 1743036488.623174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036488.643165 s.yЉJ~,*)(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066979< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036488.643287F (some fields omitted in printout)A ףp}@AUdp@A [~? AA#&"AAoNA"AZAbAjArAzAAAʹr&@A% y`rA&,u@APA:=AY>A@ryAޜAd*Ac9?2A-׽:A:<BAc9?JA-׽RA:<ǖI٘i)I9,u@Y8G JׄJJJJ{E&K YY~?y ZAEb77|9CB)BwE[[[@[PY~?[[[[[BZYY ieʜ) LvŻIF?i @%< ))@YFFF]:tReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9987, header.stamp.nsec: 0Waiting for Gazebo time sync: latest Gz time: 1743036488.663165 s, next control iter: 1743036489.043178 s, wait time: 0.380013 s0 temperature: 13.385786* salinity: 33.391712, density: 1025.000000* values[0]: 0.702374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036489.063165 s.J~,[ D(AJ"J*J2J:JBJnJvJA3333@Aߡ(@AZ~? AAW#&"AAoNA"AZAbAjArAzAAA&广i%@A[I arAt@A1A=A;=A@huAmA*A9?2Aֽ:AGe<BA9?JAֽRAGe YX~?ybZA= DEj7j7R|9DB)BtE[[(]@[9Y~?[,[[[[BZYY i) I0F?i@y< Ӳ))Ӳq@޳YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036489.103165 s, next control iter: 1743036489.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036489.483165 s.z_J~,^(AA\@Aa4ہ@A Z~? A>A#&"AA!oNA"AZAbAjArAzAAAT.$@AHYĝOarAOt@Au_:AC=A3;A nA`A*A 9?2A6ֽ:AK<BA 9?JA6ֽRAK<٘i)I9Ot@YG JUJJJJE&K YX~?yR ZAE7{7|9)BqE[[d^@[v"Y~?[[[[[BZYY i) 'IcG?i @< #w))#wIT@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036489.503165 s, next control iter: 1743036489.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9988, header.stamp.nsec: 00 temperature: 13.385971* salinity: 33.391693, density: 1025.000000* values[0]: 0.701546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036489.903165 s.ȝJ~,y(AJ"J*J2J:J3?BJ3?nJQ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036489.903287F (some fields omitted in printout)AQ@A}@AZ~? AA#&"AAnoNA"AZAbAjArAzAAAHސI.$@A:ParAs@Ay<A4=AΈ:AceAOAy*Az9?2A[]ֽ:A=BAz9?JA[]ֽRA=٘i)I9s@YmG JJJJJE&K Y:X~?yYAE777||9)BnE[[N_@[ Y~?[ [[[[BZYY i) 8IF6G?i_@}< q=))q="@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036489.923165 s, next control iter: 1743036490.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036490.323165 s.wJ~,)(AAGzT@AnG@A/Z~? AAӳ#&"AAyGoNA"AZAbAjArAzAAA(#@A0\"brAms@AYR<A{=A=?9AYAJA*A9?2AATֽ:AmJ=BA9?JAATֽRAmJ=٘i)I9ms@Y(G JJJJJE&K YvX~?y[YAEj7Z7|9)BkE[[6`@[*X~?[[[[[BZYY i) !IVG?i@<  )) @YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036490.343165 s, next control iter: 1743036490.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*0 header.stamp.sec: 9989*, header.stamp.nsec: 0*0 temperature: 13.386200** salinity: 33.391701*, density: 1025.000000** values[0]: 0.700709*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036490.743165 s.WJ~,u(AJ"J*J2J:JBJnJvJAףp=@A 2}@AVZ~? AA#&"AA@ oNA"AZAbAjArAzAAA$"@AޝݱbrAr@Aq!<A=A?7A`KAVYAʼn*Ai9?2A4ֽ:A=BAi9?JA4ֽRA=٘i)I9r@YG JfJJJJE&K YX~?y;YAE{7|9)B[[ b@[X~?[[[[[BZYY i) HE1IxG?i@@< ß))ß'@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036490.763165 s, next control iter: 1743036491.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036491.163165 s.z}J~,q(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036491.163285F (some fields omitted in printout)A@Av@ArZ~? AA<#&"AAnNA"AZAbAjArAzAAApMX"@A#-@ZcrAr@As:A.=As6A`:A+Ai*A$9?2AAֽ:A&=BA$9?JAAֽRA&=YM@6y.=\:ٓH`Ϛ7?@ʰ.ҿ`2eb`_[??)M@ I٘i)I9r@YG JB=J$<JJJE&K0x> YuX~?yXA6Ej7=|9)BhE[[Dc@[X~?[{[[[[BZYY i) y@IG?i@& < S.))S.FĊ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036491.183165 s, next control iter: 1743036491.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036491.583165 s.J~, S(AJ"J*J2J:JBJnJvJA)\@ADԷ@AXZ~? AAy#&"AAnNA"AZAbAjArAzAAAb(̼!@AY^drAr@AB6A=A?5A a'AA*A9?2A׽:A"=BA9?JA׽RA"=٘i)I9r@YUG JmC=JJJJE&K YZX~?y?HXAESI7|9)BeE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #58q/:^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) 8P)KêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036491.603165 s, next control iter: 1743036491.983182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9990, header.stamp.nsec: 00 temperature: 13.386425* salinity: 33.391697, density: 1025.000000* values[0]: 0.699872F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036492.003165 s.| J~,]4(AAR+@A{@A;?Z~? A?A_#&"AA5nNA"AZAbAjArAzAAAm*hy!!@A%drAq@A"rLA=A*3A`{A cA2X*A.9?2A,׽:A=BA.9?JA,׽RA=٘i)I9q@YG JJJJJE&K Yt?X~?yWA E7777h|9)BbE[[De@[6X~?[[[[[BZYY i) _IG?i$@8< T)) T@\ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036492.023165 s, next control iter: 1743036492.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036492.423165 s.uJ~,w(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076558< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743036492.423275F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A`;T@A%Z~? AAA#&"AAtnNA"AZAbAjArAzAAA>6: @A=3zerAc&q@A;Aؓ=A2A@/A ĿA*A:?2AѴ½:A =BA:?JAѴ½RA =٘i)I9&q@YG JJJJJE&K Ya$X~?yC§WAE7|9)B_E[[f@[X~?[[[[[BZYY i) H+oIDG?i2(@J< Ap))j@@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036492.443165 s, next control iter: 1743036492.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9991, header.stamp.nsec: 00 temperature: 13.386632* salinity: 33.391670, density: 1025.000000* values[0]: 0.699015F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036492.843165 s.J~,5(AAp= @AJ@AC Z~? AA'!#&"AA]nNA"AZAbAjArAzAAAd@A0h grAp@AvA=AU;2AA`X$ſAT#*A:?2Azuý:A\ =BA:?JAzuýRA\ =٘i)I9p@YxG J䖼B=JJJJE&K YI X~?yħ0WAEj7j7|9)B\E[[h@[rX~?[P[[[[BZYY i¯) T~IQH?i.,@d< 3))3←N-@ΪY%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036492.863165 s, next control iter: 1743036493.243176 s, wait time: 0.380011 s.I X~?).ħ rAdjusting time to match Gazebo time: 1743036493.263165 s.J~,0P(AJ"J*J2J:JBJnJvJÃ@AL4H@AY~? A AY"&"AA87nNA"AZAbAjArAzAAAa~p@A+/hrA>"p@A9t;A=A!D1AAZqƿAL*Ai:?2ARŽ:Aε=BAi:?JARŽRAε=YR@=1y=;ٓHйB@?Hw5׿' t?`?)R@ I٘i)I9"p@Y&G J˞C=J<JJJE&KK> YW~?yǧVA=1Eb7b7(|9)ïBYE[[,Ji@[ ^X~?[[[[[BZYY i) ߆I,H?i.@k< '#))'#Ǎ@cҪYVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036493.283165 s, next control iter: 1743036493.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):20 header.stamp.sec: 99922, header.stamp.nsec: 020 temperature: 13.3868672* salinity: 33.3916662, density: 1025.0000002* values[0]: 0.6980862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036493.683165 s.lJ~,sk(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036493.683291F (some fields omitted in printout)A(\@AG@AY~? A} A8"&"AAnNA"AZAbAjArAzAAAdE6r@Aw5eirAeo@A-F<Af=A}%0A@AǿA槼*A:?2A)ǽ:A=BA:?JA)ǽRA=٘i)I9o@YG JMJJJJE&K YW~?y,˧bVAEj7Z7|9)ǯB[[H|j@[yIX~?[o [[[[BZYY i) TlISH?i1@ޔ< ))꿩`@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036493.683165 s, next control iter: 1743036494.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743036494.103165 s.J~,(AJ"J*J2J:JBJnJvJAQ8@A3IlrAwn@A;A==A--AxA|+˿A䭼*Ay:?2Aͽ:A_=BAy:?JAͽRA_=٘i)I9wn@Y#G J⬼JJJJE&K YW~?yѧUAE77}9)ЯBTE[[6l@[U!X~?[[[[[BZYY i) IIݡH?i8@'< ))濩@~ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036494.543165 s, next control iter: 1743036494.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9993, header.stamp.nsec: 00 temperature: 13.387123* salinity: 33.391682, density: 1025.000000* values[0]: 0.697066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036494.943165 s.XdJ~,B](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036494.943288F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A˖@AiY~? AFAY"&"AAmNA"AZAbAjArAzAAA6M@AjmrAm@A#AH=A9,A@iA̿A:*Al:?2A-н:A8=BAl:?JA-нRA8=٘i)I9m@YG JJJJJE&K YʅW~?yԧ.UAE77{7}}9CB)ԯBQE[[n@[ X~?[[[[[BZYY i) 3IH?i-=@%< ;));㿩%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036494.983165 s, next control iter: 1743036495.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036495.363165 s.J~,>(AAل@A{.S̄@AuY~? AA{)"&"AAxmNA"AZAbAjArAzAAA Q@AwŁorAPm@Af.A΀=Ac*AVCAVοAP*A_:?2AV7ҽ:A=BA_:?JAV7ҽRA=Y/Y@*y_~=.ٓHQk+?@dܿ`ڧ鴿̅ '?)/Y@ I٘i)I9Pm@YoG J*B=J<JJJE&Kq> YlW~?yاTA* E{7j7 }9)دBNE[[6o@[QW~?[[[[[BZYY i) oIH?i?@iQ< I))IῩu@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036495.403165 s, next control iter: 1743036495.763185 s, wait time: 0.360020 s&tReceived state from Gazebo (printed only once in a while):&0 header.stamp.sec: 9994&, header.stamp.nsec: 0&0 temperature: 13.387392&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.696017&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036495.783165 s.XJ~,(AJ"J*J2J:JBJnJvJA(\@A1P@A]Y~? AA9!&"AAnSmNA"AZAbAjArAzAAAQ@AKprAl@A˜WAʪ=Ax)AKA7пA0붼*AS:?2A+ӽ:A=BAS:?JA+ӽRA=٘i)I9l@YG J泼C=JJJJE&K YSW~?yܧMTA#E77}9)ݯB[[dp@[-W~?[[[[[BZYY i) *ʳII?iB@8< ;޿));޿LT@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036495.803165 s, next control iter: 1743036496.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036496.203165 s.J~, (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036496.203282F (some fields omitted in printout)AQE@A88@ADY~? AgA!&"AAJ.mNA"AZAbAjArAzAAAbO!d@ANŦrrAfl@AxA=A_5(AAѿA{*AG:?2ARsԽ:Ad.=BAG:?JARsԽRAd.=٘i)I9l@YG JUJJJJE&K YZ:W~?ySA&E{7{7=}9)BKE[[ːq@[aW~?[9"[[[[BZYY i) [%IiE@(< ܿ))ܿa@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036496.223165 s, next control iter: 1743036496.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036496.623165 s.\ J~,q'(AJ"J*J2J:JBJnJvJAGz@A[z4m@Ap,Y~? AjAӆ!&"AAo mNA"AZAbAjArAzAAA]`|>@A1WtrAmyk@A39A5=A&A@A ѿAȼ*A<:?2A>Խ:A>=BA<:?JA>ԽRA>=٘i)I9yk@YPG J5üJJJJE&K Y5!W~?ylSA(E77}9BB)BHE[[4r@[W~?[&[[[[BZYY i) ڀ¼IimI@= Aڿ))Aڿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036496.663165 s, next control iter: 1743036497.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 0 header.stamp.sec: 9995 , header.stamp.nsec: 0 0 temperature: 13.387671 * salinity: 33.391666 , density: 1025.000000 * values[0]: 0.694889 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036497.043165 s.J~,B(AA= ף@A ᘣ@AnY~? A!AJ!&"AAlNA"AZAbAjArAzAAA L@AtDvrAj@A<A=Aw%A`A cҿA`Ѽ*A2:?2Ae2ս:A=BA2:?JAe2սRA=٘i)I9j@YG J̼JJJJE&K YW~?yRA+E777h}9)BEE[[s@[W~?[*[[[[BZYY i) 6ɼIitM@}= ׿))׿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036497.063165 s, next control iter: 1743036497.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036497.463165 s.\J~,](AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743036497.463320F (some fields omitted in printout)Affff@A(\م@AX~? A$A !&"AAlNA"AZAbAjArAzAAAe@A%IxrAj@A6Y<A=AC\$A^A`ӿA\׼*A ):?2Aԕս:A =BA ):?JAԕսRA =Y_@I$y=kXZ<ٓH\? ƴIS qǢ`/?q?)_@ I٘i)I9j@Y{G J^ԼJy<JJJE&Ko|> YaV~?yRAI$.Eb7b7}9)B[[u@[W~?[i/[[[[BZYY i)  ѼIiO@= տ))տw@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036497.483165 s, next control iter: 1743036497.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9996, header.stamp.nsec: 00 temperature: 13.387963* salinity: 33.391663, density: 1025.000000* values[0]: 0.693688F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036497.883165 s.yJ~,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036497.903165 s, next control iter: 1743036498.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036498.303165 s.\$J~,g(AJ"J*J2J:JBJnJvJAQ@Aw*D@AX~? A+A &"AA*ylNA"AZAbAjArAzAAABj@AK"Z|rAh@AQ;A=A!AOA@hտACټ*A:?2Aֽ:A@=BA:?JAֽRA@=٘i)I9h@Y G JټJJJJE&K Y V~?yQA3Ej7Z7($}9AB)B@E[[~aw@[zW~?[8[[[[BZYY i) *g߼IiDU@}= п))пҔ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036498.323165 s, next control iter: 1743036498.703180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.0 header.stamp.sec: 9997., header.stamp.nsec: 0.0 temperature: 13.388279.* salinity: 33.391663., density: 1025.000000.* values[0]: 0.692387.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036498.723165 s.+J~,H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036498.723277F (some fields omitted in printout)Az@AAΡz@AX~? A/AI= &"AAUlNA"AZAbAjArAzAAA`S@A~rAg@A!Aj=AK A@ͶA DֿA&ؼ*As:?2AZ?׽:A.=BAs:?JAZ?׽RA.=٘i)I9g@Y. G JؼJJJJE&K Y]V~?yQA6E77'}9)B=E[[px@[jW~?[n=[[[[ZZ¸BZYY i¸s=) ^ӼIiX@% = ο))ο3f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036498.743165 s, next control iter: 1743036499.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036499.143165 s.W/2J~, *(AJ"J*J2J:J1?BJ1?nJ95vJA ףp@A>e@A̟X~? A3A&"AA)3lNA"AZAbAjArAzAAAUm) @AA:ErABg@ARAC=AA@+zA`׿Aؼ*Aa :?2Au׽:A?=BAa :?JAu׽RA?=٘i)I9Bg@Y G JCؼJJJJE&K YV~?yPA8E777S+}9)B[[y@[YW~?[>B[[[[ZZBZYY i) UǼIid\@ = 3\̿))3\̿@)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036499.163165 s, next control iter: 1743036499.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036499.563165 s.8J~,g (AA3333@A<+@A@* @⇿?)Hbf@ I٘i)I9xf@YE G JMB=JJJJE&K0z> Y{V~?y''PA;Eb77.}9@B) B:E[[z@[IW~?[1G[[[[ZZBZYY i) XIiX^@IM= C ʿ))C ʿʌ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036499.583165 s, next control iter: 1743036499.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):0 header.stamp.sec: 9998, header.stamp.nsec: 00 temperature: 13.388610* salinity: 33.391651, density: 1025.000000* values[0]: 0.691066F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036499.983165 s.?J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036499.983275F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A[@ArX~? A;AU&"AAkNA"AZAbAjArAzAAA*S@AYKRJrA4e@AA/=AaA~A ؿA!*A:?2A$׽:A<BA:?JA$׽RA<٘i)I9e@Y G JC=JJJJĽE&K YeV~?y OA>E777}2}9)B7E[[U{@[9W~?[6L[[[[ZZBZYY i) ]Ii`@t= Ӿǿ))Ӿǿ& @y\=;֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036500.003165 s, next control iter: 1743036500.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036500.403165 s.&FJ~,(AAQ^@AQ@A\X~? A#@A:&"AA0kNA"AZAbAjArAzAAA/^w@AAenrAd@AT;Ax=AAͷAٿAUl*Ai:?2Aֽ:Al<BAi:?JAֽRAl<٘i)I9d@Y8 G JJJJJƽE&K YOV~?y-:OA@E7)76}9?B)B5E[[!}@[Z)W~?[MQ[[[[ZZBZYY i) `Iihc@r= sſ))sſ@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036500.423165 s, next control iter: 1743036500.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"0 header.stamp.sec: 9999", header.stamp.nsec: 0"0 temperature: 13.388993"* salinity: 33.391632", density: 1025.000000"* values[0]: 0.689509"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036500.823165 s.LJ~,G4(AJ"J*J2J:J0?BJ0?nJ95vJAGz@Aq@A|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036500.843165 s, next control iter: 1743036501.223183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036501.243165 s.SJ~,mO(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083510< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743036501.243295F (some fields omitted in printout)Aףp=ʇ@A6@A1X~? A1IAYT&"AAUkNA"AZAbAjArAzAAAG@A U.trANc@AV;<A<AA /A@ ۿA*A:?2APֽ:AoBA:?JAPֽRAo٘i)I9Nc@YW G JFʼJJJJ̽E&K Y#V~?y3LNAFE777>=}9)$B1E[[h@[ W~?[[[[[[ZZBZYY i) hIii@;= G))GI֘@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036501.263165 s, next control iter: 1743036501.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036501.663165 s.ZJ~,qj(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10000, header.stamp.nsec: 00 temperature: 13.389325* salinity: 33.391636, density: 1025.000000* values[0]: 0.688124F (some fields omitted in printout)A@AY@AX~? AMAh&"AAkkNA"AZAbAjArAzAAAsԢ@A|BVWrA0b@A(t;A<A15AAۿA.΅*AE:?2Aֽ:ABAE:?JAֽRAY.l@f4y]<v;ٓH3 1{?N{` f タ~nu??).l@ I٘i)I9b@Y G J9J<JJJνE&Kx> YV~?yg"?NA4IE777@}9>B)(B.E[[DG@[ elevatorAngleAction: 0.074962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036502.503294F (some fields omitted in printout)ARk@Ax^@AgW~? AWA;&"AA+kNA"AZAbAjArAzAAA?Al[rA/b@Ah<AGAA`4UA@SkݿA$*Aj :?2Aֽ:A9BAj :?JAֽRA9٘i)I9/b@Y G JJJJJԽE&K YVU~?y.&NANE77G}9),B+E[[k@[V~?[k[[[[ZZBZYY i) J[Ii;p@= ))@ )YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036502.523165 s, next control iter: 1743036502.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10001, header.stamp.nsec: 00 temperature: 13.389544* salinity: 33.391621, density: 1025.000000* values[0]: 0.687319F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036502.923165 s.7nJ~,(AA{G@AfF?@A>W~? A\A&"AA$ kNA"AZAbAjArAzAAAR-?A|"{rAb@AEWA~ASAA(޿A!*A9?2Aֽ:A@ԼBA9?JAֽRA@Լ٘i)I9b@Y G J@B=JJJJ׽E&K Y.U~?y5NAQE{7K}9)-B,E[[ @[V~?[kq[[[[BZYY i) GIis@= O÷))O÷@yߚ=4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036502.963165 s, next control iter: 1743036503.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036503.343165 s. elevatorAngleAction: 0.074962< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036503.763281F (some fields omitted in printout)A @AҨ@AW~? AgA] &"AAjNA"AZAbAjArAzAAAY?A BCrA]Fb@A:AXAA@^eA ߿A~;*Aq9?2A ׽:ABAq9?JA ׽RAYjs@ЮyX̆:ٓHuV?TƠ? ]]F(??`P??)js@ I٘i)I9Fb@Y G J;;JJJJܽE&Kkx> Y U~?yBUNAVE777R}9)*B&E[[@[zV~?[|[[[[BZYY i elevatorAngleAction: 0.066067BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200282 time: 1743036505.023329F (some fields omitted in printout)AHz@A @AW~? A]xA=&"AAzjNA"AZAbAjArAzAAA6\?A+Cg?rA4c@A<A AZ A0dA`A ҅<*A9?2Ay׽:A BA9?JAy׽RA ƖI٘i)I94c@YG G Jr<JJJJE&K YwU~?yhV/OA^E)7b7~]}9=B)#B$E[[Є@[XV~?[[[[[BZYY i) Ii?~@"= u))u@y/h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036505.043165 s, next control iter: 1743036505.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036505.443165 s.9ÖJ~,F]\(AAq= @Aē։@AmW~? A5~AGV&"AAa_jNA"AZAbAjArAzAAA(_H?AzѮrAYc@AˌT:A[ӖAx A@0 A@I*AF<*A9?2Aֽ:ABA9?JAֽRA٘i)I9c@Y G Jc<JJJJE&K YeU~?y5]xOAaEj7j7a}9w(AJ"J*J2J:J40?BJ40?nJ85vJA@AF @A*\W~? A+A!&"AAcDjNA"AZAbAjArAzAAAqCa]ǿAV`trA1d@AA&A5 Ae߿A{AI<*A9?2A{ֽ:ABA9?JA{ֽRAYy@+ y܏cxٓH ?`vܨ?' ѭ?IM?@j?)y@ I٘i)I91d@Y G JŞ<J]JJJE&K x> YeUU~?ydOA+ cE777d}9)B[[@[a{V~?[ٙ[[[[BZYY i) &Ii&@O%= ?))? @Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036505.883165 s, next control iter: 1743036506.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036506.283165 s.7RJ~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036506.283282F (some fields omitted in printout)A(\O@AC3OB@AJW~? A<Am&"AA)jNA"AZAbAjArAzAAA<}rٿAFj(rAd@AoPAeAA߮޿AA΁<*AT9?2Ajֽ:ABAT9?JAjֽRA٘i)I9d@Y9 G J<<JJJJE&K YEU~?ykGPAfE)7)7>h}9;B)BE[[@[fpV~?[ڟ[[[[BZYY i)  Ii@E&= ))@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036506.303165 s, next control iter: 1743036506.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10005., header.stamp.nsec: 0.0 temperature: 13.389139.* salinity: 33.391552., density: 1025.000000.* values[0]: 0.689382.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036506.703165 s.ԺJ~,(AJ"J*J2J:JBJnJvJAQ@AHx@A%:W~? AhAi&"AA+jNA"AZAbAjArAzAAA 4AmrAVe@Ad/AtA3A ݿA8A%<*AY9?2Aֽ:ABAY9?JAֽRA٘i)I9Ve@Y G J<B=JJJJE&K Y6U~?y.sPAiEb7b7k}9 elevatorAngleAction: 0.066067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036507.543278F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@Au@AW~? AAZ&"AAjiNA"AZAbAjArAzAAA!ȃ(A* [rA>f@A4;AiAA@pܿA`=AЭ<*A9?2A@׽:ABA9?JA@׽RA٘i)I9f@YJ G J5<B=JJJJE&K YU~?yӁ~QAnE7777r}9)B[[O,@[QV~?[[[[[BZYY i) IiE@*= C))CJN@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036507.583165 s, next control iter: 1743036507.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10006, header.stamp.nsec: 00 temperature: 13.388917* salinity: 33.391541, density: 1025.000000* values[0]: 0.690583F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036507.963165 s.{J~,(AAffff&@Ay[@A5 W~? AA˃&"AA~iNA"AZAbAjArAzAAA0ɆAGrAg@AH<AVAAةۿA@/A;<*A9?2AF`׽:A҂BA9?JAF`׽RA҂Y9@ykOH<ٓH]ݿM?`L?6ݿ P?`h?`?`?)9@ I٘i)I9g@Y G J]<C=J;JJJE&Kx> Y U~?yQAqEŧ7ŧ7v}9+B)BE[[\@[HV~?[O[[[[BZYY i) Ii@+= ʜ))ʜWݡ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036507.983165 s, next control iter: 1743036508.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036508.383165 s.J~,I(AJ"J*J2J:JBJnJvJA(\@AÖO@AV~? A"AM&"AA8iNA"AZAbAjArAzAAA "bdAtW%rACg@AA<AAIAڿA FAk<*AX9?2ACC׽:ABAX9?JACC׽RA٘i)I9g@Y G J_<JJJJE&K Y[T~?ydKRAsE77)z}9)BE[[1J@[>V~?[[[[[BZYY i) l9IiE@{+= )),l@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036508.403165 s, next control iter: 1743036508.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10007", header.stamp.nsec: 0"0 temperature: 13.388669"* salinity: 33.391521", density: 1025.000000"* values[0]: 0.691742"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036508.803165 s.{AJ~,g3(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743036508.803303F (some fields omitted in printout)A둋@Aㄋ@AeV~? AϰA&"AAiNA"AZAbAjArAzAAAb,AӒ2(rA-h@Aט;A AAjڿA`BAYb<*A9?2Aֽ:ABA9?JAֽRA٘i)I9-h@YN G JE<B=JJJFJE&K Y(T~?y-RAvEŧ7b7}}9*B)BE[[؉@[6V~?[Ĩ[[[[BZYY i) B:Ii @*,= wT))wT@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036508.843165 s, next control iter: 1743036509.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036509.223165 s.gJ~,HN(AJ"J*J2J:J;1?BJ;1?nJ95vJAzNj@AE@A$V~? AA&"AAiNA"AZAbAjArAzAAA3<3AFrA:h@AWALA7AVMٿAA<*AY9?2Aֽ:ABAY9?JAֽRA٘i)I9h@Y G J<C=JJJJE&K YT~?ySAyE777T}9)B[[f@[-V~?[#˨[[[[BZYY i) {;Ii@|.= 3))3Έ@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036509.263165 s, next control iter: 1743036509.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036509.643165 s.xJ~,*i(AA ףp@A'd@AUV~? AnAz&"AAWmiNA"AZAbAjArAzAAAظ~A9rAHi@A57A~ӏAAؿA A`z<*A9?2Aֽ:A/BA9?JAֽRA/٘i)I9Hi@Y G JQ<JJJJE&K YT~?ySA|E}9)B[[x@[%V~?[xѨ[[[[BZYY i) P;Ii+@~/= 哿))哿s@*tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10008, header.stamp.nsec: 0Y0 temperature: 13.388416* salinity: 33.391514, density: 1025.000000* values[0]: 0.692879F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743036509.663165 s, next control iter: 1743036510.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036510.063165 s.J~,t (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: 0.066067< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036510.063305F (some fields omitted in printout)A33333@An,(&@AV~? A_ũA?&"AAXiNA"AZAbAjArAzAAA{l AqArAi@AKA>AA]A׿ALA^<*A9?2Aʘֽ:A5BA9?JAʘֽRA5Y|@Ay;=`LٓH(׿ 5?%? cU ؿOO?`⣱?P|?)|@ I٘i)I9i@YPG Jߥ<JX<JJJE&K]x> Y/T~?y簨SAA~E7}9)B)ۯBE[[̂@[V~?[ר[[[[BZYY i9=) kO;Iij@./= O))OǤ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036510.083165 s, next control iter: 1743036510.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036510.483165 s.u_J~,(AA\h@A[@AV~? Ae̩Ak&"AADiNA"AZAbAjArAzAAA<AOrAZj@A|AZAA}ֿA߉A<*A9?2A'ֽ:A) BA9?JA'ֽRA) ٘i)I9Zj@YG J~<JJJJE&K YT~?y elevatorAngleAction: 0.074817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036511.323280F (some fields omitted in printout)AGzԌ@A:pnj@AV~? AکAV&"AA iNA"AZAbAjArAzAAA75ċA\fBrA|Rk@Aq$<AAoWA "տAoA<*A9?2AY׽:ABA9?JAY׽RA٘i)I9Rk@Y8G J<JJJJ E&K YjT~?yeɨTAEj7j7?}9)ίBE[[q,@[V~?[D[[[[BZYY i) ;IiD@C2= ))lN@y5'=*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036511.343165 s, next control iter: 1743036511.723179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10010., header.stamp.nsec: 0.0 temperature: 13.387976.* salinity: 33.391476., density: 1025.000000.* values[0]: 0.695069.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036511.743165 s.WJ~,~(AJ"J*J2J:J1?BJ1?nJ:5vJAףp= @A)H4@A/V~? AA&"AA? iNA"AZAbAjArAzAAApJAׁErApk@AQ<A'AA"EԿAl3A-.<*A?9?2A V׽:A@BA?9?JA V׽RA@٘i)I9k@YG J<B=JJJJE&K YџT~?yѨYUAEb7b7Ֆ}9)ʯBE[[@[mV~?[[[[[BZYY i) gX YT~?yڨUA7E7ŧ7i}9)ǯB[[HG@[U~?[T[[[[BZYY i) 5 elevatorAngleAction: 0.074817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036512.583287F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@Ah@A|V~? AAū&"AAhNA"AZAbAjArAzAAAlaA>rrA elevatorAngleAction: 0.074817< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743036513.843284F (some fields omitted in printout)Ap= @Au @A`V~? A5AP&"AA1hNA"AZAbAjArAzAAADw&Lc A_]qsA*n@A0)AAWAϿA.A<*Af9?2Aֽ:Ap BAf9?JAֽRAp ٘i)I9*n@YG J<JJJJE&K YtxT~?y*WAE77}9)B[[V|@[{U~?[[[[[BZYY i) N YasT~?yWA-E7{7U}9)B[[ @[fU~?[t[[[[BZYY i) ^ elevatorAngleAction: 0.083890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743036515.103332F (some fields omitted in printout)AQ@AE@AGV~? ACA4&"AA[hNA"AZAbAjArAzAAAd A dsAfo@Aw$J<AesAڿA<ʿA`AsŘ<*A9?2AT׽:A6sBA9?JAT׽RA6s٘i)I9o@YG JI<JJJJ$E&K Y=iT~?yPXAE{7{7}9)BE[[#@[XU~?[&[[[[BZYY i) |J~,l](AJ"J*J2J:J2?BJ2?nJ;5vJAq= #@A$@AQ:V~? A-A  &"AAhNA"AZAbAjArAzAAAh VK AR" sA.p@A/J;AKAտA`ƿAA<*A9?2A ֽ:A &BA9?JA ֽRA &٘i)I9p@Y}G JO<JJJJ*E&K Y_T~?y*'YAE77{7}9)B[[/=@[U~?[G4[[[[BZYY i) ✍(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036516.363325F (some fields omitted in printout)AY@A$L@AP4V~? A5Ak &"AAxzhNA"AZAbAjArAzAAA~q A0sAa9q@AyA<A2ӿAĿA $A$ݧ<*A9?2Aqֽ:ABA9?JAqֽRAY+C@|&ӿyQ<ٓH Y\T~?y/YA&ӿEb77?}9)B[[ɓ@[U~?[;[[[[BZYY i) %AAпA ¿AA:<*Aj9?2AOֽ:ABAj9?JAOֽRA٘i)I9q@Y(G J<JJJJ/E&K YZT~?y8YAEŧ7b7}9)BE[[V@[U~?[A[[[[BZYY i) o elevatorAngleAction: 0.083890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743036517.623326F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A@Ab%V~? AMA &"AAbhNA"AZAbAjArAzAAA.AFZ-sAr@AٻAA{d˿A-A`5+A*<*Aw9?2A@ֽ:ABAw9?JA@ֽRA٘i)I9r@YG J<JJJJ5E&K Y3VT~?yCJZAE77}9)B[[ elevatorAngleAction: 0.083890< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743036518.883331F (some fields omitted in printout)A(@AH@A0V~? AeAs&"AAQhNA"AZAbAjArAzAAAG"A~0mAkAE<*AA9?2Auֽ:ARBAA9?JAuֽRAR٘i)I9 v@YG J4<B=JJJJBE&K YKT~?y$v\AE777}9)wBE[[ϐÿ[%U~?[p[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036519.763165 s, next control iter: 1743036520.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036520.143165 s.V/J~,* (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092678< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743036520.143272F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@Abod0@AV~? A}A-&"AACHhNA"AZAbAjArAzAAAx6A \JsAv@A$ADZA˻AlA`pA3<*Aۚ9?2A5ֽ:ABAۚ9?JA5ֽRA٘i)I9v@Y)G J <C=JJJJEE&K YHT~?y~5]AE{7Z7}9)qB[[g[>U~?[w[[[[BZYY i) g YaLT~?y]AE7{7}9+B)pB[[m:[U~?[?~[[[[BZYY i) ^= d5))d5d5yŴ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036520.603165 s, next control iter: 1743036520.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10019, header.stamp.nsec: 00 temperature: 13.568966* salinity: 33.374996, density: 1025.000000* values[0]: 0.577533F (some fields omitted in printout)NaLT~?)N rAdjusting time to match Gazebo time: 1743036520.983165 s.J~,>(AJ"J*J2J:J?BJ?nJ5vJA\@AZ훑@AV~? AύA/&"AAEhNA"AZAbAjArAzAAApW]BA(9TsA@x@A|#AAA57P?A`tAzV<*A69?2A`[ֽ:Aa4!BA69?JA`[ֽRAa4!ŖI٘i)I9x@YG JG<C=JJJJJE&K YOT~?y]&^AĽE77}9)jBE[[ [U~?[턩[[[[ZZZZ¸>BZYY i¸>C) x=  1)) 1 1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036521.023165 s, next control iter: 1743036521.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036521.403165 s.&J~,Y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083373< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036521.403284F (some fields omitted in printout)AQޑ@A.ё@AV~? AA&"AAEhNA"AZAbAjArAzAAA}k@>Av hYsAx@AoAAhCAA䳿Ao?AqA<*A†9?2Aֽ:Ab BA†9?JAֽRAb ٘i)I9x@YoG J<JJJJME&K YfST~?y^AǽE{7{7@}9,B)fBE[[m޺[U~?[[[[[ZZZZBZYY i) C= #))##c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036522.263165 s, next control iter: 1743036522.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036522.663165 s.J "J *J 2J :J M?BJ M?nJ 5vJ J~,r(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083373< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036522.663313F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10021, header.stamp.nsec: 00 temperature: 13.568241* salinity: 33.375000, density: 1025.000000* values[0]: 0.579303F (some fields omitted in printout)A@AYr@AV~? AA@&"AAJhNA"AZAbAjArAzAAAXҌ\ AsFEhsAJ{@A?<A:|A﫿A`3?A ZAï<*Aڪ9?2Aֽ:A Y`T~?y_AϽEb7b7}9)RBE[[S[U~?[[[[[ZZZZBZYY i) WJ~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083373< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036523.923291F (some fields omitted in printout)A{G!@A"<@A!V~? AƪAj&"AAVhNA"AZAbAjArAzAAALt]EAvsA>}@Aۺ.A[6A:A@?A3A<*A`9?2Aֽ:A<BA`9?JAֽRA<٘i)I9>}@Y"G J<JJJJ]E&K YsT~?y̩`A׽E77}9-B)CBE[[[U~?[n[[[[ZZZZBZYY i) klJJJbE&K0w> YST~?yݩaA ܽE77~9)>B[[_[U~?[[[[[ZZZZBZYY i)r) \(A:J?BJ?nJ5vJA@Ay@AHV~? A4A3%"AAhNA"AZAbAjArAzAAA2?&= Ac0sA>F}@AعA=ASA`O?ACAY_*A9?2A!ֽ:AH4 =BA9?JA!ֽRAH4 =Y@y= ٓH?l?Ҝ?$;?®;A?)@ I٘i)I9F}@Y'G JJJx=JJJpE&Kw> YT~?y>T`AE{7Z7~90B)FB E[[_[V~?[[[[[BZYY i'i)  YT~?y.~^AE77)~9)\B'E[[W[=V~?[[[[[BZYY i) 3[;IiT@1= V>))V>V>_֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036528.983165 s, next control iter: 1743036529.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036529.383165 s.J~,/X(AJ"J*J2J:Jr?BJr?nJ5vJA(ܕ@Aϕ@A}V~? A*Ai%"AAohNA"AZAbAjArAzAAAubAT;`sA/z@A|%F<AH=AA`B?AHA䴼*A9?2A!ֽ:AF =BA9?JA!ֽRAF =٘i)I9/z@YEG JڵC=JJJJE&K YRT~?yr6^AEZ7SI7V-~93B)bB(E[[1"[FV~?[[[[[BZYY i) ;Ii9@/= i))ii$ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036529.403165 s, next control iter: 1743036529.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10028", header.stamp.nsec: 0"0 temperature: 13.568035"* salinity: 33.375023", density: 1025.000000"* values[0]: 0.579544"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036529.803165 s.sAJ~,jgs(AA@A5\@A=V~? A2A&%"AAhNA"AZAbAjArAzAAA/A qsAޘy@A,<A=AhAف?A` XAX*AV9?2A:Oֽ:AI=BAV9?JA:OֽRAI=٘i)I9y@YG JB=JJJJE&K Y U~?y >]AEŧ7b70~9)fB[[iꎿ[,PV~?[ [[[[BZYY i) $:IiM@w.= ))gϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036529.843165 s, next control iter: 1743036530.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036530.223165 s.g#J~,H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066406< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036530.223277F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@AL:@AGV~? Ag9A'%"AA]hNA"AZAbAjArAzAAA~2ՆAzWsAy@Aca;At=AZxzAa?AS$Aҩ*A19?2A{ֽ:A=BA19?JA{ֽRA=٘i)I9y@YG J"C=JJJJE&K YU~?yEE]AE)7)74~94B)lB+E[[[YV~?[ [[[[BZYY i) \M:Ii@-= ))ygg˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036530.243165 s, next control iter: 1743036530.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036530.643165 s.)J~,0*(AA ףp}@A>ep@A̞V~? A@A %"AAo iNA"AZAbAjArAzAAAeĈboAQTBsAzx@AzATՐ=A(uA@>?AAD͡*A9?2Aֽ:Aa<BA9?JAֽRAa<٘i)I9zx@Y;G J\JJJJE&K YA*U~?y5M\AE778~9)pB[[kw[#dV~?["[[[[BZYY i) sIi@,= ))tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10029, header.stamp.nsec: 00 temperature: 13.568247* salinity: 33.375015, density: 1025.000000* values[0]: 0.578844F (some fields omitted in printout)ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036530.663165 s, next control iter: 1743036531.043182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036531.063165 s.0J~,V (AJ"J*J2J:J/?BJ/?nJa5vJA3333@AE|'@A̪V~? AGAS|%"AA:iNA"AZAbAjArAzAAAoXLA"sAw@AV=Am=AoA`5?AZA53*A9?2A ׽:Ax<BA9?JA ׽RAxٓH??Wة? #?(@ɱ`?)T @ I٘i)I9w@YG JJ{JJJE&K.x> Y:U~?yNT}\AoEŧ7b7;~96B)vB/E[[@[nV~?[[[[[BZYY i) HIi@*= n⎾))n⎾n⎾EĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036531.083165 s, next control iter: 1743036531.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036531.483165 s.|_7J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066406< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036531.483308F (some fields omitted in printout)A\@A ۖ@ADV~? ANA%"AA1iNA"AZAbAjArAzAAA%UcA8usAtw@Ay=A.j=AjA?AzAzs*A09?2Aֽ:Ac<BA09?JAֽRAc<٘i)I9tw@YG J>JJJJE&K YKU~?yh[\AE77A?~9)zB[[[eyV~?[%[[[[BZYY i) thIiM@X)= ))~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036531.503165 s, next control iter: 1743036531.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10030, header.stamp.nsec: 00 temperature: 13.568476* salinity: 33.375046, density: 1025.000000* values[0]: 0.578269F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036531.903165 s.=J~,(AJ"J*J2J:JBJnJvJAQ@AW@A2V~? AUAig%"AADiNA"AZAbAjArAzAAAokAŤsA:v@A󕴻A밊=A5xeA` ?A@e>Ams*Aq9?2A޺ֽ:Aڣ<BAq9?JA޺ֽRAڣ<٘i)I9v@YOG JJJJJE&K Yh\U~?yb[A E7B~97B)B2E[[m˃[V~?[+[[[[BZYY i) MIi8@]'= z))zz"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036531.923165 s, next control iter: 1743036532.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036532.323165 s.|DJ~,>(AAGzT@AԘsG@AV~? A\AK%"AAXiNA"AZAbAjArAzAAA7q?A'#sAwv@A5a;A=A[j`A?A 2Aȵ*A{9?2Auֽ:A<BA{9?JAuֽRA<٘i)I9wv@YG JdJJJJE&K Y!mU~?yi^[A E7777lF~9)B[[ፁ[&V~?[0[[[[BZYY i) ąIiS@M&= /h))/h/hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036532.343165 s, next control iter: 1743036532.723181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10031., header.stamp.nsec: 0.0 temperature: 13.568648.* salinity: 33.375019., density: 1025.000000.* values[0]: 0.577709.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036532.743165 s.WKJ~J,~/(A"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066406< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036532.743285F (some fields omitted in printout)Aףp=@AY2}@AjV~? AcAX%"AAwmiNA"AZAbAjArAzAAALAٰ#sAtu@A"-<AД=A;S[A kb?A`A1*A`9?2ANֽ:A"<BA`9?JANֽRA"<٘i)I9u@YG JJJJJE&K Y}U~?ypZAE7J~98B)B6E[[~[V~?[6[[[[BZYY i) 釤Ii@%= 9V))9V9V޺YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036532.763165 s, next control iter: 1743036533.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036533.163165 s.w}RJ~,qJ(AA@AcԵ@AV~? AljA%"AAiNA"AZAbAjArAzAAA_uAٺCsA4|u@AF<A=A"VA^.?AI}Al*A"9?2A\ֽ:An<BA"9?JA\ֽRAn YːU~?y YU~?yEXA;EZ7Z7_~9)BCE[['c[rV~?[OX[[[[BZYY i) v/Iijs@&= `zԽ))`zԽ`zԽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036535.283165 s, next control iter: 1743036535.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 100342, header.stamp.nsec: 020 temperature: 13.5691372* salinity: 33.3750422, density: 1025.0000002* values[0]: 0.5762082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036535.683165 s.lzJ~,c(AA(\@A8ӄ@AeLW~? A萫A'%"AA,jNA"AZAbAjArAzAAA׿AsAr@A?-A]Ȍ=A@6A?AA*A9?2Aֽ:AD=BA9?JAֽRAD=٘i)I9r@YG J†JJJJE&K YV~?y+XA"Ec~9)B[[_[V~?[][[[[BZYY i) Z?IiIp@^= O))OOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036535.683165 s, next control iter: 1743036536.083173 s, wait time: 0.400008 s rAdjusting time to match Gazebo time: 1743036536.103165 s.J~,(AJ"J*J2J:JBJnJvJAQ8@AQI+@A]W~? AAf%"AA)jNA"AZAbAjArAzAAANT"ſAÈ"rsA_r@A4<A=AJ1ASr?AmA*AV9?2AQֽ:A =BAV9?JAQֽRA =٘i)I9_r@YG J;JJJJE&K YV~?y'XA$Eb77f~9=B)BFE[[oZ[BW~?[b[[[[BZYY i) NIim@'= ))􋽩ŪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036536.123165 s, next control iter: 1743036536.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036536.523165 s.J~,{!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077361< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036536.523281F (some fields omitted in printout)AHzn@AHa@A:oW~? A眫A%"AAMDjNA"AZAbAjArAzAAAʬJE?A' sA q@A`I<Ar=A/|,A??A &Aa*A9?2A>ֽ:A =BA9?JA>ֽRA =ĖI٘i)I9q@Y7G JiJJJJE&K Y~0V~?yWA'EZ7Z7Aj~9>B)BIE[[U[6W~?[=h[[[[BZYY i) `^Ii(k@+= N))NNtɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036536.543165 s, next control iter: 1743036536.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10035, header.stamp.nsec: 00 temperature: 13.569251* salinity: 33.375065, density: 1025.000000* values[0]: 0.575732F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036536.943165 s.YdJ~,F]<(AJ"J*J2J:JBJnJvJAq= ף@A^)˖@A7W~? AA~%"AAA_jNA"AZAbAjArAzAAA %?AEsAn`q@Ay(<Aڔ=A<'A]j?A `A盼*A9?2Ahֽ:A=BA9?JAhֽRA=٘i)I9`q@YG JOJJJJE&K YxEV~?yޮnWA*E777m~9)B[[/jQ[%W~?[nm[[[[BZYY i) mIi)i@9= @))@@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036536.963165 s, next control iter: 1743036537.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036537.363165 s.J~,y>W(AAٙ@A͎̙@AW~? AtA %"AAzjNA"AZAbAjArAzAAA?AtAp@A <;A =A!A@n?A@,oA*A9?2A4ֽ:A =BA9?JA4ֽRA =YRҭ@!y =d=;ٓH?`? ???J| ݲ g? ?)Rҭ@ I٘i)I9p@YG JJ|<JJJE&K!x> YA\V~?yWA!-E{7j7lq~9@B)BME[[L[4W~?[|r[[[[BZYY i)  }Iibe@= 4t))4t4tϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036537.383165 s, next control iter: 1743036537.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10036&, header.stamp.nsec: 0&0 temperature: 13.569417&* salinity: 33.375072&, density: 1025.000000&* values[0]: 0.575194&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036537.783165 s.]J~,r(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077361< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036537.783285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AlzPP@AUW~? A A%"AAjNA"AZAbAjArAzAAA ws#?A*}tAXp@A:ŻA)*=AA?AA*A9?2A׽:A =BA9?JA׽RA =٘i)I9Xp@YHG JRJJJJE&K YsV~?yEVA/E77{7u~9)BPE[[wPH[DW~?[{w[[[[BZYY i) Iia@= d?;))d?;d?;ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036537.803165 s, next control iter: 1743036538.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036538.203165 s.J~, (AAQE@A*8@ArW~? AA2%"AAjNA"AZAbAjArAzAAA?^a?Aq,tAo@An@AXB=A-Awj?Au߿Az}*A39?2A ׽:A+ =BA39?JA ׽RA+ =٘i)I9o@YG JTJJJJE&K YωV~?yy=VA2Eb77x~9)¯B[[C[UW~?[j|[[[[BZYY i1a) oIi^@f= Ī<))Ī<Ī<ժYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743036538.223165 s, next control iter: 1743036538.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036538.623165 s.ZJ~,i(AJ"J*J2J:JBJnJvJAGz@Am@AW~? AḫA%"AAjNA"AZAbAjArAzAAA:ca?Ah& tAGLo@AQ8AA=AAk?A ޿AP꣼*A9?2Aֽ:A)~ =BA9?JAֽRA)~ =٘i)I9Lo@YG JEJJJJE&K YV~?yêUA5E77,|~9AB)ǯBSE[[?[eW~?[I[[[[BZYY i) AIiR\@ = +=))+=+=FتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036538.643165 s, next control iter: 1743036539.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10037 , header.stamp.nsec: 0 0 temperature: 13.569606 * salinity: 33.375069 , density: 1025.000000 * values[0]: 0.574624 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036539.043165 s.J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743036539.043328F (some fields omitted in printout)A= ף@AH@AW~? AAa%"AAjNA"AZAbAjArAzAAA{ˇ"?AǴWWtA7n@AAq=A A ?A@!޿AZ*A9?2A}ֽ:A1=BA9?JA}ֽRA1=٘i)I9n@YOG JJJJJE&K Y`V~?yȪsUA7Eŧ7b7~9BB)˯BVE[[{:[vW~?[[[[[BZYY i) ՜IiZ@J = >i=))>i=>i=2۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036539.063165 s, next control iter: 1743036539.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036539.463165 s.WJ~,(AJ"J*J2J:J?BJ?nJ,5vJAffff@A28J^ٚ@AW~? A6ëA%"AA kNA"AZAbAjArAzAAA\]?A)utAW1n@AF;A=A;A`UU?A@ HݿAq*A9?2AXֽ:Al<=BA9?JAXֽRAl<=Yo@y=;ٓH2?2?[?v#`?L n;p?@N?)o@ I٘i)I91n@YG J6B=JQ<JJJE&Kw> YV~?yTͪUA:E77W~9)ЯB[[?5[W~?[[[[[BZYY i) DIi V@= L=))nL=L=yMުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036539.483165 s, next control iter: 1743036539.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10038, header.stamp.nsec: 00 temperature: 13.569763* salinity: 33.375084, density: 1025.000000* values[0]: 0.574042F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036539.883165 s.yJ~,<(AA(@Aa@AX X~? A0ȫA%"AA+kNA"AZAbAjArAzAAAjN?ADܹ~tA}m@At3<An=AAU?A@ܿA*A9?2A)&ֽ:A!=BA9?JA)&ֽRA!=٘i)I9m@YG JsC=JJJJþE&K YV~?yѪTA=E77~9CB)ׯB[E[[I1[W~?[O[[[[BZYY i) IicR@= 1=)) 1=1=AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036539.903165 s, next control iter: 1743036540.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036540.303165 s.TJ~,og(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743036540.303265F (some fields omitted in printout)AQ@AD@A#X~? AͫA:%"AAJkNA"AZAbAjArAzAAA4@A!6stAm@AE<A =AYA?AۿAʶ*A*9?2Amս:AF=BA*9?JAmսRAF=٘i)I9m@Y>G J\JJJJƾE&K YiW~?y;֪,TA?E777~9DB)ܯB^E[[ϥ,[W~?[ғ[[[[BZYY i)  IiO@ǎ= `P=))`P=`P=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036540.323165 s, next control iter: 1743036540.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10039., header.stamp.nsec: 0.0 temperature: 13.569930.* salinity: 33.375095., density: 1025.000000.* values[0]: 0.573423.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036540.723165 s.J~,H.(AAz@Avz@A>3X~? AѫA%"AA~jkNA"AZAbAjArAzAAA#]@A6mTtAbl@A4;Ah]=A!A(0?A@1ڿA⼼*Aj9?2Auս:AkO=BAj9?JAuսRAkO=٘i)I9bl@YG J仼JJJJȾE&K YW~?yڪSABEj7j7~9)BaE[[_'[ԼW~?[A[[[[BZYY i) mIi=L@|= Q>))Q>Q>YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036540.743165 s, next control iter: 1743036541.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036541.143165 s.\/J~, *I(AJ"J*J2J:JBJnJvJA ףp@Ae@AHX~? AT֫Aʁ%"AAkNA"AZAbAjArAzAAARF@Aa tAk@A%[Aç=A A-u?AX5ڿA׽*AY9?2A6ֽ:Ab=BAY9?JA6ֽRAb=٘i)I9k@Y}G JsJJJJ˾E&K Y1W~?y#ߪSSAEE{7{7~9EB)BdE[[K#[JW~?[[[[[BZYY i) }IiI@= >))>>YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036541.163165 s, next control iter: 1743036541.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036541.563165 s.J~,c d(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036541.563284F (some fields omitted in printout)A3333@AE|'@AZ^X~? AګA)%"AAUkNA"AZAbAjArAzAAAumP@A MtA#k@A8A4=Ah۾AW?A`gٿA*AG9?2A8ֽ:A=BAG9?JA8ֽRA=YO@Z۾y=qٓH? ӗ?}ȴ? ̋ڿ?n% ǃ ?)O@ I٘i)I9#k@YG JJc<JJJξE&Krv> YJW~?yRA۾GE77B~9)B[[[W~?[͠[[[[BZYY i) AɼIiE@< )>))K)>)>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036541.583165 s, next control iter: 1743036541.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10040, header.stamp.nsec: 00 temperature: 13.570137* salinity: 33.375122, density: 1025.000000* values[0]: 0.572748F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036541.983165 s.J~,~(AJ"J*J2J:JBJnJvJA\(@A"@AWtX~? A߫A%"AAkkNA"AZAbAjArAzAAAjIХ @A6'&v"tA^j@AHA\=AоA?A ;ؿAlü*AU9?2Aֽ:A=BAU9?JAֽRA=٘i)I9j@YG JJJJJѾE&K YidW~?yviRAJE7{7ט~9)BgE[[c[W~?[줪[[[[BZYY i) мIiA@< I<>)) I<>I<>QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036542.003165 s, next control iter: 1743036542.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036542.403165 s.&J~,͙(AAQ^@AլQ@AX~? A<AK%"AAkNA"AZAbAjArAzAAAѓz`) @A@%tAi@As A=AVƾA@9?A .׿Aʼ*A9?2AYս:A=BA9?JAYսRA=٘i)I9i@YTG JFƼJJJJӾE&K Y~W~?yQAMEb77l~9FB)BjE[[J[X~?[[[[[BZYY i) ׼Ii(>@Xg< 0O>))0O>0O>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036542.423165 s, next control iter: 1743036542.803177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10041, header.stamp.nsec: 00 temperature: 13.570326* salinity: 33.375122, density: 1025.000000* values[0]: 0.572062F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036542.823165 s.J~,2(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036542.823305F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A1zn@A%X~? ABA;1%"AAlNA"AZAbAjArAzAAAnL @A`Cu'tA0.i@AA=AA-t?A@ֿAѼ*Af9?2A"#ս:Al =BAf9?JA"#սRAl =٘i)I9.i@Y G JͼJJJJ־E&K YW~?yQAOE77{7~9)BmE[[ː[X~?[鬪[[[[BZYY i) ߼Ii;@s< @a>))@a>@a> YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036542.843165 s, next control iter: 1743036543.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036543.243165 s.J~,`(AAףp=ʜ@Az0@AX~? A%A%"AA22lNA"AZAbAjArAzAAAu@A+-)tA{h@AO<AP=AAҬ?A%'ֿA1ټ*A9?2Aս:A,=BA9?JAսRA,=٘i)I9{h@Y~ G JCռJJJJپE&K Y\W~?yr QAREj7j7~9HB)BqE[[ [u/X~?[İ[[[[BZYY i) UIi`8@< pt>))pt>pt>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036543.263165 s, next control iter: 1743036543.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036543.663165 s.J~J"J*J2J,q(A:JC?BJC?nJ^5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10042, header.stamp.nsec: 00 temperature: 13.570561* salinity: 33.375137, density: 1025.000000* values[0]: 0.571348F (some fields omitted in printout)A@Aѭ@AX~? AA9%"AATlNA"AZAbAjArAzAAA @A,tAg@AI<A=A<ਾA?A@RտAݼ*A9?2A6*ս:A =BA9?JA6*սRA =Ẏ@Oy$=gJ<ٓHe*?,?ۙ?_ԿE?ض2? ?)̇@ I٘i)I9g@Y G J{ۼJ+<JJJ۾E&KJu> YW~?yIPAOUEŧ7b7,~9) B[[c[cCX~?[w[[[[ZZ¸BZYY i¸=) nDڼIi3@U< >)){>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036543.683165 s, next control iter: 1743036544.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036544.083165 s.DJ~,S (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245662> elevatorAngleAction: 0.083489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036544.083289F (some fields omitted in printout)A)\5@AʧǶ(@A8X~? A|AdQ%"AAwlNA"AZAbAjArAzAAA @AqP.tAg@At"<Ay=Aq[A@?A3yԿAO.߼*AI9?2Aս:A,=BAI9?JAսRA,=٘i)I9g@Y G J޼JJJJ޾E&K YW~?yPAWE7777ª~9)BtE[[c[WX~?[[[[[ZZBZYY i) 43μIi/@4)< Y>)) Y>Y>`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036544.103165 s, next control iter: 1743036544.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036544.503165 s.J~,P4 (AJ"J*J2J:J)?BJ)?nJC5vJARk@Aڦx^@AX~? AA{ %"AA]lNA"AZAbAjArAzAAA15@Aj3j0tA:f@AЈ;Aί=A˓AN?A ӿABr*AG9?2AԽ:A<BAG9?JAԽRA<٘i)I9:f@Y G JJJJJE&K YpX~?yOAZEb77W~9IB)BwE[[>[RlX~?[[[[[ZZBZYY i) !¼IiA,@|< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036544.543165 s, next control iter: 1743036544.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10043, header.stamp.nsec: 00 temperature: 13.570799* salinity: 33.375149, density: 1025.000000* values[0]: 0.570551F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036544.923165 s.8J~,; (AA{G@AemS<@AmY~? A<Az%"AAlNA"AZAbAjArAzAAA5k(@A^4]n2tA[e@AۻA`=AIA~?A;ҿA*A9?2A!ս:Aʵ<BA9?JA!սRAʵ<٘i)I9[e@Y G J_JJJJE&K Y!X~?yOA]E7{7~9)BzE[[[MX~?[[[[[ZZBZYY i) BIi(@Q< !w>))!w>!w>yY=ԪY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036544.943165 s, next control iter: 1743036545.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036545.343165 s.<J~,U (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743036545.343307F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= ם@AOɝ@AX-Y~? AcAS%"AA1lNA"AZAbAjArAzAAAA&~J@A׈Z4tAhd@AwKAˢv=A}A?AѿAf*A9?2A^ս:Ad[<BA9?JA^սRAd[<٘i)I9d@Y G JJJJJE&K Y6X~?yNA_E777~9)%B}E[[[X~?[Qª[[[[ZZBZYY i) Ii$&@ < >))>>ƫYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036545.363165 s, next control iter: 1743036545.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10044*, header.stamp.nsec: 0*0 temperature: 13.571082** salinity: 33.375164*, density: 1025.000000** values[0]: 0.569625*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036545.763165 s.:J~,,p (AA @A[*@AwEY~? AcAO%"AAmNA"AZAbAjArAzAAA9!o@ATf06tA5c@ABA2=A?iA?AYпA{μ*A9?2Aս:A.s;BA9?JAսRA.s;Y̿@iy2=CٓH$?"?b&?0̿@,?M\?Z`]?)̿@ I٘i)I9c@Y G JkJ޽JJJE&K9u> Y`RX~?yiNAibEb77~9)+BE[[eu޾[X~?[zŪ[[[[ZZBZYY i$=) (/Ii!@k< Q>))xQ>Q>!{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036545.803165 s, next control iter: 1743036546.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036546.183165 s."J~,Z (AJ"J*J2J:J?BJ?nJ5vJA(\B@AE.85@A]Y~? A>A%"AAF,mNA"AZAbAjArAzAAALo*@A87tA&c@A"A;<ATA`?A#пAx䫼*A9?2Axս:ABA9?JAxսRA٘i)I9&c@Y? G J3JJJJE&K YmX~?y,NAeE777~9)0B[[Ծ[X~?[Ȫ[[[[ZZBZYY i) E`IiW@/e< L>)) L>L>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036546.203165 s, next control iter: 1743036546.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036546.603165 s.84)J~, (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036546.603328F (some fields omitted in printout)AQx@AhHk@AJvY~? AAy%"AAFQmNA"AZAbAjArAzAAA#@A9tAb@Ah;AA^%<Awa@A@u5?AFcοA*A?9?2ALԽ:A BA?9?JALԽRA ٘i)I9b@Y G JB=JJJJE&K Y}X~?yMAgE)7ŧ7B~9JB)4BE[[˾[X~?[}˪[[[[ZZBZYY i) Ii@<  >)) > >}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036546.623165 s, next control iter: 1743036547.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10045 , header.stamp.nsec: 0 0 temperature: 13.571313 * salinity: 33.375179 , density: 1025.000000 * values[0]: 0.568835 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036547.023165 s.Z0J~,| (AJ"J*J2J:JBJnJvJAHz@AF@AY~? A{A*%"AAvmNA"AZAbAjArAzAAAyU@Ae@ ;tAAb@A)<AƫA&,A [?A<̿A5<*A9?2A]Խ:AhBA9?JA]ԽRAh٘i)I9Ab@Y G JiC=JJJJE&K Y X~?yMAjE~9)8BE[[uY[X~?[TΪ[[[[ZZBZYY idd=) }Ii!@W+< A>))A>A>y4ٕ=(Y2 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036547.063165 s, next control iter: 1743036547.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743036547.443165 s.F6J~,}] (AAq= @AX֞@A֧Y~? A A{%"AAmNA"AZAbAjArAzAAA}kÎ@Az))ՙ>ՙ>y+=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036547.463165 s, next control iter: 1743036547.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10046, header.stamp.nsec: 00 temperature: 13.571414* salinity: 33.375168, density: 1025.000000* values[0]: 0.568381F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036547.863165 s.+=J~,> (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082711< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036547.863325F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ag_y @AY~? A AlN%"AAmNA"AZAbAjArAzAAAbEG@A=tAa@A;AoA A`R?A lɿA}*AF9?2A-ս:AkɼBAF9?JA-սRAkɼY@>yR;ٓH`? U?1Zۼ?`"\?_y??)@ I٘i)I9a@Yy G JJ^8JJJE&Ks> YX~?y MA>pE7~9)DBE[[ͭ[Y~?[Ӫ[[[[BZYY iT=j=) CkVIim@N< -R>))/v-R>-R>y䄪=".*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036547.903165 s, next control iter: 1743036548.263188 s, wait time: 0.360023 s rAdjusting time to match Gazebo time: 1743036548.283165 s.4RDJ~,!(AA(\O@ATOB@AY~? A1A$%"AAmNA"AZAbAjArAzAAA{ 3x@AQ,9?tAa@A:f%AV1AFݽA ?A[FǿA3;*A9?2A=;ս:A7BA9?JA=;սRA7٘i)I9Y J@8JJJJE&K YX~?y MArE77~9RB)CBE[[[1Y~?[ ֪[[[[BZYY i=) DIi @R̰< >))9`>>y==n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036548.303165 s, next control iter: 1743036548.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10047., header.stamp.nsec: 0.0 temperature: 13.571357.* salinity: 33.375191., density: 1025.000000.* values[0]: 0.568340.F (some fields omitted in printout)6X~?)6  rAdjusting time to match Gazebo time: 1743036548.703165 s.ҺJJ~,-!(AJ"J*J2J:J~?BJ~?nJ5vJAQ@Ax@ADY~? AA%"AAnNA"AZAbAjArAzAAA{$"ɪ@Ae@tAb@A\%A][XAҋA`?A cſA<*A89?2A@qӽ:AIBA89?JA@qӽRAI٘i)I9b@Y G J ;B=JJJJE&K YY~?y MAuE)7ŧ7-~9)BBE[[![3IY~?[_ت[[[[BZYY i) 3Ii8@ͫ< >)) >>y8c=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036548.723165 s, next control iter: 1743036549.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036549.123165 s.8QJ~,aG!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036549.123295F (some fields omitted in printout)AGẟ@Aԭ@A Z~? AA%"AAv4nNA"AZAbAjArAzAAA1@AEfyAtA9Fb@A3LAiuA©A?A`؜ÿA9<*AP9?2Adӽ:AV BAP9?JAdӽRAV ٘i)I9Fb@Y G J<C=JJJJE&K Y0Y~?y(NAxEb77~9)@BE[[2[`Y~?[ڪ[[[[BZYY i) "Ii@U< ?))??y9=>*YjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036549.163165 s, next control iter: 1743036549.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036549.543165 s.IXJ~,b!(AJ"J*J2J:JBJnJvJA= ף@Ak+@A/&Z~? AA]%"AA [nNA"AZAbAjArAzAAA9q % @AO2RuBtApb@A A]AwHA ?AA4f<*A>9?2AVԽ:AR: BA>9?JAVԽRAR: ٘i)I9b@Y G JO<JJJJE&K YLY~?y@TNAzEX~9)=B[[12[zxY~?[ܪ[[[[BZYY i) eIiM?e< ?))??<*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036549.583165 s, next control iter: 1743036549.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10048, header.stamp.nsec: 00 temperature: 13.571116* salinity: 33.375221, density: 1025.000000* values[0]: 0.568651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036549.963165 s.{^J~,}!(AAffff&@A?Z@A?Z~? AA>%"AAānNA"AZAbAjArAzAAApr%!@APFYCtAc@AܱθA.AA'?AݿA <*AG9?2Aս:AWBAG9?JAսRAWY)&@y.q3ϸٓH?Ԝ?౿@?`??;?))&@ I٘i)I9c@Y* G Jv<JJJJE&Ks> Y)iY~?yNA}E77~9):BE[[;x[Y~?[ު[[[[BZYY i k=) ;Ii?JI<  ?))Yu ? ?v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036550.003165 s, next control iter: 1743036550.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036550.383165 s.eJ~,@!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239601> elevatorAngleAction: 0.057382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036550.383286JF (some fields omitted in printout)"J*J2J:JBJnJvJA(\@A%O@AYZ~? A?AA~%"AAnNA"AZAbAjArAzAAA>ǽ&K!@Ah#DtAxc@AJ<A,ϕA;A :?AA_<*A9?2Aս:A- BA9?JAսRA- ٘i)I9xc@Yq G J<JJJJE&K YdY~?yOAE{7j7~9)6BE[[d[Y~?[N[[[[BZYY i) Ii?< V?))„V?V?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036550.403165 s, next control iter: 1743036550.783180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10049", header.stamp.nsec: 0"0 temperature: 13.570820"* salinity: 33.375233", density: 1025.000000"* values[0]: 0.569211"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036550.803165 s.}AlJ~,g!(AA둠@A]P߄@AIsZ~? A`Af%"AAnNA"AZAbAjArAzAAA*.a]"@AjDtAc@AYG<A(AcS<A O?A-A@<*A:?2A(Խ:A BA:?JA(ԽRA ٘i)I9c@Y G JB<JJJJ E&K YY~?yuOAE7777~9)2BE[[P[)Y~?[[[[[BZYY i) ŻIi?B< ?)) ??c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036550.823165 s, next control iter: 1743036551.203184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036551.223165 s.gsJ~,H!(AJ"J*J2J:JBJnJvJAzǠ@Aǵ@A'Z~? AWAQ%"AAnNA"AZAbAjArAzAAAN"@AfjEtAsd@A<AI㛽AOAEj7~9SB)/BE[[<[Y~?[p[[[[BZYY i) &FIi ?Z< V?))V?V?y[k=C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036551.243165 s, next control iter: 1743036551.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036551.643165 s.vyJ~,*!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036551.643313F (some fields omitted in printout)A ףp@Ai@AZ~? A&Aa@%"AA oNA"AZAbAjArAzAAA}lV#@AbEtAe@A ;AAS=Aaj?A`簿A;<*A:?2A\Խ:ABA:?JA\ԽRA٘i)I9e@Yj G J<B=JJJJE&K YY~?y}5PAE77C~9)*BE[[C-([UY~?[[[[[BZYY i) Ii?< ?))??*YYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10050, header.stamp.nsec: 00 temperature: 13.570451]:* salinity: 33.375233, density: 1025.000000* values[0]: 0.569893F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743036551.663165 s, next control iter: 1743036552.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036552.063165 s.J~,R "(AJ"J*J2J:J?BJ?nJ5vJA33333@Aa'&@A Z~? AA1%"AA_EoNA"AZAbAjArAzAAA󜄺.5$@ANFtAe@AػAҝAӑ=AQt?AqA<*A:?2AԽ:A/sBA:?JAԽRA/sY%X@[ג=yػٓH`?f6@UAI??T?@/? L{?)%X@ I٘i)I9e@Y G J۳<C=JFJJJE&Ks> YBY~?yPAג=E~9QB)#BE[[C[ Z~?[[[[[BZYY i) tRIi-?<  $?))ӻt $? $?t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036552.083165 s, next control iter: 1743036552.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036552.483165 s.v_J~,"(AA\h@A e[@AZ~? AKA&%"AAloNA"AZAbAjArAzAAA$@A/5TFtACf@A3BAp5Av=A|?A Aң<*A :?2AԽ:ABA :?JAԽRA٘i)I9Cf@Y$ G J`<JJJJE&K YlZ~?y;QAE{7j7m~9PB)BE[[["Z~?[[[[[BZYY i=) ^Iib?J|< )?))H)?)?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036552.503165 s, next control iter: 1743036552.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10051, header.stamp.nsec: 00 temperature: 13.570062* salinity: 33.375259, density: 1025.000000* values[0]: 0.570666F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036552.903165 s.ȍJ~,9"(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258822> elevatorAngleAction: 0.066220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743036552.903295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A)@AZ~? AAi%"AA6oNA"AZAbAjArAzAAAp%@A0zeFtAQf@A1A ۑA=Ae?A4A<*AC:?2Awӽ:ABAC:?JAwӽRAÖI٘i)I9f@Y G J<JJJJE&K Y.Z~?yjQAE777~9)B[[fֽ[;Z~?[[[[[BZYY i) Iim?9xr< 5.?)) 5.?5.?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036552.923165 s, next control iter: 1743036553.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036553.323165 s.tJ~,T"(AAGzԡ@AGZ*oǡ@A,[~? AAw%"AAoNA"AZAbAjArAzAAA~qF&@ARDAFtAjg@AʃAAV>A?Ax}AzE<*AcH:?2Aӽ:ACBAcH:?JAӽRAC٘i)I9jg@Y G Jϫ<JJJJE&K YJZ~?y QAEj7j7~9)BE[[ֶ[TZ~?[[[[[BZYY i) ~IiQ?^i< Y3?))Y3?Y3?*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036553.343165 s, next control iter: 1743036553.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10052*, header.stamp.nsec: 0*0 temperature: 13.569656** salinity: 33.375271*, density: 1025.000000** values[0]: 0.571499*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036553.743165 s.WJ~,o"(AJ"J*J2J:JM?BJM?nJi5vJAףp= @Aa0@A@)[~? AA%"AA:oNA"AZAbAjArAzAAA5 &@AmTFtAXg@A5;AAg>A`?A}?A<*A!H:?2AԽ:ABA!H:?JAԽRA󼙘٘i)I9g@Y* G Jg<JJJJE&K YfZ~?yV 8RAE7777-~9OB)BE[[Q[cnZ~?[F[[[[BZYY i) 9Ii?3\a< 8?))8?8?yV=#*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036553.783165 s, next control iter: 1743036554.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036554.163165 s.}J~,q"(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743036554.163287F (some fields omitted in printout)A@@Ak 2@ASC[~? AA%"AA pNA"AZAbAjArAzAAAn'K'@AL cFtAoh@A$8<A7A0>A?A`n?Aw<*AF:?2Agս:ALBAF:?JAgսRALY@#/>y5ً8<ٓH v?sſ%?@?斿?}??)@ I٘i)I9oh@Yw G JU<B=J9<JJJE&Ks>  9YZ~? 9y RA/>Ej7Z79) BE[[6[Z~?[[[[[BZYY i) :Iin?U< =?))Et=?=?T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036554.183165 s, next control iter: 1743036554.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036554.583165 s.J~, S"(AJ"J*J2J:JBJnJvJA)\u@Agh@Ac][~? APAn%"AAB2pNA"AZAbAjArAzAAAg),'@A-oFtAh@A?<A@A^E>A?AԢ?A<*AD:?2A2ս:A(BAD:?JA2սRA(٘i)I9h@Y G JG<C=JJJJ!E&K YZ~?yT RAE77{7X9NB)BE[[W.ȼ[Z~?[[[[[BZYY i) Q;Ii?I< hB?))hB?hB?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036554.603165 s, next control iter: 1743036554.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10053, header.stamp.nsec: 00 temperature: 13.569269* salinity: 33.375278, density: 1025.000000* values[0]: 0.572195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036555.003165 s.x J~,L4"(AAR@AOwx@Amw[~? AA/%%"AAYpNA"AZAbAjArAzAAA"(@AY`RFtA]i@A;AmۃAHY>A|?A ?A<*A`:?2Aӽ:ABA`:?JAӽRA9٘i)I9]i@YG J<JJJJ$E&K YjZ~?yISAE779)BE[[^C[ҺZ~?[[[[[BZYY i) դY;Ii?@?< TH?)) TH?TH?^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036555.023165 s, next control iter: 1743036555.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036555.423165 s.uJ~,"(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036555.423289F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@At5=Ԣ@Ao[~? A.A0%"AA1pNA"AZAbAjArAzAAA+^'$)@AGEtAi@AL4A}ւAl>A s?A@?Aۋ<*A?c:?2A ӽ:AGBA?c:?JA ӽRAG󼙘٘i)I9i@YOG Jg<JJJJ'E&K YBZ~?yRSAE7777 9MB)BE[[iK<[Z~?[ [[[[BZYY i?=) ;Ii?6< 6BM?))6BM?6BM?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036555.443165 s, next control iter: 1743036555.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10054, header.stamp.nsec: 00 temperature: 13.568919* salinity: 33.375294, density: 1025.000000* values[0]: 0.572859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036555.843165 s.ݼJ~,"(AAp= @ACy @Af[~? A`A >%"AApNA"AZAbAjArAzAAA!m7)@A]]koEtAHj@A%AIA_>Aog?AĜ?AD<*A`:?2A1<Խ:A~rBA`:?JA1<ԽRA~r٘i)I9Hj@YG Jڋ<JJJJ)E&K YZ~?ySAE79)BE[[4=[Z~?[[[[[BZYY i) &;Iir?.< NR?))NR?NR?*Y%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036555.863165 s, next control iter: 1743036556.243182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036556.263165 s.J~, #(AJ"J*J2J:JBJnJvJAL@A?@AO[~? AjAO%"AApNA"AZAbAjArAzAAAuRJQ_*@A!#DtA*j@ALGA>A{>AX?A`N?A =<*AY:?2A*Խ:AuBAY:?JA*ԽRAuYLV=>yȹ(GٓH?ѿ ^r`"?`?vur4?k鈿?)LV= I٘i)I9j@YG J*<J;JJJ,E&Ks> YP [~?ysVTA>E{7j79)B[[T#k=[[~?[r[[[[BZYY i) ;Ii}?l"< W?))&uW?W?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036556.283165 s, next control iter: 1743036556.663174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10055., header.stamp.nsec: 0.0 temperature: 13.568574.* salinity: 33.375320., density: 1025.000000.* values[0]: 0.573498.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036556.683165 s.lJ~,c+#(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239930> elevatorAngleAction: 0.075034< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036556.683275F (some fields omitted in printout)A(\@ALMu@A&[~? AKA@c%"AApNA"AZAbAjArAzAAA*@A{)DtA-k@A~!AqlA?>A`G?A ?A <*ArQ:?2A|ս:A BArQ:?JA|սRA ٘i)I9-k@Y"G Ju<JJJJ/E&K Y([~?yTAEj7C9LB)B¹E[[ =[w"[~?[[[[[BZYY i) ;Iihl?LM< \]?))K)\]?\]?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036556.683165 s, next control iter: 1743036557.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743036557.103165 s.J~,F#(AJ"J*J2J:J?BJ?nJ5vJAQ@A#F@A[~? AAz%"AA9qNA"AZAbAjArAzAAA)8+@A=`CtA k@A*:A能AN>Ap5?A?AL<*Ag:?2A4Խ:AGBAg:?JA4ԽRAG٘i)I9k@YeG J<JJJJ1E&K YC[~?yUAE{7{79KB)BŹE[[4=[<[~?[-[[[[BZYY i) A ?A`?A <*Ac:?2AԽ:ABAc:?JAԽRA٘i)I9l@YG JP<JJJJ4E&K Y^[~?y\[UAE777n9)BȹE[[=[V[~?[H[[[[BZYY i) } elevatorAngleAction: 0.075034< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743036557.943322F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A[@A+,\~? AA%"AAlqNA"AZAbAjArAzAAA{,@AAAtArl@AzeH<A߈Am>A?A?AR<*A\:?2AQ9ս:A[BA\:?JAQ9սRA[٘i)I9rl@YG J><JJJJ7E&K Y2z[~?yUAE77j7!9JB)B˹E[[>[5q[~?[4[[[[BZYY i) 8$#(AAY@A8L@AE\~? A/A%"AAqNA"AZAbAjArAzAAA=!lvi-@AA?A y?A%<*AU:?2A ս:A$JBAU:?JA սRA$JYKU>[>y㋽K<ٓH? zI׿֮;2??z@x?`ނ??)KU> I٘i)I9l@Y+G J<JAJJJ9E&K Y[~?yVA[>Eŧ7b7$9IB)BιE[[EV%>[4[~?[[[[[BZYY i) ϭ3A ?AK?A<*A,N:?2A١ս:ABA,N:?JA١սRA٘i)I9Um@YrG Jc<JJJJ[X[~?[[[[[BZYY i) l"C elevatorAngleAction: 0.075034< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743036559.203280F (some fields omitted in printout)AQŤ@A*@A4x\~? A. Av%"AAqNA"AZAbAjArAzAAA1c.@AI=tAm@AEAaA_>Ae?A8/?A)<*Ab:?2Aӽ:A BAb:?JAӽRA ٘i)I9m@YG J<JJJJ?E&K Y&[~?yfVAE{7+9)گBѹE[[M~P>[[~?[[[[[BZYY i) RAʐ?Aq?A-<*Ae]:?2A CԽ:A BAe]:?JA CԽRA ٘i)I9Rn@Y G J<B=JJJJAE&K Yz[~?y2*WAEb77Y/9EB)ӯBӹE[[Rf>[[~?[+[[[[BZYY i}=) 5 bA#m?A?A)<*ADW:?2AyԽ:A[BADW:?JAyԽRA[٘i)I9n@Y]G Jܞ<C=JJJJDE&K Y[~?yWAE7ŧ729)ίBֹE[[F|>[D[~?[2ު[[[[BZYY i) ~qƗ; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036560.063165 s, next control iter: 1743036560.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036560.463165 s.R J~,פ$(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036560.463269F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A-]Y@A\~? AAh%"AATQrNA"AZAbAjArAzAAAkq00@A9tAX]o@A8eA"A3>A`F>y兗|fٓH7k?ݿ@BE ?`?T:P?cl?) > I٘i)I9]o@YG J]<B=J]JJJGE&Kt> Y\~?yWA>Eb7b769DB)ɯBٹE[[>[7\~?[ܪ[[[[BZYY i) ;SN; WȆ?))yWȆ?WȆ?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036560.483165 s, next control iter: 1743036560.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10059, header.stamp.nsec: 00 temperature: 13.567201* salinity: 33.375381, density: 1025.000000* values[0]: 0.576070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036560.883165 s.y J~,/8$(AA(@A}:@A\~? APAl%"AAvrNA"AZAbAjArAzAAA'>c{0@Aző7tA(o@AN;A$Ay>A`}?A '?Au<*A[B:?2AMֽ:An*BA[B:?JAMֽRAn*٘i)I9o@YG J!<C=JJJJIE&K Y0\~?ySXAþE77:9>B)BܹE[[+>[;(\~?[٪[[[[BZYY i) WFV; ?)) ??y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036560.903165 s, next control iter: 1743036561.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036561.303165 s.U J~,sgS$(AJ"J*J2J:JBJnJvJAѥ@A#,*ĥ@A\~? AuA%"AArNA"AZAbAjArAzAAA_Lfh0@AAA96tAgp@A9<A?;AFx?A?AF?A`<*AP:?2Aս:ABAP:?JAսRA٘i)I9gp@YQG Jٞ<JJJJLE&K Y:I\~?yݪXAžE7=9)B[[k>[JB\~?[>ת[[[[BZYY i) Zx 0; H?))H?H?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036561.343165 s, next control iter: 1743036561.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10060., header.stamp.nsec: 0.0 temperature: 13.566817.* salinity: 33.375397., density: 1025.000000.* values[0]: 0.576766.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036561.723165 s. J~,Hn$(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036561.723265F (some fields omitted in printout)Az@AH7¢@A= ]~? AsAG%"AArNA"AZAbAjArAzAAA!T1@Ab4tA p@A>:<AA?A ?Ax?Aĥ<*AsH:?2A[ս:A`-BAsH:?JA[սRA`-٘i)I9p@YG Jz<JJJJOE&K Y^b\~?y٪YAȾE7DA9=B)B߹E[[#>[Y\\~?[Ԫ[[[[BZYY i)  8; ?))??*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036561.743165 s, next control iter: 1743036562.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036562.143165 s.[/" J~,*$(AJ"J*J2J:JBJnJvJA ףp=@A f0@AC$]~? AKA%"AA[rNA"AZAbAjArAzAAA4ѯW1@Avu2tA3~q@A[;A#A ?A?A`?A<*AN?:?2A5pս:AsBAN?:?JA5pսRAs٘i)I9~q@YG J7<JJJJRE&K Y{\~?yժYA˾E777D9[_v\~?[Ѫ[[[[BZYY i) W: Mݑ?))Mݑ?Mݑ?E*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036562.163165 s, next control iter: 1743036562.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036562.563165 s.( J~,g $(AA3333s@AE|'f@A<]~? AA%"AA sNA"AZAbAjArAzAAA7&n1@Aq0tAr@AcA> A!?A b?A@?A~<*A@6:?2Auս:ATBA@6:?JAuսRATYJ >¨?y &dٓH ,?V`I?G?m۴?m|l?)J > I٘i)I9r@YUG J:<JٓJJJTE&K Y;\~?y4ѪYA?;Eb7b7nH9)BE[[;j>[\~?[Ϊ[[[[BZYY i) M elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036562.983314F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A雦@AS]~? AAS%"AA-sNA"AZAbAjArAzAAA[q}l1@A&V.tAGr@A-,AA?A.?A@|?A/<*A-:?2Aս:A}BA-:?JAսRA}٘i)I9r@YG J[<JJJJWE&K Y\~?yo̪eZAоE77L99B)BE[[>[z\~?[Y˪[[[[BZYY i) U[\~?[Ǫ[[[[BZYY i) ò5vJAGz@A~p@A*]~? A5A}%"AAitsNA"AZAbAjArAzAAA"\^t2@A*)tAs@A1NA9}A!?A_?A/?Az<*A2:?2A,ս:A~BA2:?JA,սRA~٘i)I9s@Y~G J<JJJJ\E&K Y`\~?yªE[AվE77/S97B)BE[[2>[q\~?[BĪ[[[[BZYY i)  elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036564.243302F (some fields omitted in printout)Aףp=J@A*3=@A ]~? ARA%"AAIsNA"AZAbAjArAzAAAк2@Aq2}'tAit@A:A1AV'?A[?AZ?A<*A6+:?2Ayս:AzBBA6+:?JAyսRAzB٘i)I9t@YG J<JJJJ_E&K Y\~?y [AؾE77{7V96B)BE[[ǚ>[\~?[j[[[[BZYY i) lɃ,?y9^V<ٓH`?`v??*?΂?K?)Y> I٘i)I9Ku@YKG J<J1JJJbE&KAv> Y!]~?y+\A,?۾EYZ9)B[[c>[]~?[p[[[[BZYY i) L elevatorAngleAction: 0.083987< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036565.503275F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A{ާ@A]~? AګA}%"AAsNA"AZAbAjArAzAAAňt3@A tA{v@AE<A$A87?A?A]|?A<*A&:?2Aս:A BA&:?JAսRA ٘i)I9v@YG J<JJJJgE&K Y74]~?y]AEj7j7a91B)|BE[[?[?]~?[޳[[[[BZYY i) "BZYY i¸>) Kf Yst]~?y^AfF?E{7Dl9/B)iBE[[<?[=]~?[[[[[ZZZZBZYY i) ZȫAn/%"AAtNA"AZAbAjArAzAAAA柇4@AutAy@A 'A AmeK?A`:?A?ARH=*AW:?2Aֽ:A[BAW:?JAֽRA[٘i)I9y@YG J<JJJJrE&K Y]~?ya^AEŧ7b7o9)cB[[ ?[]~?[u[[[[ZZZZBZYY i) PO7&(AJ"J*J2J:JC?BJC?nJ5vJA@A!@A^~? AA%"AAhtNA"AZAbAjArAzAAA=z5@AޓtAM|@A$=J<AXռA%`?A t?A`x?A ڥ<*A$:?2Aֽ:A*;BA$:?JAֽRA*;Yun(?`?yTռNJ<ٓHLt?ປM}d?s? c`Ω?zG? ?)un(? I٘i)I9|@YG JM<JZ>JJJ}E&Kx> Y$]~?y#}`A`?E)7ŧ7/~9)B)DBE[[Ւ6?[]~?[ [[[[ZZZZBZYY iS[) ٍ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036569.723165 s, next control iter: 1743036570.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036570.123165 s.5 J~,T&(AAG:@AϤM-@A^~? AԢA%"AAPuNA"AZAbAjArAzAAAF%6@ACPsA}@Aw)AF<AAp?Av?A?Al;*Ac:?2A?#׽:AZ+<BAc:?JA?#׽RAZ+<٘i)I9}@YhG J<C=JJJJE&K Yo ^~?yh`AE779)7B[[/|H?[;^~?[Lw[[[[ZZZZBZYY i) ]A0=A&z?AI?Ao?A&*A9?2Aֽ:AL4<BA9?JAֽRAL4JJJE&K6x> YQ/^~?yZ`Az?E7779)[[T?[d^~?[i[[[[BZYY i3si) B8*A9?2APֽ:A=BA9?JAPֽRA=٘i)I9}@YhG J钻JJJJE&K Y?^~?y\S`AE{7{79"B)4B E[[TZ?[x^~?[c[[[[BZYY iI) k'< sAs}@A-!<Amx=Al?A?A.?A\=*A9?2Aoֽ:Auv =BA9?JAoֽRAuv =٘i)I9s}@YBG JJJJJE&K YN^~?y Lf`AE777E9B)3BE[[`?[^~?[[[[[[BZYY i) x Y{^~?y5_AV?Eŧ779B):BE[[r?[J^~?[E[[[[BZYY i) q;IVH?i>(+ TG?))TG?TG?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036573.103165 s, next control iter: 1743036573.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036573.483165 s.v_ J~,^'(AA\@AZ۫@AG?_~? A4qA%"AAvNA"AZAbAjArAzAAABe׹7@AbsA{@AAŚ=Au?A1 ?A8?A^؞*A9?2A.I׽:A=BA9?JA.I׽RA=٘i)I9{@Y1G JB=JJJJE&K Y ^~?y-%_AE779B);B E[[y?[^~?[=[[[[BZYY i) ;IGH?iڊ1 BA?))BA?BA?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036573.523165 s, next control iter: 1743036573.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10072, header.stamp.nsec: 00 temperature: 13.563202* salinity: 33.375526, density: 1025.000000* values[0]: 0.583700F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036573.903165 s.) J~,-y'(AJ"J*J2J:JBJnJvJAQ@AJ@A N_~? AjAA%"AAB4vNA"AZAbAjArAzAAABE[[ &?[[^~?[6[[[[BZYY i) Ŏ;IC8H?i6 &A?))&A?&A?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036573.943165 s, next control iter: 1743036574.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036574.323165 s.t J~,'(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036574.323275F (some fields omitted in printout)AGzT@A-\oG@Aa\_~? AcA%"AAWJvNA"AZAbAjArAzAAAm8@As3sAz@Av(A"ƞ=AC?Ap?A ?AF*A/9?2AX1׽:A =BA/9?JAX1׽RA =٘i)I9z@YG JJJJJE&K Y^~?yT[^AEj7j7Ŭ9)CB[[^?[^~?[.[[[[BZYY i) E`;I(H?iT: F?))F?F?rڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036574.343165 s, next control iter: 1743036574.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10073., header.stamp.nsec: 0.0 temperature: 13.563392.* salinity: 33.375553., density: 1025.000000.* values[0]: 0.583111.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036574.743165 s.W J~,q'(AJ"J*J2J:JBJnJvJAףp=@Aۧ1}@ADj_~? A\A[I%"AA_vNA"AZAbAjArAzAAAy)I*<8@A SDsAUz@A83A=A˔?A?A?A?*A9?2ARֽ:A =BA9?JARֽRA =٘i)I9z@Y-G JJJJJE&K Y^~?y]AEZ9B)FBE[[>?[<_~?[%[[[[BZYY i) ?-$;IH?i= eQ?))eQ?eQ?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036574.783165 s, next control iter: 1743036575.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036575.163165 s.x} J~,q'(AA@AO@Aw_~? AVA%"AA}tvNA"AZAbAjArAzAAAz}d8@A,ܨsAny@Auf;A<=AP?A?A`$A?A͸*A9?2Aҗֽ:A =BA9?JAҗֽRA =Yv?`?yq=&;ٓH &?@? ? T@?y? ìy??)v? I٘i)I9ny@YG JJ. <JJJE&Kax> Y^~?yj]A`?E779B)HBE[[-Ԉ?[-_~?[[[[[BZYY i) :I"H?i|vD RO?))RO?RO?g٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036575.183165 s, next control iter: 1743036575.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036575.583165 s. J~, S'(AJ"J*J2J:J2?BJ2?nJr5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036575.583327F (some fields omitted in printout)A)\@A_@A_~? AOAW%"AAvNA"AZAbAjArAzAAAH#E8@AsAx@APC<A*=Aޙ?AU?A}?A *AI9?2A|ֽ:AK =BAI9?JA|ֽRAK =٘i)I9x@YpG JֹJJJJE&K YE^~?yD"]A!E7779)MB[[?["_~?[)[[[[BZYY i) M1:I)G?i՝J  T?)) T? T?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036575.603165 s, next control iter: 1743036575.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10074, header.stamp.nsec: 00 temperature: 13.563572* salinity: 33.375561, density: 1025.000000* values[0]: 0.582464F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036576.003165 s.z J~,U4((AAR+@Acx@A7_~? AGA*%"AAvNA"AZAbAjArAzAAA?5+?8@A[2sAV6x@AF9<A%c=A|?A@)?A?A^*A9?2Aֽ:A ^=BA9?JAֽRA ^=٘i)I96x@YG J8JJJJE&K Y^~?y\A#E779B)PBE[[:?[T0_~?[ [[[[BZYY i) OwIG?i%DN ^?))^?^?IӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036576.043165 s, next control iter: 1743036576.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036576.423165 s.u J~,((AJ"J*J2J:J?BJ?nJB5vJA{Ga@AM=T@AF_~? A@AEl%"AAvNA"AZAbAjArAzAAAZ)c8@A sAw@AH;Av=A!)?AO?A?At*Ay9?2Aֽ:A=BAy9?JAֽRA=٘i)I9w@YG JpJJJJE&K Y^~?yN\A&E{7{79)UB[[&?[{=_~?[[[[[BZYY i) NICG?iks-Q pn?))pn?pn?MϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036576.443165 s, next control iter: 1743036576.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10075, header.stamp.nsec: 00 temperature: 13.563796* salinity: 33.375565, density: 1025.000000* values[0]: 0.581764F (some fields omitted in printout)^~?) rAdjusting time to match Gazebo time: 1743036576.843165 s. J~,5((AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036576.843278F (some fields omitted in printout)Ap= @AC@Aۨ_~? A9A%"AAvNA"AZAbAjArAzAAAi8@A. gsAa w@A'A˔=Aڡ?A q?A@>)?Am*A9?2A/8׽:Ax=BA9?JA/8׽RAx=٘i)I9 w@Y]G J JJJJE&K YT^~?y[A)Ej7E9B)WBE[[F?[I_~?[![[[[BZYY i) >IG?iR S?))S?S?Y˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036576.863165 s, next control iter: 1743036577.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036577.263165 s. J~,P((AJ"J*J2J:J?BJ?nJ5vJA̭@AV6ſ@A_~? A72A%"AAvNA"AZAbAjArAzAAA}9@A<sAv@A7Ap=A?A?A`^?Ad*AV9?2A^׽:A<BAV9?JA^׽RA YN^~?y`[Al?+E7779)[B[[,d?[U_~?[D[[[[BZYY i) DI\G?i2X 6?))6?6?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036577.283165 s, next control iter: 1743036577.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 100762, header.stamp.nsec: 020 temperature: 13.5640022* salinity: 33.3755532, density: 1025.0000002* values[0]: 0.5811512F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036577.683165 s.l J~,^k((AA(\@AF7@A_~? A*Al%"AA4vNA"AZAbAjArAzAAAIv;9@AaOnsAu@AלGA=A#?A`.?A`((AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198772 time: 1743036579.363296F (some fields omitted in printout)Aٮ@AW̮@A#_~? A A`%"AAwNA"AZAbAjArAzAAAK9@A21sAs@AL<A=AX[?AI?A@g??AMە*A9?2Aǘֽ:A=BA9?JAǘֽRA=YEj?v?y"=BM<ٓHi?Is?oc?`h?/? ?Q?)Ej? I٘i)I9s@YzG J|C=J<,JJJE&Kix> Ya_~?yYAv?9E77{79 B)jBE[[?[V_~?[^ĩ[[[[BZYY i) IQG?i!g @))@@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036579.383165 s, next control iter: 1743036579.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10078&, header.stamp.nsec: 0&0 temperature: 13.564406&* salinity: 33.375572&, density: 1025.000000&* values[0]: 0.579978&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036579.783165 s.X; J~,((AJ"J*J2J:JBJnJvJA(\@A^ P@AJ_~? AA%"AA)wNA"AZAbAjArAzAAAPW9@A}iVsAys@A# <A=Ay?Aw?A`e?AA*A9?2Aֽ:Aj=BA9?JAֽRAj=٘i)I9ys@Y/G J}JJJJ¿E&K Y_~?yFGYA;Eb77[9)nB[[@?[_~?[[[[[BZYY i)  I=G?i.Yxj f@))f@f@y]BɺYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036579.803165 s, next control iter: 1743036580.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036580.203165 s.C J~, )(AAQE@AZGU8@A_~? ADA%"AA5wNA"AZAbAjArAzAAAv 9@A7_sAs@AbA!=A?A?A?A~*A9?2A׽:A =BA9?JA׽RA =٘i)I9s@YG J?JJJJſE&K Y_~?yXA>E7779B)oBE[[Wj?[_~?[s[[[[BZYY i) I)G?itl 6@))6@6@oYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036580.223165 s, next control iter: 1743036580.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036580.623165 s.XI J~,a')(AJ"J*J2J:JU?BJU?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036580.623301F (some fields omitted in printout)AGz@Am@A_~? A~A#%"AA@wNA"AZAbAjArAzAAAM#eZ!9@A]ߓsAǍr@A Aon=Ap]?A` ?A!?AV`*A9?2AWS׽:AA<BA9?JAWS׽RAA<٘i)I9r@YG J݉JJJJȿE&K Y"_~?yXAAE)7b79)rB[[˔?[Ϛ_~?[㧩[[[[BZYY i) _,IG?i9m Ԣ @))Ԣ @Ԣ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036580.663165 s, next control iter: 1743036581.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10079 , header.stamp.nsec: 0 0 temperature: 13.564588 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.579424 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036581.043165 s.P J~,B)(AA= ף@A2k@A`~? AA%"AA3KwNA"AZAbAjArAzAAA\Q-:@A4sAr@AFLAa=A?A;?A?A6*A9?2AZ׽:A=BA9?JAZ׽RA=٘i)I9r@YZG JB=JJJJ˿E&K Y(_~?yK5XACE9)vB[[]?["_~?[H[[[[BZYY i) 7 Yl*_~?yWA?FE{7j79B)wBE[[}?[_~?[[[[[BZYY i) nKIF?ico  @)) @ @ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036581.483165 s, next control iter: 1743036581.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10080, header.stamp.nsec: 00 temperature: 13.564776* salinity: 33.375587, density: 1025.000000* values[0]: 0.578920F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036581.883165 s.y] J~,@m? .q?@#?)~? I٘i)I9!o@YG J؟JS<JJJۿE&KMx> Y03_~?ycUA?SE7779)B[[?[_~?[d[[[[BZYY i) <.IpF?ir @))@@y{ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036583.603165 s, next control iter: 1743036583.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10082, header.stamp.nsec: 00 temperature: 13.565174* salinity: 33.375591, density: 1025.000000* values[0]: 0.577772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036583.983165 s. J~,)(AJ"J*J2J:JBJnJvJA\(@A}@A{!`~? AA&"AAg~wNA"AZAbAjArAzAAAh̭}g:@A msAn@A0ߟAś=AS2?A-q?AX[?AO:*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9n@Y8G JJJJJݿE&K Y2_~?yZUAVE09)B[[?[_~?[=Z[[[[BZYY i) tIsF?iBUs  @)) @ @$֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036584.003165 s, next control iter: 1743036584.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036584.403165 s.& J~,*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036584.403291F (some fields omitted in printout)AQ^@A&7Q@A#`~? AA&"AAwNA"AZAbAjArAzAAA|n:@A.(8hsA\n@AP9A=A'?AM/?A4f?AǢ*A9?2AL׽:A^=BA9?JAL׽RA^=I٘i)I9n@YG JJJJJE&K  9Y2_~? 9yR%UAYE)7)7c9)B[[P?[ _~?[xP[[[[BZYY i) II_F?is o@))o@o@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036584.423165 s, next control iter: 1743036584.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10083", header.stamp.nsec: 0"0 temperature: 13.565430"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.577146"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036584.823165 s. J~,24*(AJ"J*J2J:JBJnJvJAGz@Ao@A%`~? A륪A2&"AA܅wNA"AZAbAjArAzAAA4)Lt:@AtWYMcsAm@AAAz=Alz?A`e?Ahn?A*A#9?2A0׽:A=BA#9?JA0׽RA=٘i)I9m@YG J JJJJE&K Y1_~?y4ITA[E{7{7.9B)BE[[F?[j_~?[F[[[[BZYY i) עIJKF?iTq D@))D@D@tߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036584.843165 s, next control iter: 1743036585.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036585.243165 s. J~,mO*(AAףp=ʱ@AƻA=A?A@ޟ?A`t?A*Aе9?2A+ֽ:A=BAе9?JA+ֽRA=٘i)I9l@Y9G JJJJJE&K Y1_~?yg@XTA^E)7ŧ79)B[[p?[_~?[=[[[[BZYY i) eIG7F?i1n @))@@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036585.263165 s, next control iter: 1743036585.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036585.663165 s. J~,qj*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J@ elevatorAngleAction: -0.0842762J< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJ dt: 0.419986vJ2 time: 1743036585.663263F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10084, header.stamp.nsec: 00 temperature: 13.565651* salinity: 33.375603, density: 1025.000000* values[0]: 0.576490F (some fields omitted in printout)A@AO@A(`~? AȕAm&"AAwNA"AZAbAjArAzAAAVD{:@AsYsA_l@A$ @;A=A^?A@<Đ?A`/w?Aĺ*A9?2Akֽ:Ak=BA9?JAkֽRAk=Y?Q?yW=B@;ٓHҾ3@k|K?`ݾs ?@h??)? I٘i)I9_l@YG JmJ2<JJJE&Kx> Y-_~?y7SA?aEj7SI79B)BE[[?[ާ_~?[R3[[[[BZYY i) I/#F?i𺿉gHo f@))f@f@`YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743036585.683165 s, next control iter: 1743036586.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036586.083165 s.D J~, S*(AA)\5@A3(@Af(`~? AA> &"AAwNA"AZAbAjArAzAAA\A|:@AP@TsAk@A;W*<At=A?A@sZ?Ax?A4ü*A9?2A}Aֽ:A"=BA9?JA}AֽRA"=٘i)I9k@Y{G JJJJJE&K Y/*_~?y.uSAdE779B)BE[[,?[_~?[)[[[[BZYY i) ^IF?io X@))X@X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036586.103165 s, next control iter: 1743036586.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036586.503165 s. J~,@4*(AJ"J*J2J:J~?BJ~?nJ5vJARk@Ap{^@A4(`~? AA&"AA4wNA"AZAbAjArAzAAA촂{:@AOsA6k@AmK<A=A?AOAv?Aȼ*A9?2AsEֽ:A =BA9?JAsEֽRA =٘i)I9k@YG JƼJJJJE&K Y&_~?y4&SAfEj7j7X 9)B[[?[A_~?[ [[[[BZYY i) DgI)E?ivfdm ш@))ш@ш@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036586.523165 s, next control iter: 1743036586.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10085, header.stamp.nsec: 00 temperature: 13.565951* salinity: 33.375580, density: 1025.000000* values[0]: 0.575772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036586.923165 s.8 J~,*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743036586.923331F (some fields omitted in printout)A{G@Au?@A|'`~? A}AF&"AAwNA"AZAbAjArAzAAA9߭y:@AYDફJsAoj@Ag<A*=AL?AA᜿A r?Aʼ*A9?2Aڇֽ:A7M=BA9?JAڇֽRA7M=٘i)I9oj@YG JɼJJJJE&K Y]#_~?yxRAiEb77# 9)B[[?[Й_~?[t[[[[BZYY i) nǼIuE?i"4jj !@))!@!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036586.963165 s, next control iter: 1743036587.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036587.343165 s.< J~,*(AJ"J*J2J:JJ?BJJ?nJr5vJAp= ײ@AU.Tɲ@A;&`~? AuA &"AAwNA"AZAbAjArAzAAA#u:@A\EsAi@AZ6Ar=A?A`'A5l?Aʼ*Ag9?2Aֽ:A k=BAg9?JAֽRA k=٘i)I9i@YFG J/˼JJJJE&K Y_~?y!RAlE{7{7 9)B[[' Y_~?y) QA?nEb779B)BE[[b?[_~?[[[[[BZYY i) KּIE?if ;$@));$@;$@,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036587.803165 s, next control iter: 1743036588.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036588.183165 s. J~,^ +(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036588.183269F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@Af5@A"`~? AieA&"AAwNA"AZAbAjArAzAAAHCi:@A*;sA`oh@ALAز=AX?AŲAW?A*̼*A9?2Ac&׽:AO=BA9?JAc&׽RAO=٘i)I9oh@Yv G J˼JJJJE&K Y{_~?y2QAqE779)B[[(?[ _~?[[[[[BZYY i) ݼIE?id l%@))l%@l%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036588.223165 s, next control iter: 1743036588.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036588.603165 s.94 J~,&+(AAQx@A0Ek@AF`~? Ac]A[&"AAwNA"AZAbAjArAzAAAG`:@A7sAg@AAg=AZ?AAI?Aм*A19?2Aֽ:A=BA19?JAֽRA=٘i)I9g@Y G JuμJJJJE&K Y> _~?yPAtE{7N9B)ïBE[[ϭ?[|_~?[[[[[ZZ¸BZYY i¸=) ѼIE?ica ['@))['@['@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036588.643165 s, next control iter: 1743036589.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10087 , header.stamp.nsec: 0 0 temperature: 13.566607 * salinity: 33.375603 , density: 1025.000000 * values[0]: 0.574143 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036589.023165 s.Z J~,{A+(AJ"J*J2J:JBJnJvJAHz@A@A`~? AcUAW &"AA({wNA"AZAbAjArAzAAA(IRV:@A+A%2sAPg@AAʹ=Am?A@NA v9?Aּ*Aؗ9?2Akֽ:Ag=BAؗ9?JAkֽRAg=٘i)I9g@Y G JyӼJJJJE&K Y_~?ynDPAvE7)79)ȯB[[?[s_~?[[[[[ZZBZYY i) żI E?i)ҥ] f(@))f(@f(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036589.063165 s, next control iter: 1743036589.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036589.443165 s.8 J~,B]\+(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743036589.443333F (some fields omitted in printout)Aq= @A)@ֳ@A`~? AiMA &"AAuwNA"AZAbAjArAzAAA*J:@A F-sAGf@AP!;A_%=Ah?A@(A$?AL*Ab9?2AAֽ:A)<BAb9?JAAֽRA)<٘i)I9Gf@Y' G JJJJJE&K Y_~?yOAyEŧ7b79B)ίBE[[?[i_~?[uި[[[[ZZBZYY i) IuE?i䨿/X |*@))|*@|*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036589.463165 s, next control iter: 1743036589.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10088, header.stamp.nsec: 00 temperature: 13.566926* salinity: 33.375584, density: 1025.000000* values[0]: 0.573310F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036589.863165 s.+ J~,>w+(AJ"J*J2J:JBJnJvJA@Aj @A`~? AvEAR &"AAtowNA"AZAbAjArAzAAA} 2}=:@Aol(sAie@AaE<A=Au~?AA?A;'*A9?2A7ֽ:A+<BA9?JA7ֽRA+ Y^~?ygOA?|E77{79)կB[[[?[?__~?[aը[[[[ZZBZYY i) 歼IcE?i짿YV  ,@)) ,@ ,@yC#=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036589.883165 s, next control iter: 1743036590.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036590.283165 s.UR J~,K +(AA(\O@A=SB@A`~? A=AB* &"AAmhwNA"AZAbAjArAzAAAI.:@AV#sAd@Ad'<ADp=Au?A\¿A ?AK"*AѸ9?2AVֽ:AD|j<BAѸ9?JAVֽRAD|j<٘i)I9d@Y G JC=JJJJE&K Y^~?y)٨OA~E7)7y9B)ݯB E[[.2?[T_~?[h̨[[[[ZZBZYY i) CIQE?i祿\T :-@)):-@:-@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036590.303165 s, next control iter: 1743036590.683178 s, wait time: 0.380013 s.^~?).)٨2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 100892, header.stamp.nsec: 020 temperature: 13.3955752* salinity: 33.3945542, density: 1025.0000002* values[0]: 0.6870722F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036590.703165 s.׺ J~,+(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743036590.703276F (some fields omitted in printout)AQ@A%x@A@ `~? A5A &"AA`wNA"AZAbAjArAzAAAC+:@A8ϱEsAc@A[0;AcW+=A?AAĿA@j?A̼*A9?2Aoֽ:A;BA9?JAoֽRA;٘i)I9c@Y G J+B=JJJJE&K Y^~?yШNAE77D9)B[[Q?[#H_~?[è[[[[ZZBZYY i) UIu@E?i֢2oP n(/@))n(/@n(/@pYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036590.723165 s, next control iter: 1743036591.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036591.123165 s.7 J~,]+(AAGẴ@A1]խ@AL`~? A-AU^ &"AAXwNA"AZAbAjArAzAAAy :@A/8IsA5c@A hػAdx<Ac?AvƿA?A~*Aп9?2Ajֽ:AG0BAп9?JAjֽRAG0٘i)I95c@YH G J>C=JQ>JJJ E&K> Y^~?yzȨ8NAE{7j79)B E[[5@[;_~?[Ѻ[[[[ZZBZYY i) Ij/E?i0K 0@))0@0@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036591.163165 s, next control iter: 1743036591.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036591.543165 s.I J~,+(AJ"J*J2J:JBJnJvJA= ף@A@A_~? A%AZ &"AANwNA"AZAbAjArAzAAA Gk9@A(7sA»b@A_PA<A?AOȿA^?Ap*A9?2ADTֽ:Ad(BA9?JADTֽRAd(٘i)I9b@Y G J9JQ>JJJE&K> Y^~?y!MAE779)B[[l@[._~?[:[[[[ZZBZYY i) ӿ~IE?iD D2@))D2@D2@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036591.563165 s, next control iter: 1743036591.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10090, header.stamp.nsec: 00 temperature: 13.388157* salinity: 33.391666, density: 1025.000000* values[0]: 0.689424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036591.963165 s.y J~,+(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083375< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743036591.963300F (some fields omitted in printout)Affff&@AH]@A_~? A8A &"AA{DwNA"AZAbAjArAzAAA,+C9@A]txsAdb@APLA A/?A6'ʿAJ?A.!*A9?2AOֽ:AEBA9?JAOֽRAEY ?U?yLٓHqڿ`#΀#?pڿ房`v?``?) ? I٘i)I9db@Y G J$OB=JEJJJE&Kw> Y ^~?yMA?Ej7j7!9B)BE[[O@[ _~?[[[[[ZZBZYY iz=) kIE?i×BB T3@))T3@T3@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036592.003165 s, next control iter: 1743036592.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036592.383165 s. J~,/,(AJ"J*J2J:JBJnJvJA(\@A}O@A^_~? A}A'&"AA9wNA"AZAbAjArAzAAAS 9@AW9V sA.b@A»A޳At@A˿A@Td?A*Aͬ9?2Arrֽ:ABAͬ9?JArrֽRA٘i)I9.b@Y G JC=JJJJE&K YX^~?yMAE7777n#9)B[[@[_~?[C[[[[ZZBZYY i=) A*YID?i┿ > ^5@))^5@^5@;)YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743036592.403165 s, next control iter: 1743036592.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10091&, header.stamp.nsec: 0&0 temperature: 13.388348&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.688592&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036592.803165 s.wA J~,{g3,(AA둵@AyZ~@A__~? AA&"AA-wNA"AZAbAjArAzAAA2P9@AήsAb@Ab;A Ai@ARͿA>?A*A9?2A&ֽ:AͼBA9?JA&ֽRAͼ٘i)I9b@Y G JSJJJJE&K Y^~?yMAE{79%9B)BE[[h@[_~?[[[[[BZYY i) n^FID?i9 6@))6@6@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036592.823165 s, next control iter: 1743036593.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036593.223165 s.g J~,HN,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036593.223281F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǵ@Ae@A_~? A.AS&"AA`!wNA"AZAbAjArAzAAA4;ᇚ9@AhsAb@A*1<AY7A@AƤϿA`?A,T;*AY9?2Aֽ:A<;BAY9?JAֽRA<;漙٘i)I9b@Y G J:JJJJE&K Y^~?yMAEj7j7'9B)BE[[@[]^~?[ߐ[[[[BZYY i) 3ID?i63 Xw8@))Xw8@Xw8@y%,=Yv*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036593.243165 s, next control iter: 1743036593.623185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743036593.643165 s. J~,5*i,(AA ףp@A)zc@A_~? AA&"AA$wNA"AZAbAjArAzAAA]:9@A4fcrAAb@A'I<AN\A @AпA`o?A1;*A^9?2Aֽ:ABA^9?JAֽRA٘i)I9Ab@Y G J_;JJJJE&K Y?^~?yNAE)7ŧ7(9)B[[y @[0^~?[숨[[[[BZYY i)  ID?i + :@)):@:@*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10092, header.stamp.nsec: 00 temperature: 13.388398* salinity: 33.391685, density: 1025.000000* values[0]: 0.688360F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743036593.663165 s, next control iter: 1743036594.043184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036594.063165 s. J~,J ,(AJ"J*J2J:JBJnJvJA33333@AI'&@A^_~? AAz&"AA'wNA"AZAbAjArAzAAAp6nb9@A03rA~b@A9;AV{AR@A ѿA?A>D1<*A9?2Aֽ:A/BA9?JAֽRA/Y?K@y U{;ٓH d+?Ԙ?$Je? '}?`?)? I٘i)I9~b@Y G J<JJJJE&Kw> Y^~?yS\NAK@Ej7j7*9B)E[[ @[Y^~?[[[[[BZYY i,3h=) IdD?ic-( g;@))g;@g;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036594.083165 s, next control iter: 1743036594.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036594.483165 s.{_' J~,,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036594.483330F (some fields omitted in printout)A\h@A8j[@Ab_~? AA &"AAmvNA"AZAbAjArAzAAAb)D9@AyrA}b@A56AHA@AxҿA@X?Aj<*AĘ9?2A Cֽ:ABAĘ9?JA CֽRA٘i)I9b@Y G JWK<JJJJ!E&K Y|^~?yNAE7)7c,9B)BE[[ @[^~?[^y[[[[BZYY i) ID?ioz# =@))=@=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036594.523165 s, next control iter: 1743036594.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10093, header.stamp.nsec: 00 temperature: 13.388362* salinity: 33.391685, density: 1025.000000* values[0]: 0.688639F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036594.903165 s.- J~,͹,(AJ"J*J2J:JBJnJvJAQ@ApD@A_~? A@A &"AAvNA"AZAbAjArAzAAA=p$9@A#rA Ac@An$An[A@A`UӿA `?A@<*A39?2Adֽ:ABA39?JAdֽRA٘i)I9Ac@YO G Jj<JJJJ#E&K Yn^~?yOAEj7Z7..9 B)BE[[@[^~?[q[[[[BZYY i) ՇInD?ivz V>@))V>@V>@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036594.923165 s, next control iter: 1743036595.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036595.323165 s.4 J~,W,(AAGzԶ@AmpǶ@A_~? AA-&"AAvNA"AZAbAjArAzAAAwD9@AfxrAbc@AD8TA A4# @A \2ԿA -?A΋<*A9?2A' ֽ:A>BA9?JA' ֽRA>٘i)I9c@Y G J<JJJJ&E&K YV`^~?y|yYOAE77/9)B[[ @[œ^~?[{j[[[[BZYY i =) »IЛD?ij%. #@@))#@@#@@yԂh=j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036595.343165 s, next control iter: 1743036595.723184 s, wait time: 0.380019 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10094*, header.stamp.nsec: 0*0 temperature: 13.388182** salinity: 33.391685*, density: 1025.000000** values[0]: 0.689332*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036595.743165 s."W; J~,,(AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:J8 propOmegaAction: 25.132812BJ< rudderAngleAction: -0.261799nJ> elevatorAngleAction: 0.065980< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743036595.743289F (some fields omitted in printout)Aףp= @Av2@A_~? AکA$&"AAvNA"AZAbAjArAzAAA)bҥ8@A\]>rAOd@A=AAsu @AտA~?A<*A9?2AJLֽ:A(BA9?JAJLֽRA(٘i)I9Od@Y G J<JJJJ)E&K YR^~?yqOAE77{719)B[[@[^~?[Pc[[[[BZYY i) Y.ID?iA] A@))A@A@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036595.763165 s, next control iter: 1743036596.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036596.163165 s.s}B J~,q -(AA@@Aan2@A_~? AөAI&"AA=vNA"AZAbAjArAzAAAjmI8@A rAd@AFAA @AտA@T?AFG<*A9?2Aֽ:A1 BA9?JAֽRA1 Yv?` @y5ٓH8??@gsz]?Ј>?)v? I٘i)I9d@YL G JӬ<J JJJ+E&Kw> Y}A^~?yjPA @E{7j739 B)BE[[@[v^~?[>\[[[[BZYY i) IcD?iVK ].C@))].C@].C@ys=;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036596.183165 s, next control iter: 1743036596.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036596.583165 s.H J~,R%-(AJ"J*J2J:J0?BJ0?nJ*95vJA)\u@A#h@AM_~? Ae̩A&"AAvNA"AZAbAjArAzAAA8@AeY†rAKqe@A٘ <A׮A\&@A@dֿA`Dž?A^<*A9?2Aֽ:AnBA9?JAֽRAn٘i)I9qe@Y G J-<JJJJ.E&K Y0^~?yc~PAE7777Y59)B[[@[b^~?[YU[[[[BZYY i) 2MITyD?iM 4D@))4D@4D@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036596.603165 s, next control iter: 1743036596.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10095, header.stamp.nsec: 00 temperature: 13.387996* salinity: 33.391697, density: 1025.000000* values[0]: 0.690288F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036597.003165 s.y P J~,P4@-(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036597.003303F (some fields omitted in printout)AR@A_|@Av{_~? A_ũA^&"AAΏvNA"AZAbAjArAzAAA=)p8@A}=rAf@AR<A ABy@A׿A ,I?A#<*Af9?2A ׽:ABAf9?JA ׽RA٘i)I9f@Y G J<B=JJJJ1E&K Y@ ^~?y\PAE~7~7$79B)ݯBE[[ǖ@[N^~?[N[[[[BZYY i) InD?i Ca 5F@))5F@5F@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036597.043165 s, next control iter: 1743036597.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036597.423165 s.uV J~,[-(AJ"J*J2J:J0?BJ0?nJo95vJA{G@A;Է@A*n_~? AoA&"AA|vNA"AZAbAjArAzAAAVi"G8@A!rAf@A,,<AXA@AGmؿA ?Ag<*A9?2Aֽ:A xBA9?JAֽRA x٘i)I9f@YR G J9<C=JJJJ3E&K Y^~?yhUNQAE77789B)ۯBE[[A@[9^~?[H[[[[BZYY i) 1I eD?iS6` ӷG@))ӷG@ӷG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036597.443165 s, next control iter: 1743036597.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10096", header.stamp.nsec: 0"0 temperature: 13.387794"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.691284"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036597.843165 s.\ J~,u-(AAp= @A @Ak`_~? AAm&"AAgvNA"AZAbAjArAzAAAS(8@A;YrAXg@A2;AA@A~;ٿA@?A<*A9?2A7ֽ:A/BA9?JA7ֽRA/٘i)I9g@Y G J <JJJJ6E&K Y]~?yJNQAE7:9B)ׯBE[[@[$^~?[A[[[[BZYY i)  ˹I\D?i'^ֻ H))H8I@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036597.863165 s, next control iter: 1743036598.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036598.263165 s.d J~,ؐ-(AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036598.263286F (some fields omitted in printout)AL@A=e?@A:R_~? AϰA&"AAmRvNA"AZAbAjArAzAAA"7@A,ӋrA-g@A^ջAfkAI@A@xڿA?AЬ<*A9?2AgTֽ:AVBA9?JAgTֽRAVYK@Q@yjhջٓH#O)C??Z@dԭ +?ȫzR?)K@ I٘i)I9g@Y G Ju<J;JJJ9E&K/x> Y+]~?yGRAQ@E)7ŧ7<9B)կBE[[ @[f^~?[;[[[[BZYY i) R:IqSD?iY̻ TgG))TgGaJ@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036598.283165 s, next control iter: 1743036598.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 100972, header.stamp.nsec: 020 temperature: 13.3875822* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.6922602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036598.683165 s.lj J~,V-(AA(\@AE.8u@AC_~? A"A8v&"AA9)ЯB[[y@[~]~?[5[[[[BZYY i) }:IeKD?i\ -E))-E7L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036598.683165 s, next control iter: 1743036599.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743036599.103165 s.q J~,-(AJ"J*J2J:JV1?BJV1?nJ95vJAQ@AL F@A4_~? AA&"AA'&vNA"AZAbAjArAzAAAD7@A8WrAoh@Ab)>A=A@A@ۖۿA?A.<*Ai9?2Aaֽ:A>BAi9?JAaֽRA>٘i)I9h@Y G J<JJJJ>E&K Yu]~?y:RAES77@9B)ͯBE[[@[E]~?[/[[[[BZYY i) Q;ICD?i L iD))iDM@A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036599.123165 s, next control iter: 1743036599.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036599.523165 s.w J~,|-(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743036599.523318F (some fields omitted in printout)AHz@A*1 @A %_~? AAw&"AAvNA"AZAbAjArAzAAAq%j7@A0rAXi@AAbA.5@A`\ܿAƵ?A4<*A%9?2Aֽ:AaBA%9?JAֽRAa٘i)I9Xi@YG J<JJJJAE&K Y]~?y4ESAE77A9)ɯB[[s@[]~?[*[[[[BZYY i) ]:Z;IT=D?i B))B#3O@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036599.543165 s, next control iter: 1743036599.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10098, header.stamp.nsec: 00 temperature: 13.387364* salinity: 33.391739, density: 1025.000000* values[0]: 0.693218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036599.943165 s.Xd~ J~,B]-(AJ"J*J2J:JBJnJvJAq= #@A@A!_~? AA]&"AA@uNA"AZAbAjArAzAAA\F97@AQӻrAi@A.;ARAO@A ݿA@jj?Ai<*A}9?2Aֽ:A"BA}9?JAֽRA"٘i)I9i@YTG J<JJJJCE&K Y]~?y-SAE777C9B)ȯBE[[@[]~?[$[[[[BZYY i) ;I7D?iؾiN pA))pAP@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036599.963165 s, next control iter: 1743036600.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036600.363165 s. J~,}>.(AAY@A͎L@A_~? AbA6q&"AAuNA"AZAbAjArAzAAA X7@A'rAWj@A8=<AAm@AݿA?AČ<*Ap9?2AA#׽:ABAp9?JAA#׽RAY @@yg=<ٓH@` 7?`z? ܰ` ??@C?) @ II٘i)I9Wj@YG J<Jb<JJJFE&K)x> Y؋]~?y'TA@Eŧ7b7yE9B)ƯBE[[W\!@[Ǟ]~?[S[[[[BZYY if=) B;I32D?ižnR} &?))&?)R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036600.383165 s, next control iter: 1743036600.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10099&, header.stamp.nsec: 0&0 temperature: 13.387199&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.694122&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036600.783165 s.X J~,2.(AJ"J*J2J:J1?BJ1?nJS:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036600.783306F (some fields omitted in printout)A(\@AV@A ^~? A3A&"AAuNA"AZAbAjArAzAAA#6@A ޙrAj@A L<A+A0@A ޿A?A-<*A9?2Ac׽:A BA9?JAc׽RA 𼙘٘i)I9j@YG J<B=JJJJIE&K Yv]~?y!`TAE77DG9)¯B[["@[8]~?[4[[[[BZYY i) ;Iy-D?iӯIa {>)){>ɣS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036600.823165 s, next control iter: 1743036601.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036601.203165 s. J~,M.(AAQŹ@A|+@A^~? A Ab&"AAuNA"AZAbAjArAzAAA66@ASQ elevatorAngleAction: 0.076505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036602.043295F (some fields omitted in printout)A= ף0@A#@Ai^~? AOxAK&"AAvuNA"AZAbAjArAzAAA )x56@Aݕ3rA/l@AX)AYA@A[A?A6<*Aa9?2A^Tֽ:ArBAa9?JA^TֽRAr٘i)I9/l@YG J<JJJJQE&K Y=8]~?ysUAɿE7L9B)BݹE[['@[t?]~?[ [[[[BZYY i) > Y!]~?y UAY @̿E77nN9!B)BڹE[[݌(@[&]~?[[[[[BZYY i) # elevatorAngleAction: 0.076505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743036603.303267F (some fields omitted in printout)J"J*J2J:JBJnJvJAѺ@A0eĺ@Ad^~? ApgA&"AA#uNA"AZAbAjArAzAAA%5@A^B5rAm@Ap8AA "@A}ZA@?Aj(<*A29?2Aֽ:AVBA29?JAֽRAV٘i)I9m@YG J<JJJJYE&K Y\~?y0VAѿE77{7R9)B[[d+@[0\~?[~[[[[BZYY i) B elevatorAngleAction: 0.076505< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036604.563291F (some fields omitted in printout)A3333s@A)f@A%L^~? AWA&"AAtNA"AZAbAjArAzAAAv4@A%HrANo@AV"%<A•A&@A IA9m?AT<*A{9?2AXֽ:APs BA{9?JAXֽRAPs Y@&@y%<ٓH@w@F@pi? A?@X1г?3? ?)@ I٘i)I9o@YzG Jߓ<B=J]JJJaE&Kx> YP\~?y=WA&@ڿEŧ7ŧ7dW9'B)BιE[[/@[\~?[[[[[BZYY i) +:p: Ue1))Ue1``@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036604.603165 s, next control iter: 1743036604.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10103, header.stamp.nsec: 00 temperature: 13.386538* salinity: 33.391762, density: 1025.000000* values[0]: 0.697356F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036604.983165 s. J~,>/(AJ"J*J2J:J2?BJ2?nJ1;5vJA\@Aв@A7^~? ARA3&"AAhtNA"AZAbAjArAzAAAjU4@A{s;rA2o@AxA;A1AF,(@AA@f?A<*Aw9?2A>ֽ:Aғ BAw9?JA>ֽRAғ ٘i)I9o@YG J<C=JJJJdE&K Y\~?y XAܿEb77/Y9(B)B͹E[[11@[\~?[m[[[[BZYY i) 6k{: y/))y/<)b@/*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036605.003165 s, next control iter: 1743036605.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036605.403165 s.& J~,Y/(AAQ޻@Aѻ@A"^~? AMAg&"AA=>"; .)).c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036605.423165 s, next control iter: 1743036605.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10104", header.stamp.nsec: 0"0 temperature: 13.386341"* salinity: 33.391720", density: 1025.000000"* values[0]: 0.698216"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036605.823165 s. J~,-t/(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743036605.823310F (some fields omitted in printout)AGz@A7q@A ^~? AIAf&"AAltNA"AZAbAjArAzAAA4@A>^\rAp@A*WMAɹA*@A,$A(?AD<*A9?2A4ֽ:AWBA9?JA4ֽRAW٘i)I9p@YsG J<JJJJiE&K Yhe\~?yXAE)7b7\9,B)BǹE[[3@[\\~?[[[[[BZYY i) HAK; -))-6e@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036605.843165 s, next control iter: 1743036606.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036606.243165 s. J~,d/(AAףp=J@A52=@A]~? AsDAM&"AAzLtNA"AZAbAjArAzAAA¥, 3@Ak9ՌrA0q@A I:AN4A5,@AkiA@_?AD<*A 9?2ADYֽ:ABA 9?JADYֽRA٘i)I90q@YG Jo<JJJJlE&K YM\~?yNߧ9YAE77^9-B)BĹE[[B"5@[AC\~?[[[[[BZYY i) X~.z; +))+mf@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036606.263165 s, next control iter: 1743036606.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036606.663165 s. J~,q/(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10105, header.stamp.nsec: 00 temperature: 13.386168* salinity: 33.391739, density: 1025.000000* values[0]: 0.699206F (some fields omitted in printout)A@A<r@A]~? A?A&"AA+tNA"AZAbAjArAzAAAʸQz3@AC!v ҈rAmq@A1GA3A[-@A8A Y{3\~?yۧYA`-@E777Y`9)B[[z6@[:)\~?[V[[[[BZYY i) ,ԉ; H*))H*g@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036606.683165 s, next control iter: 1743036607.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036607.083165 s.D J~,S/(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036607.083289F (some fields omitted in printout)A)\µ@A]0@A]~? A;A&"AA tNA"AZAbAjArAzAAAFҺV3@A4-rAbQr@AQ;AɟA.@A.A?AN><*Aߠ9?2Aֽ:ABAߠ9?JAֽRA٘i)I9Qr@Y{G J_<JJJJqE&K Y\~?yקZAE{7{7$b9.B)BE[[7@[1\~?[[[[[BZYY i)  nQ; ())(@i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036607.103165 s, next control iter: 1743036607.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036607.503165 s. J~,L4/(AJ"J*J2J:JBJnJvJAR@Ax޼@A]~? Au7AO&"AApsNA"AZAbAjArAzAAA|Cݒ3@A/'irAr@AF?<A;nA 0@A`.A?A <*A9?2A$׽:A2BA9?JA$׽RA2٘i)I9r@YG J׫<JJJJtE&K Y;\~?y<ԧzZA DEb7b7c90B)BE[[?9@[2[~?[[[[[BZYY i)  elevatorAngleAction: 0.085503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036608.343285F (some fields omitted in printout)Ap= W@AJ@A]~? A/AB&"AAMsNA"AZAbAjArAzAAA`Ge2@A%XZ~rA t@A0;AlA͝2@AҥAB?A<*A9?2A̴ֽ:ASBA9?JA̴ֽRAS٘i)I9 t@YG JO<B=JJJJyE&K Y[~?y̧P[AEŧ7b7g94B)BE[[;@[l[~?[)ާ[[[[BZYY i) ,ֻ@[3[~?[.ۧ[[[[BZYY i)  elevatorAngleAction: 0.085503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036609.603334F (some fields omitted in printout)AQ@AD@AC]~? A$A &"AAF0(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.094409< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036610.863321F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A;э@A#\~? A&A1!&"AA+rNA"AZAbAjArAzAAAů0@A9 Y\1[~?yi]Af:@E77Dr9)xB[[C@[)[~?[Dק[[[[ZZZZ¸>BZYY i¸>M) z":0@AjTn+prAɼx@AY'R<AsAJ;@A A`(?A3<*ACv9?2A׽:AHBACv9?JA׽RAH٘i)I9x@YcG J7<JJJJE&K Y[~?yjY^AE77{7t9:B)tBE[[" E@[c[~?[֧[[[[ZZZZBZYY i) @AVLA?A=*Aʏ9?2Aǁֽ:ApYBAʏ9?JAǁֽRApY٘i)I9]z@YaG Ju=C=JJJJE&K YZ~?ykL_A E777w9=B)jBE[[G@[fZ~?[֧[[[[ZZZZBZYY i) B)dBE[[nH@[2Z~?[է[[[[ZZZZBZYY i)  .@Aғ.jrA;|@A@Ad(9A@@A@ A`?A<*AŠ9?2AkWֽ:AUBAŠ9?JAkWֽRAUYg2@@@y%9@ٓH?PV 8.?`A? nӑ`"? ?)g2@ I٘i)I9|@Y`G J|<B=J=JJJE&Kw> YnZ~?yM`A@@E77{7:{9@B)`BE[[1J@[Z~?[է[[[[ZZZZBZYY iΘ) H5vJAzG@A(G:@A^5\~? AAY"&"AAqNA"AZAbAjArAzAAAJ'kD-@A7grA!}@A;A-;AD@AA@?A@\.<*A9?2A/ֽ:Aut<BA9?JA/ֽRAut<٘i)I9}@YTG Jb<C=JJJJE&K YFSZ~?y`AE79)UB[[N@[ ^Z~?[ק[[[[ZZZZBZYY ihy) sΨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036614.243165 s, next control iter: 1743036614.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036614.643165 s.|i J~, *1(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083728< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036614.643287F (some fields omitted in printout)A ףp}@A@1dp@A\~? AAs#&"AAt}qNA"AZAbAjArAzAAAQ~Fk,@AR̖ frA}@AK<A\<AtF@AA`p?AŴ;*A9?2Acֽ:AO<BA9?JAcֽRAO<٘i)I9}@YwG J <JJJJE&K Y87Z~?yѪ`AEb7d9@B)RBE[[HO@[HEZ~?[ק[[[[ZZZZBZYY i) k]?#`?`W?)K]9@ I٘i)I9}@YG Jp;B=J;>JJJE&Kv> YZ~?y`AcG@E)7ŧ7/9AB)E[[ԎP@[J,Z~?[ا[[[[BZYY il) YK5vJAףp=@AV 1}@AB[~? AgA#&"AAкpNA"AZAbAjArAzAAAN_)@AJ4ǠbrA:}@ADAφ=AzEA`']Au?ADU*A 9?2ATֽ:A{ =BA 9?JATֽRA{ =I٘i)I9:}@Y G Jg:JJJJE&K YĩY~?y$`A'Ej7j7Z9)YBE[[U@[Y~?[fݧ[[[[BZYY i) brA=|@AA=AG3DAfA Y?A5*A'9?2Aֽ:A =BA'9?JAֽRA =Y`?@4;Dyݕ=,ٓHSem?߱A`/@刿N|f?)`?@ I٘i)I9|@YG JjB=Jw=JJJE&Kw> YY~?yT_A;D*EZ7%9DB)]BE[[V@[rY~?[ާ[[[[BZYY iOol) [;IE?i<@ <  )) b@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036617.183165 s, next control iter: 1743036617.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036617.583165 s. J~,Se2(AJ"J*J2J:J_5?BJ_5?nJ/>5vJA)\@Ap(|@Afg[~? ANAy#&"AAHlpNA"AZAbAjArAzAAAJgxR%(@A3arAb|@A ;Aӗ=ABAsmA ѡ?AÖ*A?9?2AW6ֽ:A=BA?9?JAW6ֽRA=٘i)I9b|@YG JًC=JJJJE&K YqqY~?yb_A-EZ79CB)`B[[X@[Y~?[[[[[BZYY i) ;I|F?il@<  )) U)@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036617.603165 s, next control iter: 1743036617.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10116, header.stamp.nsec: 00 temperature: 13.384428* salinity: 33.391712, density: 1025.000000* values[0]: 0.708133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036618.003165 s.z J~,U42(AAR+@A{@AlM[~? AA2#&"AADpNA"AZAbAjArAzAAAV>҇'@A gdarAS{@AP!<A4=AAAWrA`k?A>*A9?2Aս:A$=BA9?JAսRA$=٘i)I9{@YJG JJJJJE&K YFUY~?y_A/E779)eB|E[[JY@[߂Y~?[[[[[BZYY i)  ;I,8F?i @Ҫ< ))cDž@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036618.023165 s, next control iter: 1743036618.403180 s, wait time: 0.380015 s.FUY~?). rAdjusting time to match Gazebo time: 1743036618.423165 s.u J~,2(AJ"J*J2J:J*5?BJ*5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743036618.423282F (some fields omitted in printout)A{Ga@An;T@Ao3[~? AA#&"AApNA"AZAbAjArAzAAAYp9&@AR*]arA!I{@AM<A(=Ac@AtAंu?AG³*AK9?2A:ֽ:Ao3=BAK9?JA:ֽRAo3=٘i)I9I{@YG J@JJJJE&K Y9Y~?yR^A2Eb779DB)iByE[[Z@[~kY~?[x[[[[BZYY i) "e;IVF?i@3ʵ< W))WLd@yܰlتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036618.443165 s, next control iter: 1743036618.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10117, header.stamp.nsec: 00 temperature: 13.384683* salinity: 33.391708, density: 1025.000000* values[0]: 0.707162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036618.843165 s.ݬ J~,2(AAp= @A;@Ao[~? AA#&"AA)oNA"AZAbAjArAzAAA=feϔL&@A\<+arA'z@A) <A=A?AWuA`܃A*A9?2AIֽ:A =BA9?JAIֽRA =٘i)I9z@YG JJJJJE&K YY~?y>^A5E77j7O9)oBvE[[.[@[iTY~?[[[[[BZYY i) ve;I2vF?im@m< ))@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036618.863165 s, next control iter: 1743036619.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036619.263165 s. J~,<2(AJ"J*J2J:J4?BJ4?nJ=5vJA@A]&@AqZ~? AA8#&"AAoNA"AZAbAjArAzAAA}J%@A(arA z@A@9A(@=A=A ?sA5WAƳ*A?9?2A{ֽ:A=BA?9?JA{ֽRA=Y`F@=y(@=8A9ٓHh?DƿʊZC(??)`F@ I٘i)I9z@Y6G J.J8<JJJE&Kx> Y)Y~?y]A=7Ej79)tBsE[[\@[9=Y~?[[[[[BZYY i) 0);I@F?i@Ӿ< ))k@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036619.283165 s, next control iter: 1743036619.663183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 101182, header.stamp.nsec: 020 temperature: 13.3849512* salinity: 33.3916852, density: 1025.0000002* values[0]: 0.7060272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036619.683165 s.l J~,^2(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036619.683315F (some fields omitted in printout)A(\@A,σ@AvZ~? AiA#&"AA_oNA"AZAbAjArAzAAA(m%@AtbrAρy@A Aі=Aa<A`nA3cA"*A49?2A`ֽ:AH=BA49?JA`ֽRAH=٘i)I9y@YG J±JJJJE&K Y^X~?yo]A:Eb77嗀9)xBqE[[/^@[M&Y~?[-[[[[BZYY iv) :IF?i%@< ɫ))ɫ9@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036619.683165 s, next control iter: 1743036620.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743036620.103165 s. J~,3(AJ"J*J2J:JBJnJvJAQ8@AE+@AZ~? AA#&"AAoNA"AZAbAjArAzAAA=[ t$@ArR+VbrAx@AqNAߒ=A;A@cgA2Ab`*A9?2A5ֽ:AJ<BA9?JA5ֽRAJ<٘i)I9x@YG J«JJJJE&K YX~?y]A=E7779)}BnE[[7g_@[Y~?[[[[[BZYY i) ͇B:InF?i@/< t))tՈ@}ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036620.123165 s, next control iter: 1743036620.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036620.523165 s. J~,{!3(AAHzn@A,a@AZ~? AA/#&"AAXoNA"AZAbAjArAzAAAw}#@AuibrAfx@AS'A0=A`9A@f]A`#رAuΡ*Aÿ9?2Aֽ:A1<BAÿ9?JAֽRA1<٘i)I9fx@Y/G J;JJJJE&K YɭX~?y1\A?Eŧ7b7z9)BkE[[n`@[RX~?[G[[[[BZYY i) y:IF?i{@"< ~))~2p@EŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036620.563165 s, next control iter: 1743036620.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10119, header.stamp.nsec: 00 temperature: 13.385231* salinity: 33.391674, density: 1025.000000* values[0]: 0.704915F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036620.943165 s.Zd J~,J]<3(AJ"J*J2J:Ju4?BJu4?nJ9=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036620.943315F (some fields omitted in printout)Aq= ף@Aʖ@AZ~? AtAm#&"AAt1oNA"AZAbAjArAzAAAaN3:#@AanEcrAGw@A"A=A8APAyA*A9?2A ֽ:A<BA9?JA ֽRA<٘i)I9w@YG JJJJJE&K YX~?y9\ABE7E9)B[[ea@[NX~?[[[[[BZYY i) z܏IG?i#@< )) @yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036620.963165 s, next control iter: 1743036621.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036621.363165 s. J~,>W3(AA@A-@A}Z~? AvA~#&"AAI oNA"AZAbAjArAzAAA놝"@AmEcrA\w@A;AoO=Ab<7A BA_AlA*A9?2AYֽ:A&<BA9?JAYֽRA& YvX~?y+[A57EE7779)BhE[[c@[4X~?[[[[[BZYY i) IAG?iA&@W< ))@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036621.383165 s, next control iter: 1743036621.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10120&, header.stamp.nsec: 0&0 temperature: 13.385501&* salinity: 33.391670&, density: 1025.000000&* values[0]: 0.703949&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036621.783165 s.V J~,r3(AJ"J*J2J:JBJnJvJA(\@ACƣT@A+dZ~? AAmi#&"AA7nNA"AZAbAjArAzAAA!#q"@AwBdrAv@AܹE<AB=A5A@0A: AK*A9?2A4Fֽ:Af?<BA9?JA4FֽRAf?<٘i)I9v@Y=G J͚C=JJJJE&K Y[X~?y[AGE)77ڠ9)BeE[[:d@[gX~?[[[[[BZYY i) +)DIfG?i*)@< B))BU?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036621.823165 s, next control iter: 1743036622.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036622.203165 s. J~, 3(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743036622.203273F (some fields omitted in printout)AQE@AT8@AJZ~? AA1Q#&"AAAnNA"AZAbAjArAzAAAHte!@Ar1ierA[v@AXN8<A΄=A4AA rA*A9?2Ahֽ:A<BA9?JAhֽRA<٘i)I9[v@YG JJJJJE&K Y@X~?y$[AJEZ7SI79)BbE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #59q/;^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036622.223165 s, next control iter: 1743036622.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036622.623165 s.Y J~,e3(AJ"J*J2J:JBJnJvJAGz@Ajm@A0Z~? AsA5#&"AAmnNA"AZAbAjArAzAAAlw4 @ARfrA3u@AM;A9 =AQ3AAU¿AF*A9?2Aֽ:A =<BA9?JAֽRA =<٘i)I9u@YG JmJJJJE&K Y[%X~?yrZAME77o9)B_E[[ f@[X~?[1[[[[BZYY i) h,IG?i.0@< cy)) cyq@ŴYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036622.643165 s, next control iter: 1743036623.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10121 , header.stamp.nsec: 0 0 temperature: 13.385741 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.702990 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036623.043165 s. J~,3(AA= ף@A#@AxZ~? A% A^#&"AAnnNA"AZAbAjArAzAAAG^0 @AHv;[grAWnu@A뢻A=AS2AA ſAC*A:?2A½:A<BA:?JA½RA<٘i)I9nu@Y`G J쉼JJJJE&K Y2 X~?ylZAPE7ŧ7:9)B\E[[6g@[wX~?[[[[[BZYY iX) p9IG?iG4@< )) @"YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036623.063165 s, next control iter: 1743036623.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036623.463165 s.[ J~,3(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036623.463336F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A=e5]@AY~? A A"&"AA(HnNA"AZAbAjArAzAAA],@Ah_|hrA*t@ACAE=AV1AA@\"ƿAف*A:?2Aý:AN<BA:?JAýRAN YW~?yħZA1RE77{79)BYE[[h@[cX~?[[[[[BZYY i) 9޻IG?i6@< ))@XYA YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036623.483165 s, next control iter: 1743036623.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10122, header.stamp.nsec: 00 temperature: 13.385947* salinity: 33.391685, density: 1025.000000* values[0]: 0.702111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036623.883165 s.y J~,Q3(AA(@AS@AY~? A Ae"&"AA!nNA"AZAbAjArAzAAA0:@A~irAt@AKAQ;=A0A`AuǿAF|*A+:?2Aƽ:Ad<BA+:?JAƽRAd<٘i)I9t@YG J JJJJE&K YrW~?y2ǧYAUE77Щ9)B[[0j@[NX~?[ [[[[BZYY i) P*IH?i9@< GW))GW뿩 :@YhnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036623.923165 s, next control iter: 1743036624.283181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036624.303165 s.X J~,g4(AJ"J*J2J:JBJnJvJAQ@AD@AY~? AA"&"AARmNA"AZAbAjArAzAAA2@AJeyjrA)t@A<̻A$=A a/AŷA/ȿA\*A&:?2A Ƚ:AZG<BA&:?JA ȽRAZG<٘i)I9)t@YG J|JJJJE&K YW~?y[ʧgYAXE7779)BVE[[^k@[h:X~?[. [[[[BZYY i) I*H?iV=@WZ< s))s迩>ю@yDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036624.323165 s, next control iter: 1743036624.703176 s, wait time: 0.380011 s>tReceived state from Gazebo (printed only once in a while):>2 header.stamp.sec: 10123>, header.stamp.nsec: 0>0 temperature: 13.386156>* salinity: 33.391685>, density: 1025.000000>* values[0]: 0.701334>F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036624.723165 s. J~,H.4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201502 time: 1743036624.723453F (some fields omitted in printout)Az@AGTz@AdY~? A=A""&"AA!mNA"AZAbAjArAzAAA:M@A\KlrAls@A"Z;Ac=A-.AA |ʿA**A:?2A˽:A=BA:?JA˽RA=٘i)I9s@YXG J3B=JJJJE&K YW~?yͧYAZE(9%9e9)BSE[[Il@[&X~?[[[[[BZYY i) IVTH?i$A@]9< ))濩g@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036624.763165 s, next control iter: 1743036625.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036625.143165 s.W/ J~, *I4(AJ"J*J2J:Jr3?BJr3?nJ*<5vJA ףp@AqQe@AeY~? AAS"&"AA!mNA"AZAbAjArAzAAA&9g@ACmrAJs@Ad7<AMl=A,A@A|A%̿A*A:?2AZͽ:AwD=BA:?JAZͽRAwD=٘i)I9Js@YG JDC=JJJJE&K YSW~?yЧXA]E77{709CB)BQE[[m@[X~?[[[[[BZYY i) F.I~H?iTE@K< /L))/L俩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036625.163165 s, next control iter: 1743036625.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036625.563165 s. J~,k d4(AA3333@AD)@AY~? AA$"&"AAWmNA"AZAbAjArAzAAA"K'|:@A p?orAr@A~Y<A =AB+A YAuͿAꏼ*A7:?2AϽ:A =BA7:?JAϽRA =Y:X@Z+y=@Z<ٓHŗ i?0`fܿ@6@/??):X@ I٘i)I9r@YG JJH<JJJE&Kd> YmW~?yԧZXA+`E{7j79)BNE[[n@[W~?[[[[[BZYY i) =IH?iG@< ))Ῡf@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036625.583165 s, next control iter: 1743036625.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10124, header.stamp.nsec: 00 temperature: 13.386361* salinity: 33.391651, density: 1025.000000* values[0]: 0.700566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036625.983165 s. J~,~4(AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036625.983314F (some fields omitted in printout)A\(@AC@AgY~? AA7!&"AAcmNA"AZAbAjArAzAAAd8@ANBprAPYr@A>@ <A0=AD*A a2A ϿAב*A:?2AVѽ:Ab =BA:?JAVѽRAb =٘i)I9Yr@YG JꐼJJJJE&K YSW~?yاWAbEb77Ų9)B[[p@[W~?[[[[[BZYY i) -MI[H?iJ@0= G߿))G߿I)@JĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036626.003165 s, next control iter: 1743036626.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036626.403165 s.'& J~,Ι4(AAQ^@AQ@AXOY~? AAf!&"AA|>mNA"AZAbAjArAzAAAl@ArrAq@AiAX=A(AiA`пAf*Aw:?2Abӽ:AdT =BAw:?JAbӽRAdT =٘i)I9q@Y5G J<JJJJE&K Yn:W~?ynܧWAeE7779)BKE[[8q@[W~?[ [[[[BZYY i) \II?iAN@= KFݿ))KFݿH@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036626.423165 s, next control iter: 1743036626.803187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10125, header.stamp.nsec: 00 temperature: 13.386592* salinity: 33.391655, density: 1025.000000* values[0]: 0.699689F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036626.823165 s., J~,!4(AJ"J*J2J:JBJnJvJAGz@ALn@A7Y~? AqA!&"AAvmNA"AZAbAjArAzAAAVDľ@AJ^[trA)cq@A?A=A'A@}A@ѿA/*A$m:?2AԽ:A =BA$m:?JAԽRA =٘i)I9cq@YG JؒJJJJE&K Y!!W~?yY@WAhEb77Z9BB)BHE[[`r@[W~?[6%[[[[BZYY i) lII?iR@g= ڿ))ڿoR@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036626.863165 s, next control iter: 1743036627.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036627.243165 s.3 J~,y4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036627.243284F (some fields omitted in printout)Aףp=@Aq4@AY~? A!AJ!&"AAlNA"AZAbAjArAzAAAOj?-@AR}>vrAp@A:ZA@=A.&A@ AsҿA*Ac:?2A ս:Ae =BAc:?JA սRAe =٘i)I9p@YG J唼JJJJE&K YW~?yDVAjE77%9)BEE[[Bs@[{W~?[)[[[[BZYY i>") <{Ii!V@s = ؿ))ؿ@0ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036627.263165 s, next control iter: 1743036627.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036627.663165 s.: J~,q4(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10126, header.stamp.nsec: 00 temperature: 13.386820* salinity: 33.391640, density: 1025.000000* values[0]: 0.698784F (some fields omitted in printout)A@An@AY~? A$A !&"AAPlNA"AZAbAjArAzAAA "x@AW :xrAdp@A#A>=A$A`lzA@ARӿA|b*A8[:?2Aֽ:AV =BA8[:?JAֽRAV =YT-_@@$y<=#ٓH$?c `|̨@ #c?)T-_@ I٘i)I9dp@YOG JJy<JJJE&K|> YV~?y{VA$mEb779)BBE[[pt@[W~?[-[[[[BZYY i) ?PIiqX@ = Vֿ))Vֿ3z@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036627.683165 s, next control iter: 1743036628.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036628.083165 s.DA J~,R5(AA)\5@A(@AGX~? A,(A[ &"AA9lNA"AZAbAjArAzAAA3GX@A`LzrAo@A~A!=A#A`FAG-ԿAE*AN:?2Aֽ:A9=BAN:?JAֽRA9=٘i)I9o@YG JJJJJE&K Y V~?yVApE77790B)B[[cu@[W~?[2[[[[BZYY i) {܌Ii#[@? = Կ))Կ-@G֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036628.103165 s, next control iter: 1743036628.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036628.503165 s.G J~,;4 5(AJ"J*J2J:J2?BJ2?nJt;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036628.503279F (some fields omitted in printout)ARk@A-x^@AX~? A+Aψ &"AAxlNA"AZAbAjArAzAAA.Ş(<@A,u|rARo@AM<A=AS"AzAտA*A>C:?2A[!ֽ:ANS=BA>C:?JA[!ֽRANS=٘i)I9Ro@YG JJJJJE&K YGV~?yfUArEZ7SI791B)B@E[[v@[W~?[7[[[[BZYY i) iIi7^@7= ѿ))ѿb@y ^ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036628.543165 s, next control iter: 1743036628.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10127, header.stamp.nsec: 00 temperature: 13.387046* salinity: 33.391624, density: 1025.000000* values[0]: 0.697858F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036628.923165 s.@N J~,;5(AA{G@AB=@AX~? Af/AiB &"AAelNA"AZAbAjArAzAAA$5t"@Afp~rAn@AwW<ALС=A !AA\տA*AI8:?2ABֽ:A~=BAI8:?JABֽRA~=٘i)I9n@YOG JB=JJJJE&K YlV~?yGUAuEŧ7b7P90B)B=E[[#x@[oW~?[;[[[[BZYY i) tIia@n= oϿ))oϿ3@]ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036628.943165 s, next control iter: 1743036629.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036629.343165 s. YizV~?yDpTAWzEŧ77€9)ïB:E[[glz@[NW~?[lE[[[[BZYY i) ުIig@Y/= ʿ))ʿ/X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036629.803165 s, next control iter: 1743036630.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036630.183165 s.b J~,o5(AJ"J*J2J:J>2?BJ>2?nJ:5vJA(\B@Af5@Ao|X~? AR;A1^&"AA)kNA"AZAbAjArAzAAA @AR~rAl@AA=A7A`A``ؿA*AW:?2A'z׽:Af=BAW:?JA'z׽RAf=٘i)I9l@Y8G JJJJJE&K Y?dV~?ySA}E77{7Ā9/B)ȯB7E[[{@[>W~?[_J[[[[BZYY i) :Iii@Q= ȿ))ȿr@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036630.203165 s, next control iter: 1743036630.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036630.603165 s.84i J~,5(AAQx@A4Fk@AFfX~? A?A} &"AAXkNA"AZAbAjArAzAAAk|gm@AٍIrAZl@AQKA=A=A@A2ٿAp*A:?2A׽:A=BA:?JA׽RA=٘i)I9Zl@YG JJJJJE&K YNV~?y) SAEŧ77zƀ9)̯B4E[[<|@[//W~?[cO[[[[BZYY i) Iil@v= Oƿ))Oƿ|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036630.623165 s, next control iter: 1743036631.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10129 , header.stamp.nsec: 0 0 temperature: 13.387585 * salinity: 33.391632 , density: 1025.000000 * values[0]: 0.695713 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036631.023165 s.J "J *J 2J :J 2?BJ 2?nJ :5vJ Zp J~,|5(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036631.023309F (some fields omitted in printout)AHz@A @AfPX~? ACA &"AAkNA"AZAbAjArAzAAA?@AfErAk@A{JA>=AYA A ڿA *A :?2AI׽:An=BA :?JAI׽RAn=٘i)I9k@YxG JĽJJJJ E&K Y7V~?ySAEj7j7EȀ90B)үB5E[[ }@[W~?[wT[[[[BZYY i) Iio@4= g Ŀ))g Ŀ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036631.043165 s, next control iter: 1743036631.423182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036631.443165 s.=v J~,W]5(AAq= @A_@A:X~? AHA`&"AAkNA"AZAbAjArAzAAA#|Ϙ@Axv rAk@A׽A=AA 9SAڿAɼ*A(:?2A75׽:Ah=BA(:?JA75׽RAh=٘i)I9k@YG JļJJJJ E&K Y!V~?yRAEb77ʀ9/B)ׯB1E[[H~@[W~?[Y[[[[BZYY i) 5OȼIirs@6= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036631.463165 s, next control iter: 1743036631.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10130, header.stamp.nsec: 00 temperature: 13.387855* salinity: 33.391617, density: 1025.000000* values[0]: 0.694595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036631.863165 s.+} J~,>5(AJ"J*J2J:J1?BJ1?nJt:5vJA@A} @A%X~? A0MA"&"AAxkNA"AZAbAjArAzAAAgن@AǙrAYij@A#{;A=AUAU AۿA'Ѽ*A09?2Aֽ:A=BA09?JAֽRA=YJl@y,=|;ٓH@UB?@ʰp.O`<̭mndo?p?)Jl@ I٘i)I9ij@YG J̼Jl<JJJE&Kx> Y V~?y,6RAEj7j7ˀ9)ܯB.E[[a @[$W~?[^[[[[BZYY i) ϼIi0u@= ))\.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036631.883165 s, next control iter: 1743036632.263179 s, wait time: 0.380014 s V~?), rAdjusting time to match Gazebo time: 1743036632.283165 s.9R J~,6(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036632.283277F (some fields omitted in printout)A(\O@A UB@AX~? AQA˪&"AAXkNA"AZAbAjArAzAAA<0?A._ғrASi@A>;<A;=AA@ANܿALؼ*A9?2Aֽ:A4=BA9?JAֽRA4=٘i)I9i@Y=G JռB=JJJJE&K Y:U~?yL#QAE77{7̀9)B[[;@[V~?[,d[[[[BZYY i) wּIiOw@G= B))B6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036632.303165 s, next control iter: 1743036632.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10131., header.stamp.nsec: 0.0 temperature: 13.388160.* salinity: 33.391598., density: 1025.000000.* values[0]: 0.693363.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036632.703165 s.J "J *J ٺ J~2J,-6(A:J1?BJ1?nJ:5vJAQ@AQx@AW~? AVAK&"AA8kNA"AZAbAjArAzAAAX.G?AՖrAh@AEV<AL=AEA@gxA`.ݿAmܼ*A9?2AHֽ:A =BA9?JAHֽRA =I٘i)I9h@Y G JڼJJJJE&K YU~?yj)EQAE{7j7pπ9.B)B+E[[s-@[V~?[i[[[[BZYY i) ݼIiy@= ))nO@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036632.723165 s, next control iter: 1743036633.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036633.123165 s.9 J~,eG6(AAG@A$Hح@AW~? A[Av&"AAkNA"AZAbAjArAzAAA [}n?Ac+rADh@Al<AÓ=AA*AtݿA,ܼ*AP9?2Aֽ:A=BAP9?JAֽRA=٘i)I9Dh@Y] G JݼC=JJJJE&K YU~?y/PAE77{7;р9)B[[@[V~?[n[[[[ZZ¸BZYY i¸\*=) ѼIi|@!= ø))øޚ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036633.163165 s, next control iter: 1743036633.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036633.543165 s.I J~,b6(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083577< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.419968"J*J2J2 time: 1743036633.543292F (some fields omitted in printout):JBJnJvJA= ף@A-s@AW~? A+aA&"AA_jNA"AZAbAjArAzAAA qҥ?A畉rAg@AźAO=AA`yA`޿ATڼ*A9?2AF׽:A_=BA9?JAF׽RA_=٘i)I9g@Y G JܼJJJJE&K YxU~?y5TPAE77Ӏ9/B)B)E[[K@[V~?[qt[[[[ZZBZYY i) .żIi@]#= [))[m@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036633.563165 s, next control iter: 1743036633.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10132, header.stamp.nsec: 00 temperature: 13.388472* salinity: 33.391598, density: 1025.000000* values[0]: 0.692038F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036633.963165 s.{ J~,}6(AAffff&@AQ [@AW~? A{fA &"AA]jNA"AZAbAjArAzAAA3A?Ay UrAf@A%A2=AC8A AEA߿A*A9?2A׽:A\<BA9?JA׽RA\ YQU~?ya<OAFEԀ9.B)B&E[[ۂ@[V~?[z[[[[ZZBZYY i) !幼Ii@V$= H))H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036633.983165 s, next control iter: 1743036634.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036634.383165 s.إ J~,<6(AJ"J*J2J:J0?BJ0?nJ95vJA(\@AUO@AάW~? AkAF&"AAjNA"AZAbAjArAzAAAC ?A0rAe@A\K]A=AYA2A߿AvH*AC9?2A_r׽:Aψ<BAC9?JA_r׽RAψ<٘i)I9e@Y G JWJJJJ E&K Y)U~?yChOAE{7{7ր9)B[[Ak@[V~?[[[[[ZZBZYY i) Ii@%= { )){ <@y)=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036634.403165 s, next control iter: 1743036634.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10133", header.stamp.nsec: 0"0 temperature: 13.388820"* salinity: 33.391579", density: 1025.000000"* values[0]: 0.690648"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036634.803165 s.zA J~,g6(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036634.803307F (some fields omitted in printout)A@Am@AW~? AxqAL&"AAjNA"AZAbAjArAzAAAhnh?A{* rAHe@AO%AIv=AAdASA*A9?2A@׽:A\<BA9?JA@׽RA\<٘i)I9e@Yk G JJJJJ#E&K YU~?yINAE777e؀9)B#E[[Y@[SV~?[^[[[[ZZBZYY i) Ii@JE'= ί))ίT@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036634.823165 s, next control iter: 1743036635.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036635.223165 s.g J~,H6(AJ"J*J2J:JBJnJvJAz@AN|@AgW~? A$wA&"AAjNA"AZAbAjArAzAAAy|v?A-8rASd@AȷںA2=A{V AAdA׻Ҽ*A:?2A׽:APN;BA:?JA׽RAPN;٘i)I9Sd@Y G JJJJJ%E&K YsU~?yP}NAE7{70ڀ9/B) B$E[[∄@[IV~?[[[[[ZZBZYY i) Ii@(= ))ݪ@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036635.243165 s, next control iter: 1743036635.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036635.643165 s.xй J~,*6(AA ףp@A"d@ABuW~? A|An&"AAjjNA"AZAbAjArAzAAA7.- ?Aru rAc@AX,;A<AM A1AqA*A=9?2A׽:AغBA=9?JA׽RAغ٘i)I9c@Y G JżJJJJ(E&K YaU~?yOWNAE77ۀ9.B)B!E[[@[V~?[ᐨ[[[[ZZBZYY i)  Iil@o*= w\))w\8@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036635.663165 s, next control iter: 1743036636.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10134, header.stamp.nsec: 00 temperature: 13.389165* salinity: 33.391563, density: 1025.000000* values[0]: 0.689161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036636.063165 s. J~,V 7(AJ"J*J2J:Jl0?BJl0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083577< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743036636.063331F (some fields omitted in printout)A33333@Az'&@AcW~? AւA&"AAOjNA"AZAbAjArAzAAAR̸A=(_ rA'c@AE<Ae1<A9 A@ǯ߿AUAՈ*A9?2A$׽:AYBA9?JA$׽RAYY1[y@c y.<(E<ٓHu?@'\v ,M? ?)1[y@ I٘i)I9'c@Y? G J|J9JJJ+E&Kx> YQU~?y^MA Eb7݀9)B[[@[)V~?[ǖ[[[[ZZBZYY i2ׄ=) .Ii@.+= /))/Ȟ@.iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036636.083165 s, next control iter: 1743036636.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036636.483165 s.y_ J~,7(AA\h@A[@A RW~? AڈAP&"AA4jNA"AZAbAjArAzAAAA|ӿAvCPrAb@A&<A{H߻AQr Aq޿AAO<*A9?2Aֽ:Ah{BA9?JAֽRAh{٘i)I9b@Y G JnJJJJ-E&K YAU~?yeMAE7߀9-B)BE[[5@[vV~?[[[[[ZZBZYY i=) IlIi@iw,= 㦿))㦿W@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036636.503165 s, next control iter: 1743036636.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10135, header.stamp.nsec: 00 temperature: 13.389435* salinity: 33.391560, density: 1025.000000* values[0]: 0.688111F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036636.903165 s. J~,97(AJ"J*J2J:J(0?BJ(0?nJ85vJAQ@A5!@A%AW~? AA&"AAjNA"AZAbAjArAzAAA?a;Aj @l rA{b@A`);AA3'AC޿AAᵻ*A9?2AJֽ:AhNBA9?JAJֽRAhN٘i)I9b@Y G J)JJJFJ0E&K Y1U~?y6mMAE[9)B[[Æ@[SkV~?[[[[[ZZBZYY i) XIi@ت-= ))@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036636.923165 s, next control iter: 1743036637.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036637.323165 s.w J~,)T7(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075146< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036637.323271F (some fields omitted in printout)AGz@Ao@A0W~? A5AL&"AAfjNA"AZAbAjArAzAAAY g̓A}ۼrAVnb@AgػAM A,A@GݿADA*A9?2Aֽ:AѼBA9?JAֽRAѼ٘i)I9nb@Y G Jl\JJJJ3E&K Y"U~?ytMAE777%9.B)BE[[Q@[`V~?[[[[[BZYY i) ,EIi͈@</= p))ps@yB=6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036637.343165 s, next control iter: 1743036637.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10136., header.stamp.nsec: 0.0 temperature: 13.389547.* salinity: 33.391544., density: 1025.000000.* values[0]: 0.687690.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036637.743165 s. W J~,o7(AJ"J*J2J:JBJnJvJAףp= @Aφ3@Af W~? AA&"AAiNA"AZAbAjArAzAAA,N{AeٸrAbxb@A{MA$5AA ܿAaA;*A9?2A*Zֽ:AsBA9?JA*ZֽRAs񼙘٘i)I9xb@Y G JV:JJJJ5E&K YU~?y{MAE779)B[[|߇@[VV~?[̮[[[[BZYY i)  r1Ii@\0= 9))9w@Xs*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036637.763165 s, next control iter: 1743036638.143186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743036638.163165 s.v} J~,q7(AA@@A4f2@AW~? AA#&"AAViNA"AZAbAjArAzAAA]NAArAb@A YU~?yNA?E77{79-B)BE[[m@[FMV~?[[[[[BZYY ih=) m*!Ii@M1= ))@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036638.183165 s, next control iter: 1743036638.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036638.583165 s. J~, S7(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056659< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036638.583285F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AQ,h@ARW~? AA#&"AA¸iNA"AZAbAjArAzAAA-eJ5A4/rAb@ATAXyAWA %?ۿAm"A 1<*A=9?2Aֽ:Ak BA=9?JAֽRAk ٘i)I9b@Y G J<JJJJ;E&K Y7T~?yRZNAE779)B[[@[CV~?[[[[[BZYY i) 5Ii@2= gɛ))gɛ@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036638.603165 s, next control iter: 1743036638.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10137, header.stamp.nsec: 00 temperature: 13.389523* salinity: 33.391541, density: 1025.000000* values[0]: 0.687927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036639.003165 s.~ J~,e47(AAR@A2}@AnV~? A#A2&"AA֡iNA"AZAbAjArAzAAA*// Aj(®rA3c@A0];APAAsڿA iA`d<*A9?2Aj׽:A BA9?JAj׽RA ٘i)I93c@YG G J/J<B=JJJJ=E&K YT~?yNAEP9.B)BE[[.@[:V~?[R[[[[BZYY i]=) ~Ii@3= ǒ))ǒ)@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036639.023165 s, next control iter: 1743036639.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036639.423165 s.u J~,7(AJ"J*J2J:JBJnJvJA{G@A5;@AV~? AܵA &"AAiNA"AZAbAjArAzAAAVA&rAc@AG6<AꐽAHAٿAA"<*A9?2A9׽:A. BA9?JA9׽RA. ٘i)I9c@Y G Jjw<C=JJJJ@E&K YST~?yԚNAE77779)B[[T@[^2V~?[Ǩ[[[[BZYY i) Iiٌ@;J4= /^))/^O8@y7wh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036639.443165 s, next control iter: 1743036639.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10138, header.stamp.nsec: 00 temperature: 13.389373* salinity: 33.391541, density: 1025.000000* values[0]: 0.688595F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036639.843165 s. J~,7(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: 0.4200232 time: 1743036639.843289F (some fields omitted in printout)Ap= @A @AV~? AA՜&"AAviNA"AZAbAjArAzAAAxvYkArAd@AJ<AAArؿAA˒<*Ae9?2A,׽:A BAe9?JA,׽RA ٘i)I9d@Y G Jċ<JJJJCE&K YT~?y6OAE779-B) BE[[@[$*V~?[ͨ[[[[BZYY i)  Ii@5= ;+));+ ţ@y݈=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036639.883165 s, next control iter: 1743036640.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036640.263165 s.#J~,Q8(AJ"J*J2J:Jd0?BJd0?nJ85vJAL@A!?@AoV~? AéA&"AAaiNA"AZAbAjArAzAAAkbAƀ'rAǑd@A:;AӅAVdA /ؿA.AI<*A9?2A@ֽ:A3R BA9?JA@ֽRA3R YQ/@uyԄ;ٓH@{ؿ@??w[ؿ@~?K? 1}?|?)Q/@ I٘i)I9d@Y G J"<B=JXJJJFE&K/x> Y T~?yOAuE9) B[[C0@[<"V~?[(Ԩ[[[[BZYY i) uIi<@6= s))s>R@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036640.283165 s, next control iter: 1743036640.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 101392, header.stamp.nsec: 020 temperature: 13.3891942* salinity: 33.3914952, density: 1025.0000002* values[0]: 0.6895422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036640.683165 s.l J~,Z+8(AA(\@Atu@AWV~? AʩA&"AALiNA"AZAbAjArAzAAA{0AjrA e@AAAA4׿A`ykAܫ<*A9?2AΓֽ:A+BA9?JAΓֽRA+٘i)I9e@Yq G J<C=JJJJHE&K Y8T~?yײPAE{7j7{9.B)BE[[2@[V~?[ڨ[[[[BZYY i) ҃Ii@6= ))-ߤ@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036640.683165 s, next control iter: 1743036641.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036641.103165 s.J~,ȚF8(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: 0.4200352 time: 1743036641.103300F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A>G@AV~? AѩA&"AAU9iNA"AZAbAjArAzAAAVA\rAe@AO#AJ]AXA`ֿA`8A<*A9?2A?[ֽ:A%BA9?JA?[ֽRA%٘i)I9e@Y G J<JJJJKE&K YbT~?ymPAE)7ŧ7F9)BE[[I@[V~?[[[[[BZYY i) &aKIiE@c7= ))k@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036641.123165 s, next control iter: 1743036641.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036641.523165 s.J~,|a8(AAHz@A @AV~? AةA{&"AA}&iNA"AZAbAjArAzAAAVR4AvrAIf@A,QAcAA տABAG<*A9?2A_ֽ:A BA9?JA_ֽRA ٘i)I9If@Y( G J<JJJJNE&K YT~?yèPAE{7j79)B)B[[o֌@[ V~?[R[[[[BZYY i) y Ii@f8= ]))]j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036641.543165 s, next control iter: 1743036641.923184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10140, header.stamp.nsec: 00 temperature: 13.388952* salinity: 33.391495, density: 1025.000000* values[0]: 0.690709F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036641.943165 s.\dJ~,S]|8(AJ"J*J2J:JBJnJvJAq= #@At@AΖV~? AߩA&"AA[iNA"AZAbAjArAzAAAG >;2Av&~rAQf@A*AAA`ܮԿAA<*A9?2Aֽ:A- BA9?JAֽRA- ٘i)I9f@Y G JŶ<JJJJPE&K YT~?y;˨=QAEŧ7b79)B[[wb@[CV~?[[[[[BZYY i) Ii @)9= -))-r@J*YFFF]: Waiting for Gazebo time sync: latest Gz time: 1743036641.983165 s, next control iter: 1743036642.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036642.363165 s.%J~,}>8(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: 0.4199942 time: 1743036642.363284F (some fields omitted in printout)AY@AlpL@AV~? ACA/b&"AAiNA"AZAbAjArAzAAAd BA+7rAyg@AG%jAB̘AlA`ӿA`:LA4¯<*A_9?2A4ֽ:AGDBA_9?JA4ֽRAGDYq@lyB̘jٓH@b]ҿ{? .?jҿ*B?@?D-5?)q@ I٘i)I9yg@Y G J<B=J;JJJSE&KDx> YT~?yӨQAlE7779)BE[[@['V~?[=[[[[BZYY i) MIi@p9= c))c@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036642.383165 s, next control iter: 1743036642.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10141&, header.stamp.nsec: 0&0 temperature: 13.388677&* salinity: 33.391479&, density: 1025.000000&* values[0]: 0.691964&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036642.783165 s.Y+J~,8(AJ"J*J2J:J$1?BJ$1?nJ95vJA(\@AQ@AӀV~? AA1&"AAAhNA"AZAbAjArAzAAA|U7SGAZ[orA< h@Am <A4nAٻA ҿAA<*A9?2AF8׽:A[.BA9?JAF8׽RA[.٘i)I9 h@Y9 G J2<C=JJJJVE&K YyT~?yܨ RAE)7b7p9(B)BE[[r{@[hU~?[[[[[BZYY i) :Ii[@:= Ʌ))Ʌm@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036642.803165 s, next control iter: 1743036643.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036643.203165 s.3J~,.8(AAQ@A؞Y@AvV~? A AB&"AAOhNA"AZAbAjArAzAAAI@ArAƗh@AQ<A A}A ҿARA<*A'9?2A|E׽:ABA'9?JA|E׽RA٘i)I9h@Y G JU<JJJJXE&K YYT~?yqRAEb77;9)B[[@[U~?[J[[[[BZYY i) :Iiˑ@:= )))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036643.243165 s, next control iter: 1743036643.603184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743036643.623165 s.V9J~,X8(AJ"J*J2J:Jn1?BJn1?nJ :5vJvPublished 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: 0.4199862 time: 1743036643.623274F (some fields omitted in printout)AG@A@AlV~? AA:&"AAhNA"AZAbAjArAzAAA0h,A{rA!i@A\)<AAGA(ѿAUAc<*A9?2A׽:A1BA9?JA׽RA1٘i)I9!i@Y G J}<JJJJ[E&K Y9xT~?yRAE9)߯B[[œ@[U~?[[[[[BZYY i) ;Iii@Nh;= kh))kh@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036643.643165 s, next control iter: 1743036644.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10142 , header.stamp.nsec: 0 0 temperature: 13.388447 * salinity: 33.391441 , density: 1025.000000 * values[0]: 0.693096 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036644.043165 s.@J~,9(AA= ף0@A:̗#@AcV~? AAe&"AAhNA"AZAbAjArAzAAA[é AN&sA=i@A$;A,͏A{A@EпA A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@Y5G J<JJJJ^E&K YpT~?yb>SAE7779)گBE[[@[^U~?[h[[[[BZYY i) K[;Ii6@n<= r~))r~~A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036644.063165 s, next control iter: 1743036644.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036644.463165 s.WGJ~,9(AJ"J*J2J:J1?BJ1?nJ4:5vJAfffff@AJ\Y@AZV~? A Am&"AAhNA"AZAbAjArAzAAA.Z A;sA:1j@AٻAArAοA2Aˡ<*A99?2Aֽ:ABA99?JAֽRAY@by'ڻٓHȿ@k?%? KYT<ȿ ? Ȱ?2{`  9YjT~? 9ySAbE{7{79'B)կBE[[@[U~?[[[[[BZYY ik=) w;Ii@K<= z))zͩ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036644.503165 s, next control iter: 1743036644.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10143, header.stamp.nsec: 00 temperature: 13.388209* salinity: 33.391457, density: 1025.000000* values[0]: 0.694237F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036644.883165 s.yMJ~,889(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036644.883301F (some fields omitted in printout)A(@AT@AuRV~? A]Aa&"AAhNA"AZAbAjArAzAAAB4 AcCx sAj@A'IAkA޿Ad̿AfYA֟<*A9?2A0uֽ:ABA9?JA0uֽRA٘i)I9j@YG J<JJJJcE&K YmeT~?ySAEŧ77f9)ѯB[[7@[$U~?[[[[[BZYY i) |I;Ii.@e<= u))uY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036644.923165 s, next control iter: 1743036645.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036645.303165 s.\TJ~,gS9(AJ"J*J2J:J1?BJ1?nJ:5vJA@A͔@AJV~? AAN_&"AAhNA"AZAbAjArAzAAAL }h AYL .sA7;Iiq@><= Pq))Pq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036645.323165 s, next control iter: 1743036645.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10144., header.stamp.nsec: 0.0 temperature: 13.387968.* salinity: 33.391411., density: 1025.000000.* values[0]: 0.695337.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036645.723165 s.[J~,Hn9(AAz@A@@AeCV~? A#AF &"AAJhNA"AZAbAjArAzAAAT+ AyY%sAk@AΕA_爽AٿA wJɿA#AG<*A9?2APֽ:ApBA9?JAPֽRAp٘i)I9k@YwG Jؕ<B=JJJJhE&K YZT~?yTAE7b79)ɯBE[[O@[`U~?[([[[[BZYY i) e;Ii@K== l))lq@yR={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036645.743165 s, next control iter: 1743036646.123179 s, wait time: 0.380014 sZT~?) rAdjusting time to match Gazebo time: 1743036646.143165 s.\/bJ~, *9(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: 0.074912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743036646.143306F (some fields omitted in printout)A ףp=@A[d0@A= ͔h))͔hA@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036646.163165 s, next control iter: 1743036646.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036646.563165 s.hJ~,R 9(AA3333s@A^(f@Ac6V~? A|3A &"AA}hNA"AZAbAjArAzAAA_T AoAxsAl@A!)<<AA+?ԿA`ſA`jAX<*A9?2AL׽:AsBA9?JAL׽RAsY@XԿyc Ȗ<<ٓH |4?`vV@Oo? T>?`??)@ I٘i)I9l@YG J<J;JJJnE&K\x> YRT~?yf)vUAXԿEZ7SI7 9)¯B[[g@[U~?[H6[[[[BZYY i) _ elevatorAngleAction: 0.074912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036647.403294F (some fields omitted in printout)AQ@AHG@Av+V~? AJCAc &"AATlhNA"AZAbAjArAzAAAJچ]A~m'sAm@A;;AAϿAAA<*A'9?2Aֽ:AצBA'9?JAֽRAצ٘i)I9m@YG J<JJJJsE&K YMT~?y:/VAE77&9&B)B E[[~@[?U~?[C[[[[BZYY i) va29(A"J*J2J:J:1?BJ:1?nJ95vJAGz@Apq@A&V~? A= 5W))5W,@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036647.843165 s, next control iter: 1743036648.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036648.243165 s.J~,y:(AAףp=J@A(1=@A"V~? A6SAk- &"AA ^hNA"AZAbAjArAzAAAl-R_4Aξ0sAЉn@A*AAʿA*%Ab8A4<*A9?2Aeֽ:Ag BA9?JAeֽRAg ٘i)I9n@Y.G J<C=JJJJyE&K YHT~?y~LVAE{7j79)B[[W@[U~?[Q[[[[BZYY i) ZdQ= ER))ERR@5*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036648.263165 s, next control iter: 1743036648.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036648.663165 s.J~,q*:(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074912< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743036648.663345F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10147, header.stamp.nsec: 00 temperature: 13.570633* salinity: 33.374981, density: 1025.000000* values[0]: 0.573370F (some fields omitted in printout)A@Ar@AV~? A6[Av &"AAXhNA"AZAbAjArAzAAAwA<5sA o@AVPA%AoǿAT`A/IAȪ<*Aj9?2Ahֽ:AB BAj9?JAhֽRAB Y`8@Qǿy"qQٓHЋ??u"?@D?`j?`M`?<3?)`8@ II٘i)I9 o@Y~G J<B=J,JJJ{E&Kx> Y_IT~?yLULWAQǿE77779'B)BE[[!@[AU~?[W[[[[BZYY i) \`=  _N)) _NC@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036648.683165 s, next control iter: 1743036649.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036649.083165 s.DJ~,SE:(AA)\µ@Aù@AV~? A;cA&"AARhNA"AZAbAjArAzAAAEAg:sA]o@AK AqAĿAAWA0;<*Af9?2Aֽ:A BAf9?JAֽRA ٘i)I9o@YG J.<C=JJJJ~E&K YIT~?y^WAE{7j7Q9)B[[­@[U~?[^[[[[BZYY il=) o?sAp@A9A5A¿AܸA cA<*A9?2Aֽ:A: BA9?JAֽRA: ٘i)I9p@Y!G J<JJJJE&K Y#JT~?yfXAE77{79)B[[ Yǿ[U~?[Ge[[[[BZYY i) 3- elevatorAngleAction: 0.083949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743036649.923271F (some fields omitted in printout)A{G!@AW;@A*V~? ASsA)&"AAJhNA"AZAbAjArAzAAA$AAoDsA,p@A<A ZAhA [AmA<*Ag9?2A7׽:A BAg9?JA7׽RA ٘i)I9p@YqG Jf<JJJJE&K YJT~?yotXAE779)B[[)ſ[U~?[l[[[[BZYY i) 7= <))<<yYګ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036650.383165 s, next control iter: 1743036650.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10149&, header.stamp.nsec: 0&0 temperature: 13.570153&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.574586&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036650.763165 s.;J~,0ذ:(AǍ@A"@AV~? AuAG&"AAFFhNA"AZAbAjArAzAAA=Ut|CAHNsAMq@A!<AxA0A@ΔAwAC<*Aۺ9?2A_׽:ABAۺ9?JA_׽RAY_z@Iy@!<ٓHke?@b?@]?@/?`%? ??)_z@ I٘i)I9q@YG J3<C=J;JJJE&K@x> Y)NT~?yB@YAIE77{9)B[[%[U~?[my[[[[BZYY i) Y elevatorAngleAction: 0.083949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743036651.183261F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A%>w@A*V~? AA&"AA EhNA"AZAbAjArAzAAA%b0IAK6SsA-r@AM:A{4AAOvA yAȩ<*Ap9?2Aֽ:AOBAp9?JAֽRAO٘i)I9-r@YeG J<JJJJE&K YiQT~?yYAES7S7F9(B)BE[[[0U~?["[[[[BZYY i) `؝ elevatorAngleAction: 0.083949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036652.443293F (some fields omitted in printout)Aq= c@AV@AV~? AA &"AApFhNA"AZAbAjArAzAAAZ`14A8kasA.s@AJ7A"AAm?AoA<*Aۧ9?2A]ֽ:ABAۧ9?JA]ֽRA٘i)I9s@Y{G J<JJJJE&K Y*[T~?y:ZA Eb77#9)B[[ [!U~?[9[[[[BZYY i) V7;(AJ"J*J2J:Jn?BJn?nJ5vJA@AƼ@AV~? AΫAMl&"AAyHhNA"AZAbAjArAzAAAf A#nfsA8t@AAAoLA٘?AfAN<*A"9?2Aֽ:A.BA"9?JAֽRA.Yh@AyKÉٓH!~?@??󗌿#@ċ?%?G=?bp?)h@ I٘i)I9t@YG J~<JyJJJE&K/x> Y?aT~?yҬX[AAEb7q%9)B[[ݵ[+U~?[[[[[BZYY i) G JY<JJJJE&K YTgT~?yi[AE77{7<'9)B)BE[[[U~?[[[[[BZYY i)  s:= /L))/L/LD*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036653.303165 s, next control iter: 1743036653.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10152., header.stamp.nsec: 0.0 temperature: 13.569304.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.576653.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036653.703165 s.ֺJ~,m;(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083949< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036653.703269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A9@AcV~? A໪A$2&"AANhNA"AZAbAjArAzAAAOApsAXu@AU@<AխA~꧿AB~?A@NA)<*A|9?2A,׽:AnBA|9?JA,׽RAn٘i)I9u@YG J<B=JJJJE&K YimT~?y<\AEb77)9)zB[[|[[U~?[+[[[[BZYY i) %OA <*A9?2A׽:A,)BA9?JA׽RA,)٘i)I9{v@YG J<C=JJJJE&K Y}sT~?yƩ\AE{7{7*9*B)vBE[[K[U~?[̮[[[[BZYY i) נ elevatorAngleAction: 0.092984< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036654.963290F (some fields omitted in printout)Affff@A.\@A'V~? AӪA]&"AA^hNA"AZAbAjArAzAAAh`A=4XsAVw@ARArAEAa?AUAcy<*Am9?2AXֽ:ABAm9?JAXֽRAY@X YkT~?yש]A<Ej7f.9.B)oBE[[꪿[U~?[[[[[BZYY i) (BZYY i¸>K) 8%@"8yv(P!<ٓH`??3?>3F(*??@ڮ? ? ?)>@ I٘i)I9{@Y/G J<Jӂ=JJJE&Kw> YWT~?y_A8)E{7j7\790B)SB E[[G럿[V~?[ܩ[[[[ZZZZBZYY i) /ݤ2= ))侩qy*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036657.503165 s, next control iter: 1743036657.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10156, header.stamp.nsec: 00 temperature: 13.567842* salinity: 33.374992, density: 1025.000000* values[0]: 0.580131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036657.903165 s.J~,y<(AJ"J*J2J:JBJnJvJAQ@AĬ@ASV~? A Ak.%"AAמhNA"AZAbAjArAzAAAe A$3*sA }@A-<A!?ݼAAQ?ADA8<*A9?2Aֽ:At;BA9?JAֽRAt;٘i)I9 }@YG J<JJJJE&K YkT~?yp`A.Ej7j7:91B)HB!E[[I[6V~?[U[[[[ZZZZBZYY i) T<*A9?2A[ֽ:Atss<BA9?JA[ֽRAtss<٘i)I9}@YG JBj<JJJJE&K YT~?y(!aA3E77j7>9)BB[[[2/V~?[[[[[ZZZZBZYY i) oJJJE&KDx> YT~?y(`A/6EQ@9)@B[[ٔ[7V~?[U[[[[ZZZZBZYY i?r) {]d))>d>d:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036659.603165 s, next control iter: 1743036659.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10158, header.stamp.nsec: 00 temperature: 13.567322* salinity: 33.375019, density: 1025.000000* values[0]: 0.581382F (some fields omitted in printout)6T~?)6s0 rAdjusting time to match Gazebo time: 1743036660.003165 s.x @J~,L4=(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069822< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036660.003298F (some fields omitted in printout)AR+@Az@AV~? A)0AL%"AAhNA"AZAbAjArAzAAAARS'sAO~@Ae_A7=A/A ?A}kAf*A~9?2ACcֽ:A{<BA~9?JACcֽRA{<٘i)I9O~@YG J޹JJJJE&K Y U~?y8`A;Eŧ7b7C9)[[=f[IV~?[[[[[BZYY i) C9y))>y>y"{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036660.023165 s, next control iter: 1743036660.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036660.423165 s.uFJ~,=(AJ"J*J2J:JBJnJvJA{Ga@A}$%=T@AV~? A7Aɼ%"AAhNA"AZAbAjArAzAAAqA#h-sA)~@A!;A}\=A|A`P?A@S9AFt*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9)~@YG J%JJJJE&K YU~?y?`A>E{7j7E94B)CB+E[[)*[sSV~?[[[[[BZYY i) ('A.%"AAmiNA"AZAbAjArAzAAAexF+A|O3sA:}@AH<Az=AwA4?A Aצ?*A9?2Aս:A =BA9?JAսRA =٘i)I9}@YG JJJJJE&K Y"&U~?yeG`AAEb77|G9)EB[[싿[q]V~?[([[[[BZYY i)   Y6U~?yN0`AhrDEb7GI95B)IB.E[[ [gV~?[4[[[[BZYY ih) ^=(AA@AD@AYV~? AhA6%"AAwiNA"AZAbAjArAzAAA>=BOA<8=sA{@A\Am=A4XAw?A@A'᯼*A]9?2Aֽ:ABY=BA]9?JAֽRABY=Yp@ZXyk=İٓH@,?`?`? z??b@hv ,?)p@ I٘i)I9{@YG JJ<<JJJE&Kx> YdU~?yqW^AZXQEb7b7[[[[BZYY i) :4%;Iiy@Pp= @=))@=@=JӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036663.823165 s, next control iter: 1743036664.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036664.203165 s.J~,  >(AAQE@A8@AW~? A vAr%"AAiNA"AZAbAjArAzAAArͲA5;\sAy@A6<A=AxNA`?A yA *A9?2Aa1ֽ:A==BA9?JAa1ֽRA==I٘i)I9y@YG JJJJJE&K YݰU~?y~]AVE{7{7U9:B)kB(AJ"J*J2J:JBJnJvJAGz@Am@A.W~? A|ABo%"AAiNA"AZAbAjArAzAAA2AoوUsA Gy@AR<A=AHA G%?A A8*A9?2AY4ֽ:A=BA9?JAY4ֽRA=٘i)I9Gy@YG J-JJJJE&K YU~?yz]AYE77W9)pB[[7to[V~?[I[[[[BZYY i) .3:Iit@{= p))ppy}̪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036664.643165 s, next control iter: 1743036665.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10163 , header.stamp.nsec: 0 0 temperature: 13.567888 * salinity: 33.375057 , density: 1025.000000 * values[0]: 0.579434 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036665.043165 s.J~,B>(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: 0.4199942 time: 1743036665.043280F (some fields omitted in printout)A= ף@A˙@A"W~? AA%"AA(iNA"AZAbAjArAzAAA^Aa$@sAx@A]<A"=AICA`]?A}A*A(9?2Anֽ:A5=BA(9?JAnֽRA5=٘i)I9x@Y_G JJJJJE&K YUU~?y\A\Eŧ7ŧ7gY9;B)uB?E[[_j[.V~?[O[[[[BZYY i) sIir@,^= b))bbǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036665.063165 s, next control iter: 1743036665.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036665.463165 s.UJ~,]>(AJ"J*J2J:J??BJ??nJs5vJAffff@A[@A23W~? AJAt%"AAdiNA"AZAbAjArAzAAAxAysA*x@Ar:A<=AP>A?A t1A*A_9?2Aֽ:A?<BA_9?JAֽRA?C@XL>y<=r:ٓH`q?f? L֩??`eñ {CN?@??)>C@ I٘i)I9*x@Y G JlJ{JJJE&Kx> Y"U~?yW\AL>^Eb772[9(AA(@A`@ACW~? AA;%"AACjNA"AZAbAjArAzAAAWcc޿AssAw@AB#Azŋ=A,8A Eh?AAx*A"9?2A/׽:A<BA"9?JA/׽RA<٘i)I9w@YG JJJJJE&K YU~?y[AaE77{7\9)BCE[[a[V~?[hZ[[[[BZYY i) /` Iil@=  fƽ)) fƽ fƽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036665.903165 s, next control iter: 1743036666.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036666.303165 s.XJ~,g>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066183< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036666.303283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@ALD@ATW~? AA%"AAjNA"AZAbAjArAzAAA-xѿAgsAi)w@APAgω=A3A"?A#A%*Av9?2A׽:A<BAv9?JA׽RA<٘i)I9)w@YnG JJJJJE&K YV~?y[AdEZ7SI7^9=B)BFE[[M][eV~?[_[[[[BZYY i) 7GIiJi@N= ))𡽩뽪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036666.323165 s, next control iter: 1743036666.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10165*, header.stamp.nsec: 0*0 temperature: 13.568282** salinity: 33.375072*, density: 1025.000000** values[0]: 0.578221*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036666.723165 s.J~,H>(AAz@A ;z@AOfW~? AA %"AA6jNA"AZAbAjArAzAAA@WtGAFsAwv@A0AK=A{.A@?A@5@A *An9?2A;ֽ:Ax<BAn9?JA;ֽRAx<٘i)I9v@Y$G J)JJJJE&K Y)V~?y磪8[AfE77`9)B[[۹X[8 W~?[e[[[[BZYY i)  ÂIif@= z))zzԻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036666.743165 s, next control iter: 1743036667.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036667.143165 s.V/J~,*>(AJ"J*J2J:JBJnJvJA ףp@Aͩd@A#xW~? AzA%"AAQjNA"AZAbAjArAzAAA1r?AsA6v@AaPA=Ag)A@D?A@AYM*A+9?2Aѫֽ:AO<BA+9?JAѫֽRAO<٘i)I96v@YG JJJJJE&K YN>V~?yݩZAiE7777\b9>B)BIE[[!T[gW~?[\j[[[[BZYY i) Iid@y= 1))11&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036667.163165 s, next control iter: 1743036667.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036667.563165 s.J~,t >(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: 0.4200442 time: 1743036667.563326F (some fields omitted in printout)A3333@AL*@AYW~? A?A%%"AAljNA"AZAbAjArAzAAAH1z?A octAu@AM;A=A"Z$As?AcAH*A9?2Ahֽ:A<BA9?JAhֽRA YTV~?y#ZA?$lE7'd9)BLE[[7O[+W~?[}o[[[[BZYY i[D) Iia@ = kм))kмkмYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036667.583165 s, next control iter: 1743036667.963187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10166, header.stamp.nsec: 00 temperature: 13.568429* salinity: 33.375080, density: 1025.000000* values[0]: 0.577735F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036667.983165 s.J~,>(AJ"J*J2J:JBJnJvJA\(@A͍@AW~? A欫A/%"AAjNA"AZAbAjArAzAAALV?AttA Cu@A9F<Aۄ=A=A|?AAA*AO9?2AjNֽ:AYf<BAO9?JAjNֽRAYf<٘i)I9Cu@YFG JCC=JJJJE&K YkV~?yh%ZAnE7e9@B)BME[[J[{;W~?[t[[[[BZYY i) Ii]@ = T))TTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036668.003165 s, next control iter: 1743036668.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036668.403165 s.&J~,?(AAQ^@AX%Q@A߯W~? ApAH%"AAjNA"AZAbAjArAzAAA&?A"8tAt@A1ZA<AR=AAC?A@߿A{*A9?2Akֽ:Ah<BA9?JAkֽRAh<٘i)I9t@YG JbJJJJE&K Y6V~?yYAqE77g9)BPE[[bF[KW~?[y[[[[BZYY i) {=IiZ@ = F+<))F+<F+<BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036668.423165 s, next control iter: 1743036668.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10167", header.stamp.nsec: 0"0 temperature: 13.568566"* salinity: 33.375084", density: 1025.000000"* values[0]: 0.577213"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036668.823165 s.J~,: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: -0.077279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743036668.823322F (some fields omitted in printout)AGz@Acbq@A-W~? AڷA%"AAjNA"AZAbAjArAzAAA?Ap _ tA\Xt@A&;AD=AAO?A 9߿A*AO9?2Aֽ:A% =BAO9?JAֽRA% =٘i)I9Xt@YG JJJJJE&K Y٘V~?yqYAtE7)7i9AB)BSE[[OA[\W~?[~[[[[BZYY i) ?IiW@2 = <))<<y#YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036668.863165 s, next control iter: 1743036669.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036669.243165 s.J~,dO?(AAףp=@A U1@AW~? A%A u%"AAjNA"AZAbAjArAzAAA3BB?A&y2 tAs@AݍAU=A:SA?A `޿A*A9?2Aֽ:Aq@=BA9?JAֽRAq@=٘i)I9s@YsG JJJJJE&K YzV~?y9ĪYAvE77Rk9)B[[K=[lW~?[_[[[[BZYY i) IiU@W= I?=))I?=I?=/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036669.263165 s, next control iter: 1743036669.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036669.663165 s.J~,qj?(AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10168, header.stamp.nsec: 00 temperature: 13.568697* salinity: 33.375072, density: 1025.000000* values[0]: 0.576743F (some fields omitted in printout)A@A_@AW~? AO«A%"AAjNA"AZAbAjArAzAAAԬ^ ?A/2tA{s@A R7A=A A5?AݿAׁ*Aݽ9?2A'׽:A=BAݽ9?JA'׽RA=٘i)I9{s@Y1G J䁼B=JJJJE&K YV~?yɪXAyE7ŧ7m9BB)BVE[[gp8[~W~?[*[[[[BZYY i) y.IiS@T= =))==mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036669.683165 s, next control iter: 1743036670.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036670.083165 s.DJ~,R?(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036670.083288F (some fields omitted in printout)A)\5@Aa(@A-W~? AXǫA?%"AA'kNA"AZAbAjArAzAAA/Aܧ?AGFtAs@AzKA2=A A`?A`<ܿA턼*AA9?2A׽:Aj]=BAA9?JA׽RAj]=٘i)I9s@YG ĴC=JJJJE&K YV~?yΪcXA|E7777n9)BZE[[3[W~?[݌[[[[BZYY i) _>IiGR@s=  h=)) h= h={YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036670.103165 s, next control iter: 1743036670.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036670.503165 s.J~,4?(AJ"J*J2J:JBJnJvJARk@AWy^@AX~? A@̫AJ%"AA3;kNA"AZAbAjArAzAAA?ACtA-r@ADA'=ALA ?AKܿAp*A9?2A%ֽ:A=BA9?JA%ֽRA=٘i)I9r@YG JJJJJE&K YbV~?y Ԫ XAEb77p9DB)B^E[[/[eW~?[z[[[[BZYY i) +MIi-Q@= `=))`=`=ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036670.543165 s, next control iter: 1743036670.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10169, header.stamp.nsec: 00 temperature: 13.568810* salinity: 33.375107, density: 1025.000000* values[0]: 0.576312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036670.923165 s.6J~,?(AA{G@A=D;@A(X~? AѫAk%"AAZkNA"AZAbAjArAzAAAe@AR0tA#r@A{;A7N=A7A@?A[ۿAA*A9?2Azֽ:A) =BA9?JAzֽRA) =٘i)I9#r@Y_G JNJJJJ E&K Y W~?yO٪WAE{7j7|r9)B[[_*[W~?[[[[[BZYY i) /O]IiwP@\k= `=))`=`=>ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036670.943165 s, next control iter: 1743036671.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036671.343165 s.<J~,?(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036671.343276F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= @A@A>X~? AիAU%"AAzkNA"AZAbAjArAzAAAyq@A_StA7q@A$<A=A%AW?A oڿAK*AX9?2A=ֽ:A=BAX9?JA=ֽRA=٘i)I9q@YG JޗJJJJ E&K Y W~?yުUWAE7777Gt9)BaE[[%[W~?[i[[[[BZYY i) .lIi&P@7= Џ >))Џ >Џ >ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036671.363165 s, next control iter: 1743036671.743183 s, wait time: 0.380018 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10170&, header.stamp.nsec: 0&0 temperature: 13.568934&* salinity: 33.375095&, density: 1025.000000&* values[0]: 0.575823&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036671.763165 s.7J~,?(AA @A@ASX~? A-ګA5%"AA/kNA"AZAbAjArAzAAA V@A׎ytAq@AR<Aw=A,A`?AvٿA>ȡ*A39?2A|<ֽ:A~=BA39?JA|<ֽRA~=Y@ULyt=0S<ٓH ?3?]t? (ۿ@z?`%겿`hS?@?)@ I٘i)I9q@YG JJ<JJJE&K> Y::W~?yQVALEb77v9EB)BdE[[![3W~?[[[[[BZYY i) I|IiK@4}= P >))(CrP >P >XЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036671.783165 s, next control iter: 1743036672.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036672.183165 s.J~,^ @(AJ"J*J2J:JBJnJvJA(\B@A5@AiX~? AޫA%"AAkNA"AZAbAjArAzAAAfXMͶ@A6r$"tAp@AC <Ah=A>5־A ?AؿA*Ad9?2A.xֽ:A=BAd9?JA.xֽRA=٘i)I9p@YmG J-JJJJE&K YSW~?y VAEb7w9)BgE[[Ci[W~?[̢[[[[BZYY i) $IiH@= `2>)) `2>`2>ӪYFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743036672.203165 s, next control iter: 1743036672.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036672.603165 s.;4 J~,&@(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077279< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036672.603308F (some fields omitted in printout)AQx@AFk@AX~? AA%"AAqkNA"AZAbAjArAzAAA>CiK! @Aʤ$tAh p@A9A=A˾A#?A#ؿA'*A9?2APԽ:A4=BA9?JAPԽRA4=٘i)I9 p@YG JJJJJE&K Y]mW~?y$VAE77y9)ůB[[[W~?[প[[[[BZYY i!') -IiD@< OE>))OE>OE>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036672.623165 s, next control iter: 1743036673.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10171 , header.stamp.nsec: 0 0 temperature: 13.569103 * salinity: 33.375118 , density: 1025.000000 * values[0]: 0.575240 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036673.023165 s.J "J *J 2J :J B?BJ B?nJ j5vJ ZJ~,|A@(AAHz@A\ @A%X~? AA9%"AA;kNA"AZAbAjArAzAAAtA @A) m8'tAo@A A#Ü=ApA _?ATX׿Ag*A 9?2A,ս:Af =BA 9?JA,սRAf =٘i)I9o@YG JB=JJJJE&K YW~?yUAE)7ŧ7r{9FB)ʯBjE[[[JX~?[ݪ[[[[BZYY i) IigA@S< p!X>))p!X>p!X>תY6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036673.043165 s, next control iter: 1743036673.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036673.443165 s.:J~,J]\@(AAq= @A@AجX~? AA%"AAj!lNA"AZAbAjArAzAAA 3h@A)tAJn@Aw>QA۞=A>A`?A lֿAe*A"9?2AZս:A=BA"9?JAZսRA=٘i)I9n@YpG JC=JJJJE&K YW~?yAYUAE777=}9HB)ЯBnE[[M[$X~?[î[[[[BZYY i) GSIi>@;<  k>)) k> k>ZڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036673.463165 s, next control iter: 1743036673.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10172, header.stamp.nsec: 00 temperature: 13.569242* salinity: 33.375141, density: 1025.000000* values[0]: 0.574679F (some fields omitted in printout)JW~?)JA rAdjusting time to match Gazebo time: 1743036673.863165 s.+J~,>w@(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036673.863302F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A: @AX~? AA%"AAClNA"AZAbAjArAzAAAΤ^J@AФo+tAkn@AnJ(A=AެAu?A ܳտA*A19?2Aizս:A=BA19?JAizսRA=YA8@xHyy=(ٓH >?`2??@.տ1?`ؐ1.5 ?)A8@ I٘i)I9kn@YG J JoA<JJJE&Kr> Y"W~?y-TAHEb779)կBqE[[ [8X~?[[[[[BZYY i) ãIi@:@sg< }>)){}>}>y>)ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036673.883165 s, next control iter: 1743036674.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036674.283165 s.:R$J~,@(AA(\O@AlzPPB@AX~? AJAU%"AAflNA"AZAbAjArAzAAA>@/c@AC1.tAm@A;A=AѢA ?A`ԿAа*A9?2Amս:A=BA9?JAmսRA=٘i)I9m@YG JDJJJJE&K YW~?yTAEŧ7Ҁ9)گBtE[[+[LX~?[([[[[BZYY i) e2Ii46@<9< `I>)) `I>`I>3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036674.303165 s, next control iter: 1743036674.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10173., header.stamp.nsec: 0.0 temperature: 13.569393.* salinity: 33.375134., density: 1025.000000.* values[0]: 0.574087.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036674.703165 s.պ*J~, @(AJ"J*J2J:J?BJ?nJ5vJAQ@A'fx@AdX~? AA%"AA5lNA"AZAbAjArAzAAAEx@AW0tA\Cm@A;Ay|=AA=?A ԿAc*A9?2Aӽ:ANx=BA9?JAӽRANx=٘i)I9Cm@YgG JB=JJJJ"E&K YdW~?yTAEb79IB)߯BwE[[,[=aX~?[[[[[BZYY i) Ii2@ĉ< PƑ>))PƑ>PƑ>]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036674.723165 s, next control iter: 1743036675.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036675.123165 s.C1J~,@(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036675.123314F (some fields omitted in printout)AG@A}^ԭ@A Y~? A/A?%"AAڭlNA"AZAbAjArAzAAANj8@AUNLf2tAl@AhK<AG=AA(n?A1-ӿA*A9?2AԽ:A=BA9?JAԽRA=٘i)I9l@YG JC=JJJJ%E&K Y X~?ySAE77g9)B[[[vX~?[0[[[[BZYY i) IiG/@\< O>))O>O>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036675.143165 s, next control iter: 1743036675.523189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743036675.543165 s.I8J~,@(AJ"J*J2J:JBJnJvJA= ף@A ж@A!Y~? AiA%"AAlNA"AZAbAjArAzAAAKc.m@AZ^4tA"l@A<<AV=AAh?A@\RҿA2ļ*A9?2AԙԽ:A,=BA9?JAԙԽRA,=٘i)I9l@YG J¼JJJJ'E&K Y%X~?y:SAE77729)BzE[[7[X~?[[[[[BZYY i) Iii,@< 1>))1>1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036675.563165 s, next control iter: 1743036675.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10174, header.stamp.nsec: 00 temperature: 13.569578* salinity: 33.375153, density: 1025.000000* values[0]: 0.573428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036675.963165 s.}>J~,@(AAffff&@As ]@A9Y~? A~AM%"AAlNA"AZAbAjArAzAAATi@Ap.:@6tA[k@A n;A6X=A!tA`=?AqѿAUƼ*A9?2AcIս:A=BA9?JAcIսRA=Yn@syW=;ٓH9?@:?jߴ?ο5?$ ;ĵr?`??)n@ I٘i)I9[k@Y>G JżJ{r<JJJ*E&Kt> Y AX~?yRAsEŧ7b79)B}E[[[ X~?[ê[[[[BZYY i) ȼIi'@< c>))qxc>c>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036675.983165 s, next control iter: 1743036676.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036676.383165 s.EJ~,<A(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242621@ elevatorAngleAction: -0.086012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036676.383277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AIO@A+RY~? AlA%"AAmNA"AZAbAjArAzAAA;ӫD @A8p 8tAj@A9lAE=Aw^A`7?A7пAƼ*A9?2Ahս:A3=BA9?JAhսRA3=٘i)I9j@YG JƼJJJJ-E&K Yu\X~?yPRAE7{7lj9)BE[[.ھ[X~?[ƪ[[[[BZYY i) мIi#@m< !>)) !>!>8YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743036676.403165 s, next control iter: 1743036676.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10175", header.stamp.nsec: 0&0 temperature: 13.569768&* salinity: 33.375175&, density: 1025.000000&* values[0]: 0.572767&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036676.803165 s.ALJ~,g3A(AA@A8@AjY~? A1AJ%"AA?mNA"AZAbAjArAzAAA$YOw1@Ad~9tAN j@A=A3=AwzIA b$?A2?ϿA;ȼ*A9?2AԽ:A؝=BA9?JAԽRA؝=٘i)I9 j@YrG JǼJJJJ/E&K YwX~?yQAE{7j79JB)BE[[о[))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036676.823165 s, next control iter: 1743036677.203187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743036677.223165 s.gSJ~,HNA(AJ"J*J2J:JBJnJvJAz@AW@A9Y~? AA%"AAdmNA"AZAbAjArAzAAAb'Y\@AnS;tABbi@AIA=A`-5A!J?AͿA,̼*Ag9?2A Խ:A(=BAg9?JA ԽRA(=٘i)I9bi@Y G JlʼJJJJ2E&K YKX~?y)fQAEZ7Z7]9)BE[[ƾ[IX~?[̪[[[[BZYY i) ޼Iie@/< A>))A>A>jYJ.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036677.243165 s, next control iter: 1743036677.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036677.643165 s.yYJ~,*iA(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743036677.643309F (some fields omitted in printout)A ףp@A8d@AY~? AF At%"AA"mNA"AZAbAjArAzAAAtf.d{@AaӼ*A9?2AԽ:A=BA9?JAԽRA=٘i)I9h@Y G JϼJJJJ5E&K YX~?y< PAEj7j7'9)B[[ [X~?[Ϫ[[[[BZYY i) Iib@U< >))>>tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10176, header.stamp.nsec: 00 temperature: 13.569980* salinity: 33.375168, density: 1025.000000* values[0]: 0.572053F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036677.663165 s, next control iter: 1743036678.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036678.063165 s.`J~,t A(AJ"J*J2J:Jr?BJr?nJ5vJA33333@AgE(&@AY~? A AE%"AAǯmNA"AZAbAjArAzAAA<ö@AL)>>tAg@A+;Az==AG A ?AqɿAڼ*A9?2AԽ:A=BA9?JAԽRA=Y}@c yP==,;ٓH??? @!?@w߶V}e? 4?)}@ I٘i)I9g@Y2 G JּJs)<JJJ7E&K~t> YX~?yq vPA E779) BE[[[ Y~?[ Ҫ[[[[ZZ¸BZYY i¸F&=) ټIi@pJ< >))6v>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036678.083165 s, next control iter: 1743036678.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036678.483165 s._gJ~,A(AA\h@Ay>[@AY~? AA%"AAmNA"AZAbAjArAzAAA0@A@?tAEg@A+<A1=A$[Ai?A@(ȿA*A|9?2A} ս:A\=BA|9?JA} սRA\=٘i)I9Eg@Y G JݼJJJJ:E&K YX~?y OAEb779)BE[[E˩[t$Y~?[Ԫ[[[[ZZBZYY i) ͼIiV@< qT>))qT>qT>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036678.503165 s, next control iter: 1743036678.883186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10177, header.stamp.nsec: 00 temperature: 13.570193* salinity: 33.375195, density: 1025.000000* values[0]: 0.571339F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036678.903165 s.mJ~,͹A(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259782> elevatorAngleAction: 0.083569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036678.903317F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AZ$@A1Y~? AAU%"AAmNA"AZAbAjArAzAAAQj;]@AW@tAduf@AQQ<A5x=A"ʽA?AAƿAF*A9?2Ajӽ:A=BA9?JAjӽRA=٘i)I9uf@YB G JB=JJJJ=E&K YY~?y OAEb79)BE[[ [];Y~?[ת[[[[ZZBZYY i) `Iii @< >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036678.943165 s, next control iter: 1743036679.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036679.323165 s.xtJ~,-A(AAGz@Aht@AZ~? AA%"AA"nNA"AZAbAjArAzAAA^AsK@AwAtAze@ACG<AǙ=A1A=?A`xĿAl*A9?2ATӽ:A<BA9?JATӽRA<٘i)I9e@Y G JC=JJJJ@E&K YuY~?yOAE77R9)BE[[!*[RY~?[D٪[[[[ZZBZYY i) Ii@7< >))>>y='ժYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036679.363165 s, next control iter: 1743036679.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10178*, header.stamp.nsec: 0*0 temperature: 13.570464** salinity: 33.375221*, density: 1025.000000** values[0]: 0.570436*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036679.743165 s.W{J~,uA(AJ"J*J2J:J?BJ?nJ 5vJAףp= @Ab4@AZ~? AFA%"AAsHnNA"AZAbAjArAzAAAj*? @A&SBtAӷd@AusAkkv=A(ZnAe?A¿A)*A9?2A rԽ:A4f<BA9?JA rԽRA4f<٘i)I9d@Y3 G JJJJJBE&K Yb:Y~?yENAE79LB)&BE[[C[ jY~?[f۪[[[[ZZBZYY i) zIi@;< Z?))Z?Z?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036679.763165 s, next control iter: 1743036680.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036680.163165 s.z}J~,q B(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200592 time: 1743036680.163361F (some fields omitted in printout)A@@AS2@A}3Z~? AAl%"AAonNA"AZAbAjArAzAAA,C @A[zCtA:c@AC!A1=A9GA *?A Aμ*A:?2A Խ:A;BA:?JA ԽRA;Y@gy1=?!ٓH@Z?~G?a? %{?@ Ԁ?54@?)@ I٘i)I9c@Y G JJJJJJEE&Kr> YVY~?yNNAE)7b7虁9),BE[[p[qY~?[`ݪ[[[[ZZBZYY i=) Ii@J< ?))t??yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036680.183165 s, next control iter: 1743036680.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036680.583165 s.J~,S%B(AJ"J*J2J:J?BJ?nJ5vJA)\u@Ah@A MZ~? A-Al%"AAٕnNA"AZAbAjArAzAAAcƏGv!@A8޴DtAVc@A]dAT<A,A-?AAu*A:?2AFBս:A9BA:?JAFBսRA9I٘i)I9Vc@Y\ G J3JJJJHE&K YrY~?yNAEj7Z79)1BE[[q[*Y~?[:ߪ[[[[ZZBZYY i) ߓIi?mi< n ?))Tn ?n ?^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036680.623165 s, next control iter: 1743036680.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10179, header.stamp.nsec: 00 temperature: 13.570715* salinity: 33.375221, density: 1025.000000* values[0]: 0.569521F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036681.003165 s.y J~,P4@B(AAR@A>x@AfZ~? AcAS%"AAɼnNA"AZAbAjArAzAAA9V"@AcqEtA.b@AO4Aj~ <AU;AD?AAsM}*A :?2A6ӽ:ACBA :?JA6ӽRAC٘i)I9b@Y G JJJJJJE&K Y-Y~?yGMAEb77}9)5B[[][.Y~?[[[[[ZZBZYY i) #Ii?H< ?)) ??ivYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036681.023165 s, next control iter: 1743036681.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036681.423165 s.uJ~,[B(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073257< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036681.423283F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A <@AZ~? AoAo=%"AAnNA"AZAbAjArAzAAA"@AjjFtA{b@A؟(A>hAz<AU?AkA2*A`!:?2ABӽ:ADmvBA`!:?JABӽRADmv٘i)I9{b@Y G J]JJJJME&K YqY~?yMAE77j7H9)8BE[[SI[yY~?[[[[[ZZBZYY i.^=) ^|Ii?< ?))??y=T(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036681.443165 s, next control iter: 1743036681.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10180, header.stamp.nsec: 00 temperature: 13.570872* salinity: 33.375248, density: 1025.000000* values[0]: 0.568997F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036681.843165 s.ݜJ~,uB(AAp= @A @AZ~? ARAU*%"AA oNA"AZAbAjArAzAAA$rK#@A ;FtAƼBA :?JAսRA>ƼY@}=yM<ٓH`F?ί??6?`?`@?)@ I٘i)I9b@Y G JJ6JJJRE&Kqs> YY~?ygMA}=EZ7SI7ݢ9RB)BBE[[ [aY~?[@[[[[BZYY ik=) tUIi?>c<  ?))s ? ?yw}=,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036682.303165 s, next control iter: 1743036682.663181 s, wait time: 0.360016 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 101812, header.stamp.nsec: 020 temperature: 13.5708512* salinity: 33.3752562, density: 1025.0000002* values[0]: 0.5687862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036682.683165 s.lJ~,RB(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238018> elevatorAngleAction: 0.057388< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036682.683301F (some fields omitted in printout)A(\@ApYu@AZ~? AA %"AAYoNA"AZAbAjArAzAAA>̆$@AjGtAb@A|8<A0Aר=Av?A΃A:*A:?2A-[ս:AqBA:?JA-[սRAq缙٘i)I9b@Y G J~JJJJUE&K Y4Z~?yMAE879)ABE[[; [Z~?[d[[[[BZYY iH=) CIi?< L%?))L%?L%?y9=Mm*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036682.683165 s, next control iter: 1743036683.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036683.103165 s.J~,B(AJ"J*J2J:J?BJ?nJ5vJAQ@A@#H@AZ~? AA%"AAoNA"AZAbAjArAzAAA!v$%@A{ϩGtA4b@AL;A_ XA/=A}?AhA;*A:?2A/Xӽ:ABA:?JA/XӽRA٘i)I94b@Y G J;JJJJXE&K YtZ~?yQMAE77r9)@BE[[q[+Z~?[b[[[[BZYY i) 2Ii?x< +?)) +?+?y%d=v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036683.143165 s, next control iter: 1743036683.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036683.523165 s.J~,{B(AAHz@AU@A[~? ADAe%"AAoNA"AZAbAjArAzAAAT%@AŰGtADrb@AlKAaGvAWY=Ag?A A4<*A:?2A,ӽ:AaBA:?JA,ӽRAa٘i)I9rb@Y G JD<JJJJZE&K Y8Z~?yNAEb77=9PB)]B(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067387< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420007*J2J2 time: 1743036683.943289F (some fields omitted in printout):JBJnJvJAq= #@AUJ@A[~? AZA%"AA oNA"AZAbAjArAzAAA m`&@AH.JGtAb@AqJAA=>A ?A`L<AJk<*A^:?2Aӽ:A6BA^:?JAӽRA6٘i)I9b@Y G JN<B=JJJJ]E&K YTZ~?y::NAE9OB)9BE[[0[v^Z~?[[[[[BZYY i) Ii+?Xo< I5?))I5?I5?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036683.963165 s, next control iter: 1743036684.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036684.363165 s.J~,>C(AAY@ABL@A6[~? AHA%"AAoNA"AZAbAjArAzAAAg@&@A= ;GtA4c@APAKڏA,$>Ax?A@Ό?A<*A:?2AG7Խ:ABA:?JAG7ԽRA٘i)I94c@YG G J~<C=JJJJ`E&K Y0qZ~?yeNAE77j7ҫ9)5BE[[mi[xZ~?[u[[[[BZYY i) 1Ii?7h< y:?))y:?y:?c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036684.383165 s, next control iter: 1743036684.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10183&, header.stamp.nsec: 0&0 temperature: 13.570422&* salinity: 33.375294&, density: 1025.000000&* values[0]: 0.569397&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036684.783165 s.J "J *J 2J :J ?XJ~BJ?nJ5vJ,2C(AA(\@A80Q@AP[~? A AY%"AApNA"AZAbAjArAzAAA8q'@A5GtA^c@A6һA/A#u9>A?A ?A–<*A:?2A ս:ABA:?JA սRA٘i)I9c@Y G J\<JJJJbE&K YoZ~?y#NAE{7Z79)2B[[, [Z~?[[[[[BZYY i) MAٻIi?b< ??))????6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036684.803165 s, next control iter: 1743036685.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036685.203165 s.J~,MC(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036685.203272F (some fields omitted in printout)AQ@AX@Aj[~? AAR%"AA~FpNA"AZAbAjArAzAAA=.o:(@A:4^2pGtA/d@A@N;A玚AgO>A@y?A`qj?A9<*A:?2Aս:ABA:?JAսRA٘i)I9/d@Y G J<<JJJJeE&K YZ~?y NAEj7h9)-BE[[[Z~?[ [[[[BZYY i) DQIi3?]< :D?)):D?:D?O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036685.223165 s, next control iter: 1743036685.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036685.623165 s.YJ~,egC(AJ"J*J2J:J?BJ?nJ5vJAG@AO@AɄ[~? AA %"AAmpNA"AZAbAjArAzAAA;[(@A#㎟GtAd@A4<AEkAd>Ap?A?A-<*A:?2Ahֽ:A BA:?JAhֽRA ٘i)I9d@Y3 G JI<JJJJhE&K YZ~?y NAEŧ7b729NB)(BE[[;[qZ~?[[[[[BZYY i) D^IiK?Y< *J?))*J?*J?N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036685.643165 s, next control iter: 1743036686.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10184, header.stamp.nsec: 00 temperature: 13.570068* salinity: 33.375267, density: 1025.000000* values[0]: 0.570087F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036686.043165 s.J~,ÂC(AA= ף0@A *#@A[~? A_A%"AALpNA"AZAbAjArAzAAAnyu)@A4_NFtABEe@AwV<A Ay>A`e?A Uܲ?A <*AV:?2A5ֽ:A= BAV:?JA5ֽRA= ٘i)I9Ee@Y G J<JJJJkE&K Y,Z~?y OAE779MB)#BE[[i<[kZ~?[[[[[BZYY i) `IiC?.aW< mO?))mO?mO?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036686.063165 s, next control iter: 1743036686.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036686.463165 s.VJ~,褝C(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743036686.463275F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AW[Y@A[~? A|A'%"AApNA"AZAbAjArAzAAAc̉*@A~pFtAve@AL<AAl)>AW?AG?AS<*AB:?2A_ֽ:A BAB:?JA_ֽRA Y5=Ԇ>y<<ٓH?@пǯ`?`?@?`w??)5= I٘i)I9e@Y G J<J|JJJmE&K> YnZ~?y6 OAԆ> DE7777ȴ9)BE[[7=[Z~?[[[[[BZYY i)  %Ii?J< T?))tgT?T?k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036686.503165 s, next control iter: 1743036686.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10185, header.stamp.nsec: 00 temperature: 13.569663* salinity: 33.375328, density: 1025.000000* values[0]: 0.570810F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036686.883165 s.yJ~,4C(AA(@A@A|[~? AoAQ:%"AApNA"AZAbAjArAzAAA4Lf6*@A8`DxEtAnf@AX;oAAB>AG?Axd?A\<*Al:?2Alֽ:AO BAl:?JAlֽRAO ٘i)I9nf@Y> G J,<JJJJpE&K Y[~?yOAE)7ŧ79LB)B¹E[[zc=[D[~?[C[[[[BZYY i) 0ҺIi??< JY?))3JY?JY?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036686.903165 s, next control iter: 1743036687.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036687.303165 s.YJ~,gC(AJ"J*J2J:JBJnJvJA@Ax@AA[~? A7AcP%"AA qNA"AZAbAjArAzAAA)rxK+@A`]AȹDtAK g@AdArAn>Az8?Af?Aƺ<*A&C:?2Acӽ:A F BA&C:?JAcӽRA F ٘i)I9 g@Y G J%<JJJJsE&K Y3[~?yUPAE77{7]9)BŹE[[z%=[+[~?[[[[[BZYY i) 6Ii? W5< ^?)) ^?^?*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036687.323165 s, next control iter: 1743036687.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10186*, header.stamp.nsec: 0*0 temperature: 13.569257** salinity: 33.375317*, density: 1025.000000** values[0]: 0.571637*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036687.723165 s.J~,HC(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036687.723286F (some fields omitted in printout)Az@AW@A\~? AAi%"AA1qNA"AZAbAjArAzAAAz!I+@A5:CtAgg@AwUVA^A>A%?A ?AL<*AJ:?2AEӽ:A BAJ:?JAEӽRA ٘i)I9g@Y G J<JJJJuE&K3[~?) Y1O[~?yWPAEŧ77(9)B[[8=[E[~?[[[[[BZYY i) \_9Ii?}/,< 6d?))6d?6d?*YUdYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036687.743165 s, next control iter: 1743036688.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036688.143165 s.V/J~,* D(AJ"J*J2J:Jq?BJq?nJ5vJA ףp=@AWe0@A\~? AMAɅ%"AAXqNA"AZAbAjArAzAAAEђ,@ABtABh@A; AAˮ>A?A?A<*AK:?2Aӽ:ABAK:?JAӽRA٘i)I9Bh@Y[ G J<JJJJxE&K Yrj[~?y +QAE77779KB) BȹE[[>[_[~?[[[[[BZYY i) c:Ii=?6&$< i?))i?i?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036688.163165 s, next control iter: 1743036688.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036688.563165 s.J~,_ $D(AA3333s@A-f@A9\~? AA%"AAqNA"AZAbAjArAzAAA[x@-@AhjAtAh@ApA2A7c>A@P?A@?A%i<*AK:?2AԽ:A BAK:?JAԽRA Y}>!p>y27ٓH`?ֿ`??@.L²?U?)}> I٘i)I9h@Y G J<B=Jw2<JJJ{E&Kp> Y݄[~?yQAp>E79JB)B˹E[[>[hy[~?[[[[[BZYY i) p;IiQm?=< ~n?))څu~n?~n?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036688.583165 s, next control iter: 1743036688.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10187, header.stamp.nsec: 00 temperature: 13.568835* salinity: 33.375343, density: 1025.000000* values[0]: 0.572455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036688.983165 s.J~,>D(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239768> elevatorAngleAction: 0.067387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036688.983296F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@AGg@AwR\~? AA\%"AA*qNA"AZAbAjArAzAAA4?-@AtS@tA_hi@AN;AA>A?An?Aį<*A[*[~?[[[[[BZYY i) C;Ii[? < t?))]t?t?Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036689.003165 s, next control iter: 1743036689.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036689.403165 s.&J~,YD(AAQ@A?W@Ak\~? AA%"AAqNA"AZAbAjArAzAAA"~P.@A?tA2i@AtXS<A {An>Aཾ?A`\?A!(<*AGf:?2A Խ:ABAGf:?JA ԽRA٘i)I9i@YbG J<JJJJE&K Y[~?yZRAE77S9IB)BѹE[[0A>[[~?[[[[[BZYY i) ;Ii2L?< \y?)) \y?\y?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036689.423165 s, next control iter: 1743036689.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10188", header.stamp.nsec: 0"0 temperature: 13.568457"* salinity: 33.375347", density: 1025.000000"* values[0]: 0.573232"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036689.823165 s.J~,2tD(AJ"J*J2J:JBJnJvJAGz@A:q@A\~? A A%"AAqNA"AZAbAjArAzAAA*.@AvU=>tAExj@A08<A5Ak>A`?A ?AWY<*Ah:?2AT@Խ:A+BAh:?JAT@ԽRA+٘i)I9xj@YG J<JJJJE&K Y[~?yRAEŧ7b7Á9HB)BԹE[[V>[ [~?[x[[[[BZYY i) yH;IiE>?s; T~?))T~?T~?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036689.843165 s, next control iter: 1743036690.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036690.243165 s.#J~,mD(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067387< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036690.243282F (some fields omitted in printout)Aףp=J@A(H0=@A\~? AF A$A%"AArNA"AZAbAjArAzAAA/@AJ|A}?A?A"<*Ae:?2A>Խ:ABAe:?JA>ԽRA٘i)I9j@YG J <JJJJE&K Yx[~?ys#SAEj7j7ā9)B[[ Dl>[[~?[ߪ[[[[BZYY i) 5;Ii"2?D; o?))o?o?*YYFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743036690.263165 s, next control iter: 1743036690.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036690.663165 s.*J~,qD(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10189, header.stamp.nsec: 00 temperature: 13.568071* salinity: 33.375385, density: 1025.000000* values[0]: 0.573943F (some fields omitted in printout)A@A㈵r@A\~? AAo%"AA>rNA"AZAbAjArAzAAA)ݲV 0@AxoQ;tAk@A[wAA1j>A@Y?A?A꼞<*A|b:?2AiԽ:ABA|b:?JAiԽRAYCx>؞>y 뿻ٓH\?*ܿdb`w?@?؎?w?)Cx> I٘i)I9k@YUG J;<B=J97<JJJE&Ks> Y\~?ySA>E)7ŧ7Ɓ9EB)BֹE[[Ԁ>[[~?[ݪ[[[[BZYY iq=) ʆ;IiP?; +?))|Bw+?+?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036690.683165 s, next control iter: 1743036691.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036691.083165 s.D1J~,SD(AA)\µ@As@An\~? A/A@%"AA)drNA"AZAbAjArAzAAARo~V0@A"9tAl@AGIAEA¡>A2?Aj?AI<*A^:?2A-ս:AKBA^:?JA-սRAK٘i)I9l@YG J<C=JJJJE&K Y !\~?ySAE7)7}ȁ9DB)BٹE[[s>[n\~?[۪[[[[BZYY i) f;IiE?; o?)) o?o?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036691.123165 s, next control iter: 1743036691.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036691.503165 s.7J~,]4D(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743036691.503292F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A<y@A\~? AgA%"AAvrNA"AZAbAjArAzAAASzҠ0@Aúh8tAl@AGA!Al?AU ?A?Ar<*A8r:?2Aӽ:AV:BA8r:?JAӽRAV:٘i)I9l@YG Jt<JJJJE&K YS:\~?y>TAESI7SI7Hʁ9CB)߯BܹE[[>[7.\~?[2٪[[[[BZYY i)  ‘; '?))'?'?*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743036691.523165 s, next control iter: 1743036691.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10190, header.stamp.nsec: 00 temperature: 13.567683* salinity: 33.375370, density: 1025.000000* values[0]: 0.574630F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036691.923165 s.;>J~,D(AA{G!@Ab:@AH]~? AyAz %"AArNA"AZAbAjArAzAAARř0@A*G;6tAm@AϺA3A?A J?A@~?A<*Adk:?2AhԽ:AWBAdk:?JAhԽRAW٘i)I9m@YBG Jݕ<JJJJE&K YS\~?yTAE77́9BB)گB߹E[[s>[H\~?[֪[[[[BZYY i) V; ?))??yT=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036691.943165 s, next control iter: 1743036692.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036692.343165 s.[a\~?[Ӫ[[[[BZYY i) +p; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036692.363165 s, next control iter: 1743036692.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10191&, header.stamp.nsec: 0&0 temperature: 13.567336&* salinity: 33.375404&, density: 1025.000000&* values[0]: 0.575356&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036692.763165 s.?KJ~,A0E(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743036692.763298F (some fields omitted in printout)Ǎ@AҨ@A[0]~? A)Ay%"AArNA"AZAbAjArAzAAA}L[|1@A\Ua2tAm@A\7<AA"C?A@~?Ai?yO588<ٓHI?๻/? ?\ ؞?? ?)> I٘i)I9m@YG J<JJJJE&KKu> YɄ\~?y٪ZUA? E777ρ9AB)ѯBE[[e>[${\~?[Ѫ[[[[BZYY i) :*U; /a?))Py/a?/a?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036692.783165 s, next control iter: 1743036693.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036693.183165 s.J "J *J 2J :J _?BJ _?nJ 5vJ RJ~,KE(AA(\@AKs+@AH]~? AA%"AAsNA"AZAbAjArAzAAAPMƂB1@AP0tAmn@AP<AJAL?A#K?A`?A"<*AR:?2A[ֽ:A^BAR:?JA[ֽRA^٘i)I9mn@YG J<B=JJJJE&K Y\~?ykԪUAEb77sс9@B)ͯBE[[h>[\~?[Ϊ[[[[BZYY i) [J[+; ""?)) ""?""?f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036693.203165 s, next control iter: 1743036693.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036693.603165 s.;4YJ~,fE(AAQ@A)QG@A_]~? A@A? %"AA?sNA"AZAbAjArAzAAA@.Nx 2@AYk$).tAn@Ac;AMA?A?AV?A<*Ab:?2A>Խ:ADBAb:?JA>ԽRAD٘i)I9n@YgG J<C=JJJJE&K Y\~?yϪVAE77>Ӂ9[׭\~?[ʪ[[[[BZYY i) Y; f?))f?f?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036693.623165 s, next control iter: 1743036694.003182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10192 , header.stamp.nsec: 0 0 temperature: 13.566985 * salinity: 33.375412 , density: 1025.000000 * values[0]: 0.575993 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036694.023165 s.Z`J~,|E(AJ"J*J2J:Jt?BJt?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743036694.023311F (some fields omitted in printout)AHz.@Aꕲ !@Av]~? AAwO%"AA csNA"AZAbAjArAzAAA3BQ2@Ap#+tA0go@AX!ѺA AMo?A`?A?A ^<*A\:?2AIԽ:A BA\:?JAIԽRA ٘i)I9go@YG J͗<B=JJJJE&K Yx\~?y˪vVAEŧ7b7Ձ9)B[[>[!\~?[SǪ[[[[BZYY i) ?5i%!: ?))??*YG%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036694.043165 s, next control iter: 1743036694.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036694.443165 s.2fJ~,)]E(AAq= c@AtA}V@A׍]~? AAm%"AA!sNA"AZAbAjArAzAAALŗ2@Aʔ8f)tAVo@AC#A}An$?A?Aқ?AUǣ<*AT:?2AԽ:A{BAT:?JAԽRA{٘i)I9o@YG J<C=JJJJE&K YY\~?ySƪVAE77{7ց9;B)BE[[>[P\~?[ê[[[[BZYY i) (xE(AA@AB@A]~? AA"%"AAبsNA"AZAbAjArAzAAA2@AbVED,'tAxp@AWAAR)?AXl?Al?A<*A4M:?2AS^ս:A9BA4M:?JAS^սRA9Yv>)?y9ůWٓHl$?í.e?@:?L-,?c⊿ I?)v> I٘i)I9xp@Y[G J5<JmJJJE&KVu> Y\~?y[\~?[鿪[[[[BZYY i) ۃ elevatorAngleAction: 0.077365< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036695.283279F (some fields omitted in printout)A(\@ANP@A]~? AA2%"AA-sNA"AZAbAjArAzAAA.& !3@A`C=0$tAq@AFA'7A.?A`*.?A`=?A䓪<*AF:?2ARս:ABAF:?JARսRA٘i)I9q@YG J<JJJJE&K Y]~?y{WAE77hځ95B)BE[[L>[]~?[ﻪ[[[[BZYY i) g<C=JJJJE&K YU=]~?yqXA"E{7Z7݁94B)BE[[%?[B]~?[b[[[[BZYY i) ~ elevatorAngleAction: 0.086464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036696.543294F (some fields omitted in printout)A= ףp@ATc@A]~? AիA.%"AA/tNA"AZAbAjArAzAAA`!3@ArtAr@A+T<AFA>?Af?AG?A<*AxD:?2A+ֽ:ABAxD:?JA+ֽRAI٘i)I9r@YG J<JJJJE&K YS]~?y8XA%Ej7߁90B)BE[[=?[Z]~?[Ю[[[[BZYY i)  ?Q?`&9S?L??) ? I٘i)I9Cs@YG Jl<J!0JJJE&Kv> Yg]~?y!FYAC?'Ej7Z79)B[[?[fr]~?[[[[[BZYY i) u/?)) >/?>/?y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036697.003165 s, next control iter: 1743036697.363184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743036697.383165 s.ؕJ~,/XF(AJ"J*J2J:JBJnJvJA(@Ai @A\'^~? A$̫A%"AAlptNA"AZAbAjArAzAAAJK6i4@AtAJs@A<;A}¥A H?A@E?A@5/?A<*A/:?2An3ֽ:ABA/:?JAn3ֽRA٘i)I9s@YhG J7<JJJJE&K YV|]~?y YA*Eŧ7b7^9/B)BE[[?[]~?[8[[[[BZYY i) ?)) >?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036697.423165 s, next control iter: 1743036697.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10196", header.stamp.nsec: 0"0 temperature: 13.565513"* salinity: 33.375458", density: 1025.000000"* values[0]: 0.578929"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036697.803165 s.wAJ~,{gsF(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743036697.803291F (some fields omitted in printout)A@A @A<^~? A;ǫAvB%"AAtNA"AZAbAjArAzAAA;4@AmtAJrt@AkyջAlAM?A?A ?Am<*A5:?2A ս:A BA5:?JA սRA ٘i)I9rt@YG J<JJJJE&K Y]~?y ZA-E77(9.B)BE[[Kj?[;]~?[ [[[[BZYY i) L elevatorAngleAction: 0.086464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036699.063288F (some fields omitted in printout)A3333@AF(@ASx^~? AAl%"AA7tNA"AZAbAjArAzAAAZC^5@AZ\*mr tAdv@A덩AYϯAct]?A`?A.?AȠ<*A:?2A,ֽ:ABA:?JA,ֽRAYx%?]?yίW.ٓH?[@{F?`;?Z?1u?)x%? I٘i)I9dv@YG J<JKxJJJE&Kv> Y]~?yq[A]?5E77{79)wB[[0?[b]~?[[[[[BZYY i) Db elevatorAngleAction: 0.086464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036700.323297F (some fields omitted in printout)AGzT@AanG@A`^~? A(A%"AACuNA"AZAbAjArAzAAAq 6@AM RtA hx@AN<AԵA5m?A?A?A(<*A:?2Ae#׽:ABA:?JAe#׽RA٘i)I9hx@Y0G J|<C=JJJJE&K Y^~?yq\A=E77779)dB[[vB?[w&^~?[}[[[[ZZZZ¸>BZYY i¸>mr) ?A+=*AA:?2Aֽ:A؃BAA:?JAֽRA؃Y??,w?yװW2 ٓH?`HY@A? (?ޱ?uau?)?? I٘i)I9y@YG J0<C=JƝJJJE&Kx> Y$^~?y d]Aw?BEŧ7b7~9)TB[[5MN?[O^~?[p[[[[ZZZZBZYY i) UA"%"AAuNA"AZAbAjArAzAAA>67@AzsAi|@AA3A?A`޿?A-?A<*A?:?2Aֽ:AػBA?:?JAֽRAػ٘i)I9i|@YG Jq<JJJJE&K YT^~?yPN#_AJEŧ7b79B):B E[[9`?[^~?[Y\[[[[ZZZZBZYY i) JJJE&K>w> Yr^~?yT?_AՈ?PEŧ7ŧ7s9B)0BE[[ Hl?[^~?[M[[[[ZZZZBZYY i) zE~9)-B[[+Wr?[^~?[PF[[[[ZZZZBZYY itL) ωj[[[[ZZZZBZYY i) "V~@Aj;AH=A?A?A˚?A:*A9?2Aֽ:Al{<BA9?JAֽRAl{<٘i)I9>~@YG J c;JJJJE&K Ya^~?y(_AXEj7Z79B)&BE[[:~?[^~?[6[[[[BZYY i)  CWH(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075341< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036705.363275F (some fields omitted in printout)A@A>@Aq_~? A[Am%"AAlkvNA"AZAbAjArAzAAAb?PS8@AsAE~@A1OA,Z=AP?A F?Ah?A{{л*A9?2As=׽:At<BA9?JAs=׽RAtJJJE&Kx> Y^~?yA_A?]E{7j7i9B)%BE[[[h?[_~?[&[[[[BZYY ih)  %?))%?%?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036706.223165 s, next control iter: 1743036706.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036706.623165 s.Z)J~,iH(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743036706.623325F (some fields omitted in printout)AGz@A:wm@A;_~? AEA%"AAvNA"AZAbAjArAzAAA98@ARsAn'}@A};AĒ=Aۢ?Al?A7?Ab*Aw9?2Atֽ:Ă=BAw9?JAtֽRĂ=٘i)I9'}@YG J怼JJJJE&K Y^~?y^AeE777 9B))BE[[E?[._~?[ [[[[BZYY i) .Y;I[H?iϗPB Q/?))Q/?Q/?y"hɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036706.643165 s, next control iter: 1743036707.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10205 , header.stamp.nsec: 0 0 temperature: 13.562682 * salinity: 33.375553 , density: 1025.000000 * values[0]: 0.584615 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036707.043165 s.0J~,H(AA= ף@Ak+@A_~? A>AT%"AAvNA"AZAbAjArAzAAAΏs8@As`sAΨ|@AI<A=A-?A_?A)?A~*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9|@YG JJJJJE&K Y^~?ym^AhE77 9)-B[[ő?[;_~?[[[[[BZYY i) ƻ;IH?iϿD =?))=?=?y &ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036707.063165 s, next control iter: 1743036707.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036707.463165 s.W7J~,H(AJ"J*J2J:JBJnJvJAffff@A=]@Aw_~? Az7A} %"AAvNA"AZAbAjArAzAAAP) 9@AW&sA|@AVM<A[=AȢ?A ?A v YP^~?y\^A?jEZ7SI7^9B).BE[[ܔ?[\H_~?[L[[[[BZYY i) ';IG?i랿wkK >?))>?>?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036707.503165 s, next control iter: 1743036707.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10206, header.stamp.nsec: 00 temperature: 13.562844* salinity: 33.375595, density: 1025.000000* values[0]: 0.584109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036707.883165 s.y=J~,4H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743036707.883280F (some fields omitted in printout)A(@A#d @A^_~? A#0A%"AAvNA"AZAbAjArAzAAAq/9@A ݶsA{@A{;Aל=At?A`6?A p?A*A9?2Aֽܼ:Ap=BA9?JAֽܼRAp=٘i)I9{@YG J"JJJJE&K Y^~?y]AmE777)9 B)1BE[[?[.T_~?[y[[[[BZYY i) G7;I3G?iP F?))F?F?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036707.903165 s, next control iter: 1743036708.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036708.303165 s.[DJ~,gI(AJ"J*J2J:JBJnJvJAQ@AYjD@A_~? A(A>%"AAvNA"AZAbAjArAzAAAJ N9@A!ؓ;&sAz@Ab^A=A)?AS?A?AJ*A09?2A׽:A =BA09?JA׽RA =٘i)I9z@YG JsJJJJE&K Y^~?yީ5]ApE79)6B[[;?[[__~?[[[[[BZYY i) gC;ITG?i=oT S?))S?S?:تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036708.323165 s, next control iter: 1743036708.703176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102072, header.stamp.nsec: 020 temperature: 13.5630682* salinity: 33.3755762, density: 1025.0000002* values[0]: 0.5834782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036708.723165 s.KJ~,H.I(AAz@Aӹz@A_~? AB!A=%"AA-vNA"AZAbAjArAzAAADp6l9@AjsAwiz@AzP7AJ=AMت?An?A ?A*A9?2AhP׽:A3=BA9?JAhP׽RA3=٘i)I9iz@YhG JحJJJJE&K Y0_~?y֩\AsE{7{79):B[[ 7?[i_~?[x[[[[BZYY i) x;I:G?iUwW 3@))3@3@{תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036708.743165 s, next control iter: 1743036709.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036709.143165 s.J "J *J 2J :J H?BJ H?nJ 5vJ n/RJ~,k*II(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036709.143307F (some fields omitted in printout)A ףp@Ae@A!_~? AAb%"AA wNA"AZAbAjArAzAAA^99@A:sA,y@A{VAWg=Ajx?A?A`w?A*A9?2AG׽:A=BA9?JAG׽RA=٘i)I9y@YG JJJJJE&K Y{ _~?yͩd\AuEb779 B)?4?)? I٘i)I9Fy@YG JFJ JJJE&Kix> Y_~?yũ[A?xE7T9)AB[[ y?[|_~?[ ϩ[[[[BZYY i) `f9IUG?isd^ C@))C@C@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036709.603165 s, next control iter: 1743036709.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10208, header.stamp.nsec: 00 temperature: 13.563274* salinity: 33.375572, density: 1025.000000* values[0]: 0.582805F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036709.983165 s.J "J *J _J~2J,~I(A:J2?BJ2?nJr5vJA\(@A@A|_~? A| A%"AA$wNA"AZAbAjArAzAAAי0.ؽ9@AۯsAӳx@A:Ah—=A?AE|?AN?A*A39?2Aֽ:AC=BA39?JAֽRAC=٘i)I9x@Y^G JŮJJJJE&K Y}_~?yp[A{Eŧ7b79 B)DBE[[?[_~?[ũ[[[[BZYY i) 7ILG?ib p@))p@p@ ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036710.023165 s, next control iter: 1743036710.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036710.403165 s.&fJ~,͙I(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743036710.403278F (some fields omitted in printout)AQ^@A̷>Q@Ak_~? AA %"AAl1wNA"AZAbAjArAzAAA;9@AӰ sA x@Ai<AM=A?A?As?A_¯*AH9?2Azֽ:AO=BAH9?JAzֽRAO=٘i)I9 x@YG JܯJJJJE&K Y_~?yͳ.[A}E779)HB[[?[_~?[p[[[[BZYY i) ~ԺIqG?iSĉe W@))W@W@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036710.423165 s, next control iter: 1743036710.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10209", header.stamp.nsec: 0"0 temperature: 13.563498"* salinity: 33.375599", density: 1025.000000"* values[0]: 0.582167"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036710.823165 s.lJ~,:I(AJ"J*J2J:J?BJ?nJF5vJAGz@Amp@A_~? A A%"AA=wNA"AZAbAjArAzAAA{j9@A"cBsAGw@AX<A.=Aצ?A8?Aq?A?笼*A;9?2Axֽ:AU7=BA;9?JAxֽRAU7=٘i)I9w@YG JB=JJJJ E&K Y_~?y*ZAE77j79B)JBE[[??[_~?[[[[[BZYY i) ֗&I]G?ig @))@@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036710.863165 s, next control iter: 1743036711.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036711.243165 s.sJ~,uI(AAףp=@A(1@A_~? A?AZO%"AAHwNA"AZAbAjArAzAAA6Pg:@AsAv@A<An=A@K?A`a?A`G?AS*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9v@YSG JxC=JJJJ E&K Y%_~?y`ZAEb77~9)OB[[?[ߙ_~?[r[[[[BZYY i) bI-JG?iyIg s @))s @s @ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036711.263165 s, next control iter: 1743036711.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036711.663165 s.zJ~,qI(AvPublished command to Gazebo (printed only once in a while):J"J( dropWeightState: 1*J2J:JBJ8 propOmegaAction: 25.132812nJvJ< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066233< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036711.663290F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10210, header.stamp.nsec: 00 temperature: 13.563745* salinity: 33.375591, density: 1025.000000* values[0]: 0.581504F (some fields omitted in printout)A@A3@A.`~? AjA%"AA%RwNA"AZAbAjArAzAAA[%:@AُssAuv@A:A=A?A$?A?AW*AN9?2A׽:ALe<BAN9?JA׽RALe??y=:ٓH ? ?@J? ??`pR? ?)>? I٘i)I9uv@YG JB=JtJJJE&KOx> Y'_~?yÙZA?E777I 9)SB[[7?[L_~?[䟩[[[[BZYY i) PI_6G?i(ek  @)) @ @CªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036711.683165 s, next control iter: 1743036712.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036712.083165 s.DJ~, SJ(AA)\5@AʧǶ(@A `~? AAE%"AA~[wNA"AZAbAjArAzAAAb0&:@AHesA,u@AyA=AQ?AA?A ?AF<*AH9?2AE׽:A <BAH9?JAE׽RA <٘i)I9u@YG JC=JJJJE&K YQ*_~?yYAEb77"9)WB[[`?[_~?[F[[[[BZYY i) 5*IQ"G?in , @)), @, @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036712.103165 s, next control iter: 1743036712.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036712.503165 s.J "J *J 2J :J ?BJ ?nJ 5J~vJ,U4 J(AARk@A (z^@An`~? A۪A^%"AA dwNA"AZAbAjArAzAAAO6:@A0lsAOxu@AOmVA[=AQ?A`D^?A< ?Aq*A9?2A}V׽:A(<BA9?JA}V׽RA(<٘i)I9xu@YfG JCJJJJE&K Y,_~?y;DYAE77#9B)YBE[[̋?[_~?[[[[[BZYY i) λIG?i뻿

Y2_~?ym)XA?E77j7?)9B)aBE[[ ?[ _~?[io[[[[BZYY i) UINF?i&s &@))&@&@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036713.783165 s, next control iter: 1743036714.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036714.183165 s.ˢJ~,kJ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036714.183270F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@AT5@A!`~? AA&"AAd~wNA"AZAbAjArAzAAAx-h:@A3ԘpsAۖs@A1&M<A=A ?A?A@U?A*A9?2A4nֽ:Ap=BA9?JA4nֽRAp=٘i)I9s@YAG JJJJJE&K Y1_~?yeWAE{7 +9)dB[[z:?[_~?[e[[[[BZYY i) $IF?imu cW@))cW@cW@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036714.203165 s, next control iter: 1743036714.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036714.603165 s.64J~,J(AAQx@AwJk@Ao$`~? AAj&&"AAwNA"AZAbAjArAzAAAq{p:@ ksAs@AjI<AW=A^!?A \?A@6b?A2Ԗ*A9?2AÈֽ:A!A=BA9?JAÈֽRA!A=٘i)I9s@YG J<B=JJJJ!E&K Y1_~?yE\nWAEb7b7,9)hB[[;h?[_~?[[[[[[BZYY i) H4IF?iտu @))@@yêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036714.623165 s, next control iter: 1743036715.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10213 , header.stamp.nsec: 0 0 temperature: 13.564380 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.579803 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036715.023165 s.ZJ~,|J(AJ"J*J2J:Jm?BJm?nJ5vJAHz@A @A&`~? AA{&"AA҆wNA"AZAbAjArAzAAALw:@ATfsA*r@A;A3}=A?Am(?A`~l?A]㕼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JC=JJJJ$E&K Ys1_~?ywSWAE)7ŧ7.9)lB[[?[;_~?[R[[[[BZYY i) CIF?i+/t z@))z@z@yŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036715.043165 s, next control iter: 1743036715.423178 s, wait time: 0.380013 s*s1_~?)*wS rAdjusting time to match Gazebo time: 1743036715.443165 s.3öJ~,-]J(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036715.443264F (some fields omitted in printout)Aq= @Aoe@A](`~? AA`&"AAӉwNA"AZAbAjArAzAAA959*q|:@AasAr@ALႻAc=A~?An?A`Ft?A(Y*A9?2A%׽:A=BA9?JA%׽RA=٘i)I9r@Y[G J5JJJJ'E&K Y=1_~?yJVAEZ7SI7i09B)oBE[[?[_~?[RH[[[[BZYY i) 9SI+F?ir}r $@))$@$@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036715.463165 s, next control iter: 1743036715.843174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10214, header.stamp.nsec: 00 temperature: 13.564577* salinity: 33.375595, density: 1025.000000* values[0]: 0.579214F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036715.863165 s.+J~,>J(AJ"J*J2J:JBJnJvJA@Aph @A)`~? AzA_&"AAwNA"AZAbAjArAzAAA YV:@A]\sA^q@A<A=A+?A4g?Aqy?AJ*A/9?2AQ׽:An=BA/9?JAQ׽RAn=YX??y9=ϗ<ٓH@໿@1?(@?`~Z@Pa?)X? I٘i)I9q@YG J(Jc<JJJ)E&Kkx> Y(._~?yAPVA?Ej7Z7429B)tBE[[?[w_~?[>[[[[BZYY i) O~bIjF?iYt @))@@1ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036715.883165 s, next control iter: 1743036716.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036716.283165 s.;RJ~,K(AA(\O@ASςPB@A&*`~? AfA&"AAhwNA"AZAbAjArAzAAA4xہ:@A WsA"q@ASAC=A+?A ?A{?A#*A9?2A,@׽:A@=BA9?JA,@׽RA@=٘i)I9"q@YG JVJJJJ,E&K Y+_~?y'9UAE77{739)xB[[?[k_~?[4[[[[BZYY i3) qI VF?iS.u -@))-@-@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036716.303165 s, next control iter: 1743036716.683183 s, wait time: 0.380018 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102152, header.stamp.nsec: 020 temperature: 13.5648122* salinity: 33.3755872, density: 1025.0000002* values[0]: 0.5786432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036716.703165 s.ֺJ~,-K(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036716.703264F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AIJzx@A?*`~? AQA9&"AAwNA"AZAbAjArAzAAA! %:@AۆSsA p@A8A2ۖ=A X?AtA`{?Aٜ*AB9?2Aֽ:AZ =BAB9?JAֽRAZ =٘i)I9p@YtG JeB=JJJJ/E&K Y'_~?yf0UAEj7j759)|B[[$H?[_~?[$+[[[[BZYY i) I~AF?i{{t @))@@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036716.723165 s, next control iter: 1743036717.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036717.123165 s.:J~,iGK(AAG@ABԭ@A)`~? A=A&"AAƍwNA"AZAbAjArAzAAAy׀:@A͚>"NsAp@AB:A=A?AcSA5y?A*A9?2Apֽ:A~*=BA9?JApֽRA~*=٘i)I9p@Y#G JC=JJJJ1E&K Y$_~?y'(UAE77{779B)BE[[s?[_~?[|![[[[BZYY i) $I#-F?idylr R@))R@R@bҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036717.143165 s, next control iter: 1743036717.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036717.543165 s.IJ~,bK(AJ"J*J2J:JBJnJvJA= ף@AU@A(`~? A+{ADu&"AAČwNA"AZAbAjArAzAAA1H}:@AZ4IsAo@AC'<Aa=A4b?ALAt?A*A9?2AtXֽ:A`>=BA9?JAtXֽRA`>=٘i)I9o@YG JcJJJJ4E&K Y!_~?yTAE77_99)B[[?[_~?[[[[[BZYY i) ]ǏIF?io 7 @))7 @7 @y.ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036717.563165 s, next control iter: 1743036717.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10216, header.stamp.nsec: 00 temperature: 13.565033* salinity: 33.375603, density: 1025.000000* values[0]: 0.578006F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036717.963165 s.xJ~,}K(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036717.963303F (some fields omitted in printout)Affff&@A( __@Ad'`~? AsA&"AAwNA"AZAbAjArAzAAA= A zy:@A(HDsAo@AY<At=A?ArKAl?A%*A"9?2A%Sֽ:A)=BA"9?JA%SֽRA)=YJ ??y=vZ<ٓH ʿKi 12? ʿ? 8 9??)J ? I٘i)I9o@YxG JB=JuR<JJJ7E&K x> Y_~?yI[TA?E{7Z7*;9)B[[?[_~?[Q[[[[BZYY i) uDIF?i[]o u"@))u"@u"@?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036718.003165 s, next control iter: 1743036718.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036718.383165 s.J~,+K(AJ"J*J2J:JBJnJvJA(\@A=O@Ac%`~? A kA2&"AA^wNA"AZAbAjArAzAAAgs:@AʥU^?sAqn@Ah<AЁ=A?AwA b?A*AԸ9?2AÎֽ:A=BAԸ9?JAÎֽRA=٘i)I9qn@YG J쭼C=JJJJ9E&K Y_~?y SAEŧ77<9B)BE[[?[_~?[[[[[BZYY i) IE?iGEo $@))$@$@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036718.423165 s, next control iter: 1743036718.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10217", header.stamp.nsec: 0"0 temperature: 13.565346"* salinity: 33.375595", density: 1025.000000"* values[0]: 0.577317"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036718.803165 s.xAJ~,gK(AA@Ac@A"`~? AcANM&"AAwNA"AZAbAjArAzAAA + k:@Aacbv:sAYm@A~:A=A=N?AOA U?A&*Aҳ9?2Aֽ:A!!=BAҳ9?JAֽRA!!=٘i)I9m@YG JdJJJJ9)B[[?[_~?[[[[[[BZYY i) };IE?iq]m %@))%@%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036718.823165 s, next control iter: 1743036719.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036719.223165 s.gJ~,HK(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036719.223257F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@Aya@A`~? AZA&"AAwNA"AZAbAjArAzAAASwkb:@AV5sAXJm@AV A?=A?A'AF?Alذ*A9?2A1׽:Ao=BA9?JA1׽RAo=٘i)I9Jm@YkG J-JJJJ?E&K Y' _~?yxSAES77@9B)BE[[E?[}_~?[[[[[BZYY i) aI3E?i嶿kj %+'@))%+'@%+'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036719.243165 s, next control iter: 1743036719.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036719.643165 s.{J~,*K(AA ףp@AYe@A1`~? ARAz &"AA{wNA"AZAbAjArAzAAAC3+W:@A˽0sAl@AqVA[=A?AkA5?A4*A9?2A=׽:A{=BA9?JA=׽RA{=٘i)I9l@YG J@JJJJBE&K Y=_~?yRAE77{7TB9)B[[j?[t_~?[[[[[BZYY i) 3IE?iLe W(@))W(@W(@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036719.663165 s, next control iter: 1743036720.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10218, header.stamp.nsec: 00 temperature: 13.565621* salinity: 33.375576, density: 1025.000000* values[0]: 0.576632F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036720.063165 s.J~,R L(AJ"J*J2J:JBJnJvJA33333@A'&@A`~? AKAg" &"AAuwNA"AZAbAjArAzAAA`'K:@A +sAl@Ams0A|=Ap=?AA ?A}*A9?2A׽:A_=BA9?JA׽RA_=Y??y=V1ٓH`"ӿ Ho"i V?@vӿ |u?@cYQ?)? I٘i)I9l@YG JͶJRw<JJJDE&K;x> Y^~?y@RA?E{7j7D9B)BE[[u?[j_~?[ߨ[[[[BZYY i) iIE?i!e EL*@))EL*@EL*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036720.083165 s, next control iter: 1743036720.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036720.483165 s.|_J~,L(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036720.483300F (some fields omitted in printout)A\h@AQS[@Am`~? ACAн &"AANowNA"AZAbAjArAzAAA~?<:@A{&sAm{k@A5A"`=A?A A` ?A¼*A9?2Aoֽ:AE=BA9?JAoֽRAE=٘i)I9{k@YQG JJJJJGE&K Y^~?y!QAE77E9)B[[N?[w`_~?[e֨[[[[BZYY i) üIE?ihc $+@))$+@$+@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036720.503165 s, next control iter: 1743036720.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10219, header.stamp.nsec: 00 temperature: 13.565900* salinity: 33.375576, density: 1025.000000* values[0]: 0.575883F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036720.903165 s. J~,9L(AJ"J*J2J:JBJnJvJAQ@A&7@AE`~? A,;AX &"AAgwNA"AZAbAjArAzAAARI}L-:@Av$"sAj@A;AL=AA?A@ÿA?A2˼*A9?2AGֽ:A=BA9?JAGֽRA=٘i)I9j@YG JƼJJJJJE&K Y-^~?yڨ[QAE{7G9B)B E[[?[GU_~?[_ͨ[[[[BZYY i) F!˼I|E?iDkW` l-@))l-@l-@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036720.923165 s, next control iter: 1743036721.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036721.323165 s.uJ~,!TL(AAGz@Aho@A`~? AK3A &"AA_wNA"AZAbAjArAzAAA):@AjͻUsAx'j@AO<A=A ?A jſA` ?A'Ѽ*A9?2Ai ֽ:A P=BA9?JAi ֽRA P=٘i)I9'j@YG JμJJJJLE&K Y}^~?ycҨPAE{7I9)B[[?[lI_~?[xĨ[[[[BZYY i) zpҼIEjE?iҫ[ 1.@))1.@1.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036721.343165 s, next control iter: 1743036721.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10220*, header.stamp.nsec: 0*0 temperature: 13.386864** salinity: 33.391624*, density: 1025.000000** values[0]: 0.695320*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036721.743165 s.WJ~,qoL(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084083< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036721.743292F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A U1@An`~? At+AQ &"AAVwNA"AZAbAjArAzAAAĎc :@AHmksA|vi@AsD<Ae=Aqi?A@5DǿA?AMӼ*A<9?2ACֽ:A=BA<9?JACֽRA=٘i)I9vi@YG JҼJJJJOE&K Y^~?yʨuPAEb77JK9)B E[[ @[<_~?[[[[[BZYY iIi)  ټIGXE?iUj0V o0@))o0@o0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036721.763165 s, next control iter: 1743036722.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036722.163165 s.x}"J~,qL(AA@@Ah2@A_~? A#A% &"AAMwNA"AZAbAjArAzAAAE9@Av.)sAh@A;A%=A?AɿA?AӼ*A9?2Aֽ:A*=BA9?JAֽRA*=Y?N'?y$=L;ٓH ٿJ#-?ٿߴ?o=t??)? I٘i)I9h@Y G JӼJ<<JJJRE&K+x> Yn^~?yOA'?Eŧ7b7M9B)BE[[̝@[/_~?[[[[[BZYY i) IjFE?i(ɮT 2@))2@2@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036722.183165 s, next control iter: 1743036722.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036722.583165 s.(J~, SL(AJ"J*J2J:JBJnJvJA)\u@A:h@A_~? AA &"AABwNA"AZAbAjArAzAAA UKB9@A}sAh@AA=Ag@AʿAv?A ϼ*A79?2Ayֽ:Al`=BA79?JAyֽRAl`=٘i)I9h@Y? G JCѼJJJJTE&K Y^~?y빨OAEb7N9)ůB[[P-@[!_~?[j[[[[ZZ¸BZYY i¸=) ԼI4E?iQ 3@))3@3@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036722.623165 s, next control iter: 1743036722.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10221, header.stamp.nsec: 00 temperature: 13.387175* salinity: 33.391651, density: 1025.000000* values[0]: 0.693885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036723.003165 s.{ 0J~,Y4L(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083017< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036723.003297F (some fields omitted in printout)AR@AA|@A_~? A2AS&"AAT7wNA"AZAbAjArAzAAA>V9@A1Z sAOgg@A]@A=Aǿ@A 8̿A dQ?AEjμ*AŠ9?2A#׽:AVF=BAŠ9?JA#׽RAVF=٘i)I9gg@Y G JμJJJJWE&K Y^~?y߱OAE777P9)ʯB[[@[^_~?[[[[[ZZBZYY i) ȼI#E?iM 65@))65@65@y*WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036723.023165 s, next control iter: 1743036723.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036723.423165 s.J "J *J 2J :J s1?BJ s1?nJ :5vJ u6J~,L(AA{G@AF;@A_~? A A&"AAH+wNA"AZAbAjArAzAAAc9@ApcsAzf@APA׮=A@AοA`'?Ay*A9?2A ׽:A<BA9?JA ׽RA<٘i)I9f@Y` G JJJJJZE&K YU^~?yөNAE7tR9B)үBE[[H@[K_~?[[[[[ZZBZYY i) NIE?i`d)H 6@))6@6@y#C=OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036723.443165 s, next control iter: 1743036723.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10222", header.stamp.nsec: 0"0 temperature: 13.387506"* salinity: 33.391659", density: 1025.000000"* values[0]: 0.692476"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036723.843165 s.<J~,L(AAp= @A @A_~? AA~&"AA|wNA"AZAbAjArAzAAA酹i9@Aɔ sAe@A>AΙ=AdT@A~2пA@?A*A]9?2Aֽ:AD<BA]9?JAֽRAD<٘i)I9e@Y G JiJJJJ\E&K Y^~?yơ NAEb77?T9)ٯB[[n@[^~?[[[[[ZZBZYY i) IsE?i  XA Q8@))Q8@Q8@y/Y=!ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036723.863165 s, next control iter: 1743036724.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036724.263165 s.DJ~,M(AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083017< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743036724.263307F (some fields omitted in printout)AL@AQ??@A_~? AiA&"AAwNA"AZAbAjArAzAAAdJx9@ArrA d@A:Ax=Aї@AѿA?Ac*AΫ9?2Aֽ:Ar<BAΫ9?JAֽRAr<٘i)I9d@Y[ G J.JJJJ_E&K Y^~?yMAE{7{7 V9)B[[/Z @[^~?[[[[[ZZBZYY i) ID?iS99 9@))9@9@iYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036724.283165 s, next control iter: 1743036724.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102232, header.stamp.nsec: 020 temperature: 13.3878672* salinity: 33.3916632, density: 1025.0000002* values[0]: 0.6907732F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036724.683165 s.lJJ~,+M(AA(\@A;u@A_~? AA<&"AAwNA"AZAbAjArAzAAAt+,[9@AVnbrA6d@A<AM5=A"@AѿA@?Aռ*A$9?2AJֽ:A;BA$9?JAJֽRA;٘i)I96d@Y G JzJJJJbE&K Y;^~?y0MAEZ7Z7W9 B)BE[[ @[^~?[ǁ[[[[ZZBZYY i) I D?i[/  h;@)) h;@ h;@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036724.683165 s, next control iter: 1743036725.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743036725.103165 s.QJ~,FM(AJ"J*J2J:JBJnJvJAQ@A F@AȾ_~? AA6&"AAvNA"AZAbAjArAzAAAF<9@A!#=ZrA c@AvE<A<A+@AҿA$w?ApL*A 9?2AHֽ:A\6BA 9?JAHֽRA\6٘i)I9c@Y~ G JǼJJJJdE&K Y}^~?yLAE7777Y9 B)BE[[6` @[^~?[0z[[[[ZZBZYY iV=) IBD?i "% <@))<@<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036725.123165 s, next control iter: 1743036725.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036725.523165 s.WJ~,|aM(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036725.523328F (some fields omitted in printout)AHz@A*1 @A_~? A)A&"AAvNA"AZAbAjArAzAAA`[9@AD"rAt c@A;A_"<Az @AӿA&F?Al*A9?2A}ֽ:A!jBA9?JA}ֽRA!j٘i)I9 c@Y- G JJJJJgE&K Yr^~?yALAEŧ77j[9)B[[ @[j^~?[r[[[[ZZBZYY i) IcD?i\o1 v>@))v>@v>@"xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036725.543165 s, next control iter: 1743036725.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10224, header.stamp.nsec: 00 temperature: 13.388204* salinity: 33.391663, density: 1025.000000* values[0]: 0.689326F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036725.943165 s.Zd^J~,J]|M(AJ"J*J2J:JBJnJvJAq= #@AB@A_~? AߩAV&"AAPvNA"AZAbAjArAzAAA.8@A=jrAb@AAλA> @AԿAe?A}5*A9?2AWֽ:ABA9?JAWֽRA٘i)I9b@Y G JhJJJJjE&K Y!g^~?yyKA DE774]9 B)BE[[9W@[^~?[k[[[[ZZBZYY i) iID?iZr ?@))?@?@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036725.963165 s, next control iter: 1743036726.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036726.363165 s.eJ~,>M(AAY@ArdL@AT_~? AةA&"AAvNA"AZAbAjArAzAAAJ8@A}T"rAkb@AAAt @A@lտAd?A*Aa9?2A"ֽ:A"XBAa9?JA"ֽRA"XYR? @yٓH`h ,@n7s? ?` ?|?)R? I٘i)I9kb@Y G JB=J/JJJmE&Ku> YV^~?yVrKA @Eb77^9)B[[i@[nj^~?[Zd[[[[ZZBZYY id=) WI'D?i^Ud dA@))dA@dA@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036726.403165 s, next control iter: 1743036726.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10225&, header.stamp.nsec: 0&0 temperature: 13.388415&* salinity: 33.391689&, density: 1025.000000&* values[0]: 0.688447&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036726.783165 s.VkJ~,M(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036726.783284F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AjQ@A<_~? AѩAo&"AA%vNA"AZAbAjArAzAAA0Bn-8@A+(DrAQb@AYAPTAX @A`CֿAǣ?A_h*An9?2A ֽ:ABAn9?JA ֽRA㼙٘i)I9Qb@Y G J2qC=JJJJoE&K YUF^~?y$kLAE77`9B)BE[[]@[wy^~?[D][[[[BZYY i@=) ,EID?iM C@))C@C@yе=F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036726.803165 s, next control iter: 1743036727.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036727.203165 s.sJ~,M(AAQ@APj@A_~? AtʩA&"AAvNA"AZAbAjArAzAAA`8@A߄WrA\b@A(AE>Aʦ@A׿Ah?AbO;*A9?2A(ֽ:A oBA9?JA(ֽRA o٘i)I9\b@Y G J:JJJJrE&K Y5^~?yc"LAE7{7b9)B[[@[e^~?[[V[[[[BZYY i) '3ID?i}D 4D@))4D@4D@yyZ=V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036727.223165 s, next control iter: 1743036727.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036727.623165 s.QyJ~,CM(AJ"J*J2J:J.0?BJ.0?nJ85vJAG@A@Aw_~? AxéA&"AA%vNA"AZAbAjArAzAAA elevatorAngleAction: 0.069819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036728.043286F (some fields omitted in printout)A= ף0@A4(#@A-j_~? AA &"AAvvNA"AZAbAjArAzAAA ;8@A7}rAtb@Az;A뇀AP@A`LؿA@9?A7<*A9?2Aֽ:Aq BA9?JAֽRAq ٘i)I9b@Y G Jn<JJJJwE&K Y"^~?yU^LAE)7ŧ7*f9)B[[@[ =^~?[I[[[[BZYY i) ;IYD?i+ۻ  G@)) G@ G@y7=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036728.063165 s, next control iter: 1743036728.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036728.463165 s.XJ~,N(AJ"J*J2J:JBJnJvJAfffff@Al\Y@A?\_~? AõA&"AAWavNA"AZAbAjArAzAAA^m 8@An67rA~c@A J<A*A@AٿA:?A<@e<*A9?2Aֽ:AL BA9?JAֽRAL Yߏ@@ylJ<ٓH@ ?d?@$<?A?@?)ߏ@ I٘i)I9c@Y: G JL<JJJJzE&Kx> Y^~?yNLA@E777g9B)E[[VW@['^~?[B[[[[BZYY i\h=) HI|D?i$ӻ  I@)) I@ I@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036728.483165 s, next control iter: 1743036728.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10227, header.stamp.nsec: 00 temperature: 13.388406* salinity: 33.391727, density: 1025.000000* values[0]: 0.688555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036728.883165 s.yJ~,<8N(AA(@A}@AM_~? A A&"AAKvNA"AZAbAjArAzAAA7;7@As8rA;c@A4<AA@A ]ڿAe?A @<*A9?2Anֽ:ABA9?JAnֽRAI٘i)I9c@Yz G J_y<JJJJ}E&K Y]~?yPHMAE77i9B)BE[[@[^~?[t<[[[[BZYY i) TIxD?i3ǻ (G)))GJ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036728.903165 s, next control iter: 1743036729.283177 s, wait time: 0.380012 s*]~?)*PH rAdjusting time to match Gazebo time: 1743036729.303165 s.XJ~,gSN(AJ"J*J2J:JW0?BJW0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056665< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036729.303293F (some fields omitted in printout)A@A8@A ?_~? AiA$&"AA5vNA"AZAbAjArAzAAA8S7@AprAd@A};AlA3@A $ۿA ?Ab<*At9?2Ajֽ:AqBAt9?JAjֽRAq٘i)I9d@Y G Jd<JJJJE&K YI]~?yAyMAEk9)B[[M@[]~?[i6[[[[BZYY i) »ICpD?iH )F)))F L@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036729.323165 s, next control iter: 1743036729.703178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102282, header.stamp.nsec: 020 temperature: 13.3882712* salinity: 33.3916972, density: 1025.0000002* values[0]: 0.6892072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036729.723165 s.J~,HnN(AAz@Ak{@A/_~? AࡩA&"AAvNA"AZAbAjArAzAAAO@Ɋ7@AeŒrA d@A&A`A2u@A ۿA`F?A<*A;9?2Aֽ:A:BA;9?JAֽRA:٘i)I9d@Y G J<JJJJE&K Y]~?y;MAEUm9B)BE[[b@[]~?[0[[[[BZYY i) IiD?i D))DM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036729.743165 s, next control iter: 1743036730.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036730.143165 s.W/J~, *N(AJ"J*J2J:JBJnJvJA ףp=@AjN^d0@A& _~? AoA&"AAvNA"AZAbAjArAzAAAyEL[7@A.urA)e@AwAA$AD@AܿAԑ?A <*A9?2Aս:ABA9?JAսRA٘i)I9)e@Yx G J<JJJJE&K Y ]~?yr46NAEZ7Z7o9)B[[g:@[9]~?[*[[[[BZYY iEC=) %IbD?i쾉z [C))[CZO@y{h=]*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036730.163165 s, next control iter: 1743036730.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036730.563165 s.J~,V N(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743036730.563300F (some fields omitted in printout)A3333s@Az0)f@A_~? AAz&"AAuNA"AZAbAjArAzAAAtb*7@AE.żrAe@AnEA A@A@iݿA` G?At<*A9?2Aֽ:Ag BA9?JAֽRAg Y @@y~EٓHZ?@?fgQ̪?砈 2?) @ I٘i)I9e@Y G J&<J'JJJE&Kw> Yb]~?yr.NA@E77p9B)BE[[@[J]~?[e%[[[[BZYY i) 0NI\D?iܾj )A)))AP@yHh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036730.603165 s, next control iter: 1743036730.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10229, header.stamp.nsec: 00 temperature: 13.388061* salinity: 33.391731, density: 1025.000000* values[0]: 0.690218F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036730.983165 s.J~,N(AJ"J*J2J:J0?BJ0?nJG95vJA\@A@A^~? AڎAh&"AAuNA"AZAbAjArAzAAAOW6@A "rA4df@Ak?AWA\@Ag(޿A?A1<*A9?2A6pֽ:Ak{BA9?JA6pֽRAk{٘i)I9df@Y8 G JI<JJJJE&K Y]~?ys( OAEŧ7r9B)BE[['!@[]~?[ [[[[BZYY i) >IfWD?iVɾ~ۀ a"@))a"@TQ@y=w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036731.003165 s, next control iter: 1743036731.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036731.403165 s.&J~,N(AAQ@A1@A^~? AAM&"AAuNA"AZAbAjArAzAAAF6@A[tE8rAf@A\;A-"A˵@A@޿A`?AQ<*Aϯ9?2A~ֽ:ACBAϯ9?JA~ֽRAC٘i)I9f@Y G J<JJJJE&K Yz]~?yt"sOAE777t9)B[["@[]~?[[[[[BZYY i) mIRD?iٱc s>))s>BwS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036731.423165 s, next control iter: 1743036731.803181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10230, header.stamp.nsec: 00 temperature: 13.387832* salinity: 33.391727, density: 1025.000000* values[0]: 0.691285F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036731.823165 s.J~,!N(AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743036731.823272F (some fields omitted in printout)AGz@A`n@A\^~? AA&"AAѣuNA"AZAbAjArAzAAA#ː6@ANXڊrAg@A)2<AA! @A@߿AW?AǸ<*A9?2AUֽ:ABA9?JAUֽRA٘i)I9g@Y G J<JJJJE&K Yee]~?yuOAEJv9B)BE[[ $@[r]~?[[[[[BZYY i) jFӹIND?i@ /=))/=T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036731.843165 s, next control iter: 1743036732.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036732.243165 s.J~,mO(AAףp=J@Am3=@A^~? A|A&"AANuNA"AZAbAjArAzAAA]Hik[6@A{rA h@AxP<A]WAr[@A )A?A„<*A9?2Aֽ:A]BA9?JAֽRA]٘i)I9h@Y? G J1<JJJJE&K YP]~?yuFPA Eb7b7x9)ܯB[[z%@[[]~?[A[[[[BZYY i) %:I]KD?in ;));gV@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036732.263165 s, next control iter: 1743036732.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036732.663165 s.J~,q*O(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10231, header.stamp.nsec: 00 temperature: 13.387638* salinity: 33.391747, density: 1025.000000* values[0]: 0.692274F (some fields omitted in printout)A@Amr@A^~? AvA=f&"AA5nuNA"AZAbAjArAzAAAݿC$6@AJ2\drAh@A<AߎA@AʀA?A<*A9?2Aֽ:ABA9?JAֽRAY@@yvގiE<ٓHotK?jC?׆gPر?`??)@ I٘i)I9h@Y G J3<JG<JJJE&K!x> Y5:]~?y%PA@ Ej7j7y9B)گB޹E[[k&@[B]~?[ [[[[BZYY i) :IHD?ivK67 A:))A:W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036732.683165 s, next control iter: 1743036733.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036733.083165 s.DJ~,REO(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036733.083277F (some fields omitted in printout)A)\µ@A܂@A^~? AKqA&"AARuNA"AZAbAjArAzAAA$F5@A7rAi@AAA( @AGAZ?A]<*A9?2A-wֽ:ABA9?JA-wֽRA٘i)I9i@Y G J<JJJJE&K Y#]~?y QAE{7{9"B)ٯBڹE[[ \(@[#*]~?[=[[[[BZYY i) ȉ;IyFD?is `ͺ 8))8SY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036733.103165 s, next control iter: 1743036733.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036733.503165 s.J~,D4`O(AJ"J*J2J:JBJnJvJAR@AO}@AD^~? AkAD&"AAK6uNA"AZAbAjArAzAAAJ-5@AedvrAvi@AzAqZAU*"@A@)A?AF<*A9?2ADֽ:A%BA9?JADֽRA%٘i)I9i@Y3G Jݝ<JJJJE&K Y( ]~?yfQAE777u}9$B)֯B׹E[[h)@[f]~?[[[[[BZYY i)  Z;IDD?i۽ V7))V7Z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036733.523165 s, next control iter: 1743036733.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10232, header.stamp.nsec: 00 temperature: 13.387428* salinity: 33.391743, density: 1025.000000* values[0]: 0.693185F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036733.923165 s.7J~,{O(AA{G!@AO?@A^~? AFfAC&"AAuNA"AZAbAjArAzAAA'`:x5@A$l1rA'j@AQA-AYt#@A:|A`R?A<*A9?2A elevatorAngleAction: 0.066046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036734.343299F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@A%̴I@Am^~? A`A&"AA,tNA"AZAbAjArAzAAAT=5@ArAj@AhA'A$@AJAۚ?A`<*AD9?2A{ֽ:A5]BAD9?JA{ֽRA5]٘i)I9j@YG JƗ<JJJJE&K Y\~?y&RAE{7 9%B)ЯBԹE[[Λ,@[\~?[6[[[[BZYY iu=) ;I}DD?i]<X9 p4))p4&]@ȶ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036734.363165 s, next control iter: 1743036734.743180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10233*, header.stamp.nsec: 0*0 temperature: 13.387256** salinity: 33.391747*, density: 1025.000000** values[0]: 0.694073*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036734.763165 s.4J~,ذO(AǍ@A~߿@AY^~? A[A&"AAOtNA"AZAbAjArAzAAA"k5@AQ~ÙrA k@AAvAt&@A`A?A;&<*A,9?2Aֽ:AXBA,9?JAֽRAXYs@&@yvyόٓH`(J?>? Xç@㋰?Q?)s@ I٘i)I9 k@YG J6<J0F<JJJE&K&x> Y\~?yPRA&@E77Ղ9'B)ίBѹE[[.@[5\~?[[[[[BZYY i) ;I1ED?iQ=_:: 2))2 _@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036734.803165 s, next control iter: 1743036735.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036735.183165 s.J~,xO(AJ"J*J2J:JBJnJvJA(\@A@AgE^~? AVA&"AAtNA"AZAbAjArAzAAA4@A6rAk@AH<AAms'@AjA{?Ae<*A9?2A ׽:ANiBA9?JA ׽RANi󼙘٘i)I9k@Y`G Jވ<JJJJE&K Yӯ\~?yRAEj7j79(B)̯BιE[['p/@[\~?[[[[[BZYY i) $;IFD?i==|: )1)))1`@]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036735.203165 s, next control iter: 1743036735.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036735.603165 s.94J~,O(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075030< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036735.603287F (some fields omitted in printout)AQ@A{G@A0^~? AQAG&"AAtNA"AZAbAjArAzAAAj4@A.Q9rA+l@AO<ADRA(@AAw[?A<*Am9?2A׽:A,BAm9?JA׽RA,٘i)I9l@YG J<JJJJE&K Y\~?y*1SAEZ7Z7j9)B)ɯB͹E[[0@[ \~?[[[[[BZYY i) :D: 90))90|b@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036735.643165 s, next control iter: 1743036736.003180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10234 , header.stamp.nsec: 0 0 temperature: 13.387097 * salinity: 33.391754 , density: 1025.000000 * values[0]: 0.694903 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036736.023165 s.ZJ~,{P(AJ"J*J2J:JBJnJvJAHz.@AR* !@A^~? ALA}&"AAtNA"AZAbAjArAzAAA3eF4@AϴrAll@Av0<AڅA*@AA?AQZ<*A9?2Acֽ:ABA9?JAcֽRA٘i)I9ll@YG JI<JJJJE&K Y\~?ySA!Eŧ7ŧ759*B)ǯBʹE[[+;2@[iy\~?[[[[[BZYY i) xW; .)).pc@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036736.063165 s, next control iter: 1743036736.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036736.443165 s.8J~,B]P(AAq= c@A|V@A^~? A7HAX&"AAatNA"AZAbAjArAzAAAC+!4@A.>8!ٍrAl@AR;AAAV+@A@DA?A<*A9?2Ąֽ:ABA9?JĄֽRA٘i)I9l@Y'G J<JJJJE&K Ybg\~?ySA#E7779,B)ůBǹE[[y3@[_\~?[[[[[BZYY i) #4; mB-))mB-Hd@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036736.463165 s, next control iter: 1743036736.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10235, header.stamp.nsec: 00 temperature: 13.386940* salinity: 33.391743, density: 1025.000000* values[0]: 0.695633F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036736.863165 s.+ J~,>7P(AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075030< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036736.863331F (some fields omitted in printout)A@Ap!@AC]~? ACA]&"AApAtNA"AZAbAjArAzAAAS`3@A|vXrAMm@AƻA9A,@AAk?A,<*A9?2A^ֽ:A{7BA9?JA^ֽRA{7Y@џ,@y\8ƻٓH ۿ`r׭?r?@̤ C?x@3?)@ I٘i)I9Mm@YmG J<JKۻJJJE&Kw> YM\~?y:?TA,@&EZ7Z7ʋ9-B)ïBĹE[[5@[E\~?[[[[[BZYY i) f 3@XN; ++))++If@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036736.883165 s, next control iter: 1743036737.263182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036737.283165 s.3RJ~,RP(AA(\@AJP@Az]~? AA?A>&"AA tNA"AZAbAjArAzAAA[ǂ+3@A`rAUm@A GAmA-@A A:=?Awo<*A~9?2A<ֽ:AeBA~9?JA<ֽRAe٘i)I9m@YG J<JJJJE&K Y_4\~?yqݧTA)Eb7b79)B[[xc6@[+\~?[[[[[BZYY i) B\`m; j*))j*g@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036737.323165 s, next control iter: 1743036737.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10236., header.stamp.nsec: 0.0 temperature: 13.386785.* salinity: 33.391739., density: 1025.000000.* values[0]: 0.696415.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036737.703165 s.غJ~,mP(AJ"J*J2J:JH2?BJH2?nJ:5vJAQ@ABz@Ai]~? A:A6 &"AAusNA"AZAbAjArAzAAA8@3@A7ąrA@n@ABAsA-/@A` An?AL?<*A9?2AHXֽ:A^ BA9?JAHXֽRA^ ٘i)I9@n@YG Jǒ<B=JJJJE&K Y\~?y٧TA,Eŧ7`9/B)BE[[7@[y\~?[5[[[[BZYY i)  RЏ; ))))i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036737.723165 s, next control iter: 1743036738.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036738.123165 s.3!J~,LP(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075030< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743036738.123272F (some fields omitted in printout)AG:@AN-@A]~? A6At\&"AAsNA"AZAbAjArAzAAAɸfE2@Aes>rAn@AAXA‚0@AIA@?AJ<*A9?2ANֽ:AA BA9?JANֽRAA ٘i)I9n@YMG J<C=JJJJE&K Y]\~?yէVUA.E7777*90B)BE[[!9@[o[~?[ [[[[BZYY i[=) ua߹;  ')) 'j@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036738.143165 s, next control iter: 1743036738.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036738.543165 s.I(J~,âP(AJ"J*J2J:JBJnJvJA= ףp@A*Wxc@Au]~? A2A&"AAƻsNA"AZAbAjArAzAAA.x2@A΀rAP:o@AsN;AY<AB1@AA~?A4<*Aw9?2Aֽ:AȉBAw9?JAֽRAȉ٘i)I9:o@YG J<JJJJE&K Y[~?yҧUA1E7791B)BE[[{:@[s[~?[[[[[BZYY i)  qp?`%V5? ͆??)%@ I٘i)I9o@YG J2<J_FJJJE&K0x> Y@[~?y ϧVA$3@4E7794B)BE[[;@[[~?[Dާ[[[[BZYY i) ! elevatorAngleAction: 0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743036739.383285F (some fields omitted in printout)A(@A*q@Axj]~? AN+AXB &"AA~vsNA"AZAbAjArAzAAASYJ,2@Aa3|rA!2p@AFML<A䗽A:4@AA?A/<*AB9?2A׽:A BAB9?JA׽RA ٘i)I92p@Y0G Jϓ<JJJJE&K Y[~?y+̧zVA6E79)B[[5=@[è[~?[ܧ[[[[BZYY i) }D?iD#?`; eb#))eb#Pn@yH=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036739.403165 s, next control iter: 1743036739.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10238&, header.stamp.nsec: 0&0 temperature: 13.386446&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.698134&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036739.803165 s.xA<J~,gP(AA@AlЗ@AS]~? A'AF &"AALSsNA"AZAbAjArAzAAA }1@AlzrAp@Avz;AoA5@A-A3?Aq<*A9?2Aֽ:ANBA9?JAֽRAN٘i)I9p@Y~G J<JJJJE&K Y[~?y6ɧVA9E7U95B)BE[[>@[[~?[2ۧ[[[[BZYY i) YX?A<*A 9?2Ahֽ:AOBA 9?JAhֽRAO٘i)I9:q@YG Jk<JJJJE&K Yu}[~?yAƧBWA elevatorAngleAction: 0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743036740.643315F (some fields omitted in printout)A ףp}@A|)E{7Z7뛂98B)BE[[1:A@[YZ[~?[ا[[[[BZYY i)  YtG[~?y3XA9@AE7799B)BE[[rB@[@[~?[ק[[[[BZYY i) V elevatorAngleAction: 0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743036741.903317F (some fields omitted in printout)AQ@A(@A1\~? A:A{!&"AAfrNA"AZAbAjArAzAAAjy0@A/+prAs@AAA@<@AxA`?A*<*A9?2Ajֽ:A"&BA9?JAjֽRA"&٘i)I9s@YBG J1<C=JJJJE&K Y[~?yXAFEj7j7K9)B[[9E@[ [~?[֧[[[[BZYY i) 6lmrAt@AtP<ACA>@A cA@?A8<*A9?2A׽:AfBA9?JA׽RAf٘i)I9t@YG J4<JJJJE&K YZ~?yθYALEZ7Z7ं9 elevatorAngleAction: 0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036743.163292F (some fields omitted in printout)Z~?)θA@A'@A\~? AAW"&"AAj.rNA"AZAbAjArAzAAAPV( 2/@AHlrAyu@A!*<A.A7@@AԅA?Ak<*A&9?2Aֽ:AkBA&9?JAֽRAkY#2@()@@y\,qv+<ٓH`J&??@yTY@?jZ?C?)#2@ I٘i)I9yu@YgG J.<B=JNJJJE&Kx> YZ~?yGZA)@@NE7j79>B)BE[[`)I@[Z~?[է[[[[BZYY i) ξ"&"AAqNA"AZAbAjArAzAAA-oӷ.@A}rirAv@AgֻAAB@A@{Ax?A<*AL9?2A%$ֽ:ABAL9?JA%$ֽRA٘i)I9v@Y8G J<JJJJE&K YZ~?y%3[ATE77@9@B)BE[[[K@[Z~?[A֧[[[[BZYY i) :9 elevatorAngleAction: 0.084160< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036744.423289F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A+A_볽AME@AYAJ?A<*A9?2A$ֽ:ABA9?JA$ֽRA٘i)I9;x@YG J<JJJJE&K Y#NZ~?y \AYE{7{7խ9BB)BE[[WN@[WZ~?[>ק[[[[ZZZZ¸>BZYY i¸>) } Y1Z~?ya\AF@\E9)zB[[O@[a>Z~?[ק[[[[ZZZZBZYY i) u))G>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036745.283165 s, next control iter: 1743036745.663175 s, wait time: 0.380010 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 102446, header.stamp.nsec: 060 temperature: 13.3850926* salinity: 33.3917056, density: 1025.0000006* values[0]: 0.7049186F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036745.683165 s.lJ~,kR(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036745.683276F (some fields omitted in printout)A(\@AE.8@A[~? AA`1#&"AAHqNA"AZAbAjArAzAAAtӊ+@A7IerAy@AG;A+AG@AA!A`0?A <*Aۅ9?2Aֽ:ABAۅ9?JAֽRA٘i)I9y@YG JA<JJJJE&K YZ~?y ]A^Ej7Z7k9CB)uBE[[$P@[$%Z~?[ا[[[[ZZZZBZYY i) m<ArAHA 3A)?A/<*Aԓ9?2Aֽ:A, BAԓ9?JAֽRA, ٘i)I9z@YG J =JJJJE&K YY~?y]AaE777759DB)oBE[[a3R@[ Z~?[٧[[[[ZZZZBZYY i) dxS@[YY~?[ۧ[[[[ZZZZBZYY i) \R(AA@AXᖏ@A[~? A?A#&"AApNA"AZAbAjArAzAAA(LPo')@AG$crA*|@AA׼ADA a]A ^?Aת<*A 9?2Aǔֽ:AS:BA 9?JAǔֽRAS:Y-?@Dy׼򜧺ٓH)?`? 抰;?e?@T'?)-?@ I٘i)I9|@YG J<J>JJJE&Kx> YY~?y^ADiEZ7SI79)aBE[[kV@[Y~?[ݧ[[[[ZZZZBZYY i) 5vJA(\@AްmQ@A x[~? AA\#&"AAqpNA"AZAbAjArAzAAAS7M(@A29brAS<}@AԛA@A0CAfA@?Akڅ<*A9?2Aֽ:AA <BA9?JAֽRAA <٘i)I9<}@Y G J(<JJJJE&K YY~?y5^AlE7777`9GB)]BE[[uFW@[Y~?[ߧ[[[[ZZZZBZYY i) A`rAܐAxdh*A]9?2A/ֽ:A6<BA]9?JA/ֽRA6y1=<ٓH?ſ`8W?5ց??)E@ I٘i)I9}@YG J}B=J)>JJJE&Kv> YY~?y`^Aq>wE779DB)wE[[ J\@[IY~?[[[[[BZYY ih) {85vJAQ@AD@A4Z~? AA#&"AADoNA"AZAbAjArAzAAAreSK$@A<{XbrA}@AbY(<A w=Az;A`ohA[A=*Aw9?2A"ֽ:A=BAw9?JA"ֽRA=٘i)I9}@YNG JJJJJE&K YKX~?yJ^A|E77{7 ł9)XBqE[[s^@[CY~?[_[[[[BZYY i) 5vJA ףp@AWe@AfZ~? AAt#&"AAJoNA"AZAbAjArAzAAAFD*#@ABcrAO|@AӻA=A39A )TAA Ã*AÍ9?2ARֽ:A] =BAÍ9?JARֽRA] =٘i)I9|@YG JvC=JJJJ E&K Y~X~?y3^AE{7j7Ȃ9EB)^BkE[[j))>0@yߵŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036751.163165 s, next control iter: 1743036751.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036751.563165 s.J~,[ S(AA3333@A(@AZ~? AAIr#&"AA#oNA"AZAbAjArAzAAARtPt#@A c;drAR|@A DA論=A7A5FA VRALő*Ah9?2ABֽ:A =BAh9?JABֽRA =Y`+L@47y$=DٓH?`Tп@в)@A?)`+L@ I٘i)I9R|@YG JJ!=JJJE&Kx> YBX~?y]A7EZ7ʂ9)bBhE[[rxb@[@X~?[[[[[BZYY i) % ;IF?iV@< ))4^@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036751.603165 s, next control iter: 1743036751.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10250, header.stamp.nsec: 00 temperature: 13.384548* salinity: 33.391678, density: 1025.000000* values[0]: 0.708061F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036751.983165 s.J "J *J 2J :J C5?BJ C5?nJ >5vJ J~,S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036751.983288F (some fields omitted in printout)A\(@Aǜg@AtZ~? AA^#&"AAinNA"AZAbAjArAzAAA(5\f"@AtfdrAA{@A6AQ=A}6A 5ATA㞼*A9?2Aֽ:A*& =BA9?JAֽRA*& =٘i)I9{@YEG JJJJJE&K YrX~?yܿ=]AEj7K̂9DB)fB[[ܲc@[X~?[[[[[BZYY i) ;IF?iN@ս< Q))Qi@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036752.003165 s, next control iter: 1743036752.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036752.403165 s.'J~,T(AAQ^@A鷯Q@A [Z~? AZAbH#&"AAknNA"AZAbAjArAzAAAxQH!@A.erAH{@AƏAi-=AN5A@5#AپA*A9?2Aֽ:A)=BA9?JAֽRA)=٘i)I9H{@YG JJJJJE&K YVX~?y0§\AE΂9)jBeE[[{d@[X~?[[[[[BZYY i) (b;IBG?i@N'< ))@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036752.423165 s, next control iter: 1743036752.803184 s, wait time: 0.380019 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10251", header.stamp.nsec: 0"0 temperature: 13.384783"* salinity: 33.391685", density: 1025.000000"* values[0]: 0.707131"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036752.823165 s. J~,-4T(AJ"J*J2J:J5?BJ5?nJ=5vJAGz@Ago@AAZ~? AA.#&"AAnNA"AZAbAjArAzAAA”b/!@Al΁frA7z@Aq˘;A>d=A 4A RAHAm*A9?2A%5ֽ:A=BA9?JA%5ֽRA=٘i)I9z@YG JޯJJJJE&K Y;X~?yħs\AEŧ7b7ς9)oBbE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #60q/<^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) b;)X۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036752.863165 s, next control iter: 1743036753.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036753.243165 s.J~,mOT(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.066186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036753.243290F (some fields omitted in printout)Aףp=@A]L3@A(Z~? AQ A#&"AAчnNA"AZAbAjArAzAAAq\ @A)ugrAz@A8<A$=A2A"A~#ÿAx*AҠ9?2Aֽ:A=BAҠ9?JAֽRA=٘i)I9z@Y8G J巼JJJJE&K YU X~?yƧ\AE7777т9)sB_E[[qVg@[X~?[.[[[[BZYY i) q%;I3G?i@U<  ))  4͌@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036753.263165 s, next control iter: 1743036753.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036753.663165 s.J~J"J,qjT(A*J2J:J4?BJ4?nJ=5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10252, header.stamp.nsec: 00 temperature: 13.385071* salinity: 33.391674, density: 1025.000000* values[0]: 0.706049F (some fields omitted in printout)A@A#3@AZ~? A A+"&"AA;anNA"AZAbAjArAzAAA%u@AZhrA|y@A<<Aޝ=A1AwAſA*Ap:?2A:A =BAp:?JARA =YTSR@@1y۝=p=<ٓH?`ry`ֿ`~?!?)TSR@ I٘i)I9|y@YG JٻJ <JJJE&Kj> YX~?yɧ[A1E7b7vӂ9)xB\E[[h@[jX~?[[[[[BZYY i) :IuVG?i,"@< ")))3h@C۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036753.683165 s, next control iter: 1743036754.063191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743036754.083165 s.D!J~, ST(AA)\5@ACV(@ALY~? A Ae"&"AA:nNA"AZAbAjArAzAAACbS@ASirAx@AG;A=A?1AKA2ƿA:̸*As:?2A+ý:A*4 =BAs:?JA+ýRA*4 =٘i)I9x@YyG J4JJJJE&K YW~?yͧ:[AEb77@Ղ9)}BYE[[Ei@[UX~?[<[[[[BZYY i) 6:IyG?i%@[Y< 0))0쿩@֪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036754.103165 s, next control iter: 1743036754.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036754.503165 s.'J~,z4T(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: -0.066186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036754.503313F (some fields omitted in printout)ARk@Ad:tz^@A Y~? AA"&"AA_nNA"AZAbAjArAzAAA1?@AjrAZFx@A=KA =Aq/A@پAY<ȿA*A :?2AŽ:A-P=BA :?JAŽRA-P=٘i)I9Fx@YG JJJJJ!E&K Y1W~?y>ЧZAE777 ׂ9)BZE[[3j@[FAX~?[ [[[[BZYY i) ĢcI.G?iu(@A< ))鿩@iӪY|mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036754.523165 s, next control iter: 1743036754.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10253, header.stamp.nsec: 00 temperature: 13.385364* salinity: 33.391655, density: 1025.000000* values[0]: 0.704914F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036754.923165 s.:.J~,T(AA{G@At5=@AY~? A*An"&"AA mNA"AZAbAjArAzAAAr^@A@lrA w@AF#A8==A.AwAZɿAZN*A:?2AȽ:A=BA:?JAȽRA=٘i)I9w@YG JJJJJ#E&K YζW~?y`ӧfZAEŧ7b7؂9)BWE[[F)l@[-X~?[[[[[BZYY i) $@I6G?i2,@@i< d))d翩6@(ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036754.943165 s, next control iter: 1743036755.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036755.343165 s.<5J~,T(AJ"J*J2J:JBJnJvJAp= @A()@A֩Y~? AqAT"&"AA mNA"AZAbAjArAzAAAӬ4/@A2mrA"w@AZ=A=A:-AՉAT˿AMA*A:?2Ay˽:A<BA:?JAy˽RA<٘i)I9"w@YiG J`JJJJ&E&K YlW~?y֧YAE777ڂ9CB)BTE[[)Ym@[X~?[[[[[BZYY i) I G?iS0@< +))+忩Ώ@ ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036755.363165 s, next control iter: 1743036755.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10254*, header.stamp.nsec: 0*0 temperature: 13.385601** salinity: 33.391647*, density: 1025.000000** values[0]: 0.703821*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036755.763165 s.9;J~,'T(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036755.763300F (some fields omitted in printout)A @A@AY~? AA'"&"AA+mNA"AZAbAjArAzAAADv@A~LorAv@AAɒ=AD,AiA7̿Ah*A:?2Aͽ:A<BA:?JAͽRA YW~?yUڧYAL,E77j7k܂9)BQE[[n@[LX~?[[[[[BZYY i) CIH?i 3@E,< [))[⿩g@ʪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036755.783165 s, next control iter: 1743036756.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036756.183165 s.BJ~,g U(AJ"J*J2J:J 4?BJ 4?nJ<5vJA(\B@AE.85@A(xY~? AlA!&"AA|mNA"AZAbAjArAzAAA@A藮prAqv@A :AA=A*A`EAοAϦ*A*:?2AbϽ:A =BA*:?JAbϽRA =٘i)I9v@YG JJJJJ+E&K YiW~?y(ާ7YAEb776ނ9)BNE[[ao@[W~?[[[[[BZYY i) I6H?i'6@'< >))>࿩,@+ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036756.203165 s, next control iter: 1743036756.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036756.603165 s.?4IJ~,К&U(AAQx@AIbIk@A_Y~? A!A!&"AAWmNA"AZAbAjArAzAAA03R@AUrrA|u@Af<Aj=A)A/A`2пA*A:?2Afѽ:Aň=BA:?JAfѽRAň=٘i)I9|u@YiG JMB=JJJJ.E&K YPW~?yXAE7779)B[[p@[W~?[[[[[BZYY i) nI^H?i9@~< kݿ))kݿ@*ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036756.623165 s, next control iter: 1743036757.003180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10255, header.stamp.nsec: 00 temperature: 13.385859* salinity: 33.391644, density: 1025.000000* values[0]: 0.702779F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036757.023165 s.ZPJ~,$|AU(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066186< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036757.023304F (some fields omitted in printout)J"J*J2J:JBJnJvJPW~?)AHz@A!A @AGY~? AAc!&"AA1mNA"AZAbAjArAzAAA$@A#1NtrAt@A]@<AE,=A2a(A`fAѿA<*A:?2ABҽ:A)=BA:?JABҽRA)=٘i)I9t@YG JuC=JJJJ1E&K Y6W~?yrXAE9)BKE[[r@[W~?[+$[[[[BZYY igٙ) +IzH?i=@N< Kۿ))KۿH.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036757.043165 s, next control iter: 1743036757.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036757.443165 s.5VJ~,5]\U(AAq= @A1y@A.Y~? A AJT!&"AA mNA"AZAbAjArAzAAAo\t\@AEurAlt@A <A=A'AA %ѿA,՜*A~:?2A2 Խ:Ag<BA~:?JA2 ԽRAg<٘i)I9lt@YG J&JJJJ3E&K Y>W~?yXAE9BB)BHE[[Cs@[W~?[([[[[BZYY i) ۻI(H?iA@< O0ٿ))O0ٿÒ@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036757.463165 s, next control iter: 1743036757.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10256, header.stamp.nsec: 00 temperature: 13.386128* salinity: 33.391632, density: 1025.000000* values[0]: 0.701808F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036757.863165 s.+]J~,>wU(AJ"J*J2J:J3?BJ3?nJc<5vJA@A& @AY~? A'$A:!&"AA`lNA"AZAbAjArAzAAAl8@AswrAs@A>:A=Aq%AzA@`ҿA*Au:?2AAս:A6<BAu:?JAAսRA6;)?;@xG?`?)m^@ I٘i)I9s@YuG JJ1BJJJ6E&K|> Y2W~?yBWA%Ej7Z7a9)BEE[[qt@[KW~?[-[[[[BZYY i) IbH?iND@=F< ֿ))ֿZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036757.883165 s, next control iter: 1743036758.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036758.283165 s.BRdJ~,U(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036758.283302F (some fields omitted in printout)A(\O@AGRB@AX~? Av'A3 &"AAlNA"AZAbAjArAzAAAB.p@AyrArs@AeAl=AP$AeA ӿA)*Al:?2Aֽ:A#<BAl:?JAֽRA#<٘i)I9rs@Y+G JTJJJJ9E&K Y'V~?yXWAE77+9)BCE[[u@[XW~?[1[[[[BZYY i) _ I;I?i-G@< yԿ))yԿn@y^ęлYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036758.303165 s, next control iter: 1743036758.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10257., header.stamp.nsec: 0.0 temperature: 13.386356.* salinity: 33.391632., density: 1025.000000.* values[0]: 0.700884.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036758.703165 s.ֺjJ~,U(AJ"J*J2J:JBJnJvJAQ@Ax@AeX~? A*A7 &"AA!lNA"AZAbAjArAzAAA W/@A{rAr@AZ>AB=A"AK0AjԿAY*A&d:?2Aޢֽ:A̪<BA&d:?JAޢֽRA̪<٘i)I9r@YG JWB=JJJJE&K YV~?y#VAE9AB)B@E[[w@[rW~?[;[[[[BZYY i) ,IiN@@= Ͽ))Ͽ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036759.143165 s, next control iter: 1743036759.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036759.543165 s.IxJ~,U(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036759.543284F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@A@AX~? AI2A &"AAGYlNA"AZAbAjArAzAAA=ܰ@AɐxrAur@Aa1Aˌ=AYb AADֿAp*AS:?2Atֽ:A=BAS:?JAtֽRA=٘i)I9r@YTG JzJJJJAE&K Y V~?yEVAE779)B=E[[Py@[aW~?[?[[[[BZYY i) ;IiR@v= ߀Ϳ))߀Ϳ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036759.563165 s, next control iter: 1743036759.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10258, header.stamp.nsec: 00 temperature: 13.386577* salinity: 33.391624, density: 1025.000000* values[0]: 0.700054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036759.963165 s.y~J~,U(AAffff& @A$}Z @AX~? A/6A&"AAg6lNA"AZAbAjArAzAAA_ @AقrAq@A;Ak׎=A A`PA ׿AE*AL:?2Aϭֽ:Ae=BAL:?JAϭֽRAe=Y e@ty֎=n;ٓHTLn? w^;j%ױ w??) e@ I٘i)I9q@Y G J֒J8;JJJDE&Kz> YV~?y"UAEj7j7V9@B)B:E[[Ez@[ QW~?[D[[[[BZYY i) XJIiST@B= +˿))+˿D@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036760.003165 s, next control iter: 1743036760.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036760.383165 s.؅J~,8V(AJ"J*J2J:JBJnJvJA(\ @ARO @AkX~? A9:Ar&"AAlNA"AZAbAjArAzAAAϺR|; @Aq ,QrAq@A`7<A=AAFA׿A:*AE:?2Aֽ:A =BAE:?JAֽRA =٘i)I9q@YG JyJJJJFE&K YExV~?y UAEb77!9)B[[ o{@[@W~?[I[[[[BZYY i) TZIiV@6 = kȿ))kȿٖ@$ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036760.403165 s, next control iter: 1743036760.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10259", header.stamp.nsec: 0"0 temperature: 13.386809"* salinity: 33.391617", density: 1025.000000"* values[0]: 0.699193"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036760.803165 s.xAJ~,g3V(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036760.803316F (some fields omitted in printout)A @Am9 @AuX~? Ah>Aq"&"AAkNA"AZAbAjArAzAAA۠ @AVBއrAp@AZ0<Aq=AAA@ؿAr*A>:?2Aֽ:A* =BA>:?JAֽRA* =I٘i)I9p@YkG JEB=JJJJIE&K YaV~?y%UAEZ7Z79)B8E[[|@[0W~?[N[[[[BZYY i9) iIiY@pz = ƿ))ƿtm@yɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036760.823165 s, next control iter: 1743036761.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036761.223165 s.gJ~,HNV(AJ"J*J2J:JBJnJvJAz @AqTn @A_X~? ABA&"AA.kNA"AZAbAjArAzAAAZZo@A:rAEp@A0*;A=AF,A@BA@PٿA*A8:?2A,׽:A =BA8:?JA,׽RA =٘i)I9p@YG JC=JJJJLE&K YKV~?y?TAEŧ7b79?B)B5E[[}@[+!W~?[T[[[[BZYY i) SyIiP]@ = G=Ŀ))G=Ŀ@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036761.243165 s, next control iter: 1743036761.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036761.643165 s.{ЙJ~,*iV(AA ףp @Ae @AAIX~? A0GAy&"AAkNA"AZAbAjArAzAAAU@ADx";rAo@AՂ{A=AA~A@m[ڿAY*A[.:?2A[~׽:A#L =BA[.:?JA[~׽RA#L =٘i)I9o@YG J#JJJJNE&K Y5V~?yeTAE77779)ïB[[~@[W~?[9Y[[[[BZYY i) i;Iia@ = K))KȒ@8ΪYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10260, header.stamp.nsec: 00 temperature: 13.387024* salinity: 33.391602, density: 1025.000000* values[0]: 0.698274F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743036761.663165 s, next control iter: 1743036762.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036762.063165 s.J~,[ V(AJ"J*J2J:J2?BJ2?nJq;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036762.063296F (some fields omitted in printout)A33333 @AgE(& @A3X~? AKA!&"AA0kNA"AZAbAjArAzAAA&:@AH, rA9 o@A&Q)AH՘=Av|A7Am&ۿAJ*A$:?2AҨ׽:AVU =BA$:?JAҨ׽RAVU =Yuk@y1Ә=)ٓH@R+a?ui371@ *?)uk@ I٘i)I9 o@Y|G JJ1><JJJQE&Koy> Y V~?y!SAE{7L9)ǯB1E[[M@[W~?[^[[[[BZYY i) cɋIi c@M= K))KH&@y#ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036762.103165 s, next control iter: 1743036762.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036762.483165 s.v_J~,V(AA\h @A[ @AX~? APA&"AAmkNA"AZAbAjArAzAAAKHHP@A?rAn@A~::A?3=A,A@AۿAt*AK:?2A׽:A=BAK:?JA׽RA=٘i)I9n@Y,G JJJJJTE&K Y V~?y'SAE9/B)B.E[[>@[LV~?[c[[[[BZYY i) VIibe@&= Z))Z9@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036762.503165 s, next control iter: 1743036762.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10261, header.stamp.nsec: 00 temperature: 13.387262* salinity: 33.391598, density: 1025.000000* values[0]: 0.697366F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036762.903165 s.ȭJ~,͹V(AJ"J*J2J:JBJnJvJAQ @A @A X~? AcUAh&"AANkNA"AZAbAjArAzAAA"O%H?A5rAm@A3oѻAAğ=AAA`ܿA>*AY:?2A0P׽:A2=BAY:?JA0P׽RA2=٘i)I9m@YG J|JJJJVE&K YU~?y-1SAE7779)B[[)@[V~?[fi[[[[BZYY i) 嚼Iih@2= 3))3K@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036762.943165 s, next control iter: 1743036763.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036763.323165 s.sJ~,V(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036763.323256F (some fields omitted in printout)AGz @An @APW~? AbZA&"AA.kNA"AZAbAjArAzAAA*?A&f{rAsnm@A\\;A6=AáA6XAlݿAxD*A :?2Alֽ:A(=BA :?JAlֽRA(=٘i)I9nm@YG JJJJJYE&K YU~?y3RAE79)įB,E[[/@[V~?[n[[[[BZYY i) rIi7k@<= ʸ))ʸ*ݚ@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036763.343165 s, next control iter: 1743036763.723175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102622, header.stamp.nsec: 020 temperature: 13.3874912* salinity: 33.3915902, density: 1025.0000002* values[0]: 0.6964102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036763.743165 s.WJ~,uV(AJ"J*J2J:JG2?BJG2?nJ:5vJAףp= @AO;5 @A$W~? A_A&"AAkNA"AZAbAjArAzAAAl@3?A#"rAl@Ad<AL=Al]A A@)'޿A*A5:?2Aֽ:Ao=BA5:?JAֽRAo=٘i)I9l@Y%G J#B=JJJJ\E&K YU~?y9dRAE7v9)ȯB)E[[L@[V~?[tt[[[[BZYY i) kIin@= ;)); n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036763.763165 s, next control iter: 1743036764.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036764.163165 s.r}J~,q W(AA@ @AM2 @APW~? AdAA&"AAjNA"AZAbAjArAzAAA {Oq?AhՎFrA#9l@AsA<A=AA@A޿A#3*A9?2Axֽ:AB$=BA9?JAxֽRAB$=Yr@y=f(B<ٓHq ;? $,J@_/?`?)r@ I٘i)I99l@YG J C=J%<JJJ^E&Kx>  9Y4U~? 9y@QAE{7{7A9)ͯB[[݂@[MV~?[z[[[[BZYY i) WIidp@= ?))?@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036764.183165 s, next control iter: 1743036764.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036764.583165 s.J~, S%W(AJ"J*J2J:J#2?BJ#2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743036764.583298F (some fields omitted in printout)A)\u @Ah @AչW~? AjAx&"AAjNA"AZAbAjArAzAAADÀ?AS`ꇍrAk@A<A=A(AShA`r߿Aw¼*A|9?2Aֽ:A=BA|9?JAֽRA=٘i)I9k@YbG JJJJFJaE&K YͩU~?y8GQAE77 9.B)үB&E[[Zo@[`V~?[[[[[BZYY i) Iiur@,= ))U@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036764.603165 s, next control iter: 1743036764.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10263, header.stamp.nsec: 00 temperature: 13.387777* salinity: 33.391590, density: 1025.000000* values[0]: 0.695318F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036765.003165 s.y J~,P4@W(AAR @ARԙ{ @AW~? AoAo&"AAwjNA"AZAbAjArAzAAAh(A?AErAj@A839A=AeA A%A ü*AQ9?2A9׽:A=BAQ9?JA9׽RA=٘i)I9j@YG J:üJJJJdE&K YdU~?yMQAE{7{79)ׯB[[I@[ѣV~?[[[[[BZYY i) Iit@= [))[D"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036765.023165 s, next control iter: 1743036765.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036765.423165 s.J "J *J 2J :J 1?BJ 1?nJ :5vJ !uJ~,[W(AA{G @AemS< @AW~? A9uA5&"AAjNA"AZAbAjArAzAAAϮYN?A7OTTrA+Nj@A%VACӮ=A AݼA\~Aļ*A9?2ASw׽:Am=BA9?JASw׽RAm=٘i)I9Nj@YG JCļJJJJgE&K YU~?yTPA DEŧ7ŧ79/B)ܯB$E[[@[V~?[j[[[[BZYY i) ZǼIiw@= [u))[u@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036765.443165 s, next control iter: 1743036765.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10264", header.stamp.nsec: 0"0 temperature: 13.388034"* salinity: 33.391575", density: 1025.000000"* values[0]: 0.694168"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036765.843165 s.J~,uW(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036765.843303F (some fields omitted in printout)Ap=  @A%̴ @AW~? AzA&"AA}jNA"AZAbAjArAzAAA+Eb?AؘӬrAi@A?AN=A A`dA@AQǼ*A 9?2Au}׽:A3=BA 9?JAu}׽RA3=٘i)I9i@Y5G JżJJJJiE&K YrU~?y:[-PAE7777l9)B[[ @[݋V~?[C[[[[BZYY i) μIiz@e = /7))/7B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036765.863165 s, next control iter: 1743036766.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036766.263165 s.J~,#ؐW(AJ"J*J2J:J1?BJ1?nJ.:5vJAL @A'h? @AoW~? ÀA#&"AA bjNA"AZAbAjArAzAAAm?A~NerAh@A)A#=An Av A(A1̼*A9?2A F׽:A=BA9?JA F׽RA=Yx@ | y!=JٓH ':@nD?*v {'"Fb =@E ?)x@ I٘i)I9h@Y G JSɼB=J/<JJJlE&Kx> YtbU~?yqbOA| EZ7Z76 9.B)B!E[[@[TV~?[7[[[[BZYY i) <ռIiR|@T|!= ))Ҟ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036766.303165 s, next control iter: 1743036766.663177 s, wait time: 0.360012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 102652, header.stamp.nsec: 020 temperature: 13.3883332* salinity: 33.3915602, density: 1025.0000002* values[0]: 0.6929862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036766.683165 s.lJ~,VW(AA(\ @Ac*u @A^W~? AA&"AA GjNA"AZAbAjArAzAAAu+ſA/rAPh@A A,r=AQ+ A b߿A[zAҼ*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9Ph@Yd G J ϼC=JJJJoE&K YTRU~?yi>OAEj7 9)B[[@@[+uV~?[6[[[[BZYY i) ݼIi~@՞"= _))_b@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036766.683165 s, next control iter: 1743036767.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036767.103165 s.J~,W(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743036767.103326F (some fields omitted in printout)AQ @A{E @ALW~? AьAG;&"AA,jNA"AZAbAjArAzAAAƑ4׿A#5,rAg@A&;A[=AA׫޿AAKؼ*A9?2Aֽ:Ab=BA9?JAֽRAb=٘i)I9g@Y G JռJJJJqE&K Y3BU~?ypNAE7{7 9/B)BE[[xІ@[ajV~?[@[[[[ZZ¸BZYY i¸=) dѼIi@#= u))us@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036767.123165 s, next control iter: 1743036767.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036767.523165 s.J~,{W(AAHz @A|G @A]W(AJ"J*J2J:J1?BJ1?nJ95vJAq= # @A @A+W~? ABAJ&"AAiNA"AZAbAjArAzAAA;p^dAyMSrAf@A[+<A=ASAS/ݿAaA *A9?2ASֽ:A<BA9?JASֽRA<٘i)I9f@Y G JJJJJwE&K Y!U~?yMMAE777a9.B)BE[[@[UV~?[m[[[[ZZBZYY i) {Iiӂ@u'= ))@YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036767.963165 s, next control iter: 1743036768.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036768.363165 s.J~,y>X(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036768.363292F (some fields omitted in printout)AY @AّL @AW~? AA:&"AA iNA"AZAbAjArAzAAAqAz7rA;e@A_;A=AAlܿAAq*A9?2A4ֽ:A N<BA9?JA4ֽRA Np??) @ I٘i)I9;e@Y G JB=JJJJyE&Kw> Y;U~?ysMAE77,9)B[[}@[2LV~?[[[[[ZZBZYY i) Q|Ii`@)(= ))@y^=ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036768.383165 s, next control iter: 1743036768.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10267&, header.stamp.nsec: 0&0 temperature: 13.388964&* salinity: 33.391548&, density: 1025.000000&* values[0]: 0.690332&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036768.783165 s.\ J~,2X(AJ"J*J2J:JBJnJvJA(\ @A9S @A W~? AAQ&"AA7iNA"AZAbAjArAzAAA2+A*rAid@A AOo=AA ʧۿA A?*A=9?2AUֽ:A9Z<BA=9?JAUֽRA9Z<٘i)I9id@Y G J C=JJJJ|E&K YU~?yMAEj7Z79-B) BE[[ @[BV~?[߻[[[[ZZBZYY i) ܡIi@)= )).@˦YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036768.823165 s, next control iter: 1743036769.183181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036769.203165 s.J~,MX(AAQ @AX @AV~? AA&"AAiNA"AZAbAjArAzAAA55LA٬K-rA®c@AZ<AzK+=AVA@ڿA>Aȼ*A9?2Aֽ:AIo;BA9?JAֽRAIo;٘i)I9c@Y G JݼJJJJE&K YT~?ydLAEj79/B)BE[[Л@[9V~?[$¨[[[[ZZBZYY i) '>Ii@G*= ?H))?H˽@pYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036769.223165 s, next control iter: 1743036769.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036769.623165 s.VJ~,XgX(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036769.623310F (some fields omitted in printout)J"J*J2J:JBJnJvJAG @At% @AIV~? AVAQ&"AATiNA"AZAbAjArAzAAAI3A>rA$c@AM$KA,`<Az AڿAA}*A#9?2A;ֽ:AKBA#9?JA;ֽRAK٘i)I9c@Y3 G JAJJJJE&K YT~?yELAE7779.B)BE[[7*@[/1V~?[qȨ[[[[ZZBZYY i) YIi#@ݲ+= ))2L@yYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036769.643165 s, next control iter: 1743036770.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10268, header.stamp.nsec: 00 temperature: 13.389324* salinity: 33.391525, density: 1025.000000* values[0]: 0.688863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036770.043165 s. J~,ÂX(AA= ף0@A:̗#@A V~? AA&"AA_iNA"AZAbAjArAzAAAoAIA^rATb@A֡A<A7A`KٿAAӋz*A9?2Aֽ:A3$BA9?JAֽRA3$٘i)I9b@Y G JeJJJJE&K YgT~?yɥKAE{7{7W9)B[[@[(V~?[Ψ[[[[ZZBZYY i) }Iin@gZ-= ?ה))?ה ڣ@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036770.083165 s, next control iter: 1743036770.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036770.463165 s.V'J~,褝X(AJ"J*J2J:JBJnJvJAfffff@A(\Y@A Y?T~?y筨KAE77!9)B[[G@[ V~?[.ը[[[[ZZBZYY i2{=) ,kIi҇@"-= ;)); i@ )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036770.483165 s, next control iter: 1743036770.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10269, header.stamp.nsec: 00 temperature: 13.389541* salinity: 33.391518, density: 1025.000000* values[0]: 0.687936F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036770.883165 s.z-J~,{X(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061478< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036770.883291F (some fields omitted in printout)A(@Au@AV~? AǩA@&"AA|[iNA"AZAbAjArAzAAA?;*LA,rAla@A<AAEA@ڧ׿A HAbhλ*AN9?2Aֽ:A BAN9?JAֽRA ٘i)I9a@Y G J5JJJJE&K YT~?yKAE)7)79)BE[[Ջ@[jV~?[ۨ[[[[ZZBZYY i=) z]XIif@0.= K`))K`@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036770.903165 s, next control iter: 1743036771.283181 s, wait time: 0.380016 sT~?) rAdjusting time to match Gazebo time: 1743036771.303165 s.U4J~,sgX(AJ"J*J2J:J 0?BJ 0?nJ85vJA@A"8.@AV~? AΩA;&"AAGiNA"AZAbAjArAzAAA+pE A3HrA&a@AŲ><AV AצA`:ֿA A-*A9?2Aֽ:As˼BA9?JAֽRAs˼٘i)I9a@Yy G JЁB=JJJJE&K YT~?y"KAEŧ79)[[Pd@[5V~?[[[[[BZYY i) EIi)@/= ?&))?&K@j<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036771.323165 s, next control iter: 1743036771.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10270*, header.stamp.nsec: 0*0 temperature: 13.389660** salinity: 33.391506*, density: 1025.000000** values[0]: 0.687551*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036771.723165 s.;J~,HX(AAz@Ať@AV~? AթAU&"AA[4iNA"AZAbAjArAzAAA]=:A|=ferAa@A)Q;A8AAտAοAFb;*AX9?2A9ֽ:AsBAX9?JA9ֽRAs鼙٘i)I9a@Y} G J:C=JJJJE&K YȰT~?y>ƨ LAE7)7 9)[[T@[d V~?[[[[[BZYY i) 2Ii@0= /))/O@yq=Ox*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036771.743165 s, next control iter: 1743036772.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036772.143165 s.Q/BJ~,) Y(AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072220< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743036772.143269F (some fields omitted in printout)A ףp=@A?d0@AV~? A*ݩA &&"AA!iNA"AZAbAjArAzAAA:\AZrAb@Av A]AA`%տAbAl;*A 9?2Aֽ:A7ZBA 9?JAֽRA7Z٘i)I9b@Y G J+;JJJJE&K YT~?y[ΨLAE{7{7L"9)BE[[@[V~?[[[[[BZYY i) Ii?@<2= ))ס@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036772.163165 s, next control iter: 1743036772.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036772.563165 s.HJ~,c $Y(AA3333s@A6,f@AV~? AiAN&"AAiNA"AZAbAjArAzAAAsA#te3rAOb@AY AC|AALԿA@,A k><*A9?2AXEֽ:A? BA9?JAXEֽRA? Yv@Py@| ٓH sӿ?@8?`z(ӿ??' +?)v@ I٘i)I9Ob@Y G Jp<B=J"JJJE&K0w> Y.T~?y֨gLA Eb77$9/B)E[[ @[U~?[[[[[BZYY ig=) jIiz@ވ2= '))'/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036772.583165 s, next control iter: 1743036772.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10271, header.stamp.nsec: 00 temperature: 13.389612* salinity: 33.391502, density: 1025.000000* values[0]: 0.687777F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036772.983165 s.OJ~,>Y(AJ"J*J2J:J0?BJ0?nJ85vJA\@Aw@AV~? AA) &"AAhNA"AZAbAjArAzAAA^~ArAb@A IA^FAhApӿA _Aq<*A9?2A6ֽ:AUBA9?JA6ֽRAU٘i)I9b@Y G JV<C=JJJJE&K YT~?y,ߨLA E%9)B[[@[%U~?[?[[[[BZYY i) FIi@3= SI))SI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036773.003165 s, next control iter: 1743036773.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036773.403165 s.'VJ~, YY(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743036773.403302F (some fields omitted in printout)AQ@A@A~V~? AA{&"AAhNA"AZAbAjArAzAAALKM~A4ZU -rAc@AAQ쒽AAҿABAу<*A9?2Agֽ:ABA9?JAgֽRA٘i)I9c@Y6 G J<JJJJE&K YJT~?yMAEŧ7'9.B)BE[[)@[U~?[[[[[BZYY i) RIi@3= ))K@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036773.443165 s, next control iter: 1743036773.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10272", header.stamp.nsec: 0"0 temperature: 13.389486"* salinity: 33.391468", density: 1025.000000"* values[0]: 0.688496"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036773.823165 s.\J~,)tY(AJ"J*J2J:JBJnJvJAGz@ALn@A~tV~? AA&"AAhNA"AZAbAjArAzAAAmrAWrAc@AG7AA/AgѿA+A՜<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9c@Y G J<JJJJE&K Y؃T~?yeMAE777w)9)B[[F@[U~?[v [[[[BZYY i=) BIiJ@4= gހ))gހAب@y@h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036773.843165 s, next control iter: 1743036774.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036774.243165 s.cJ~,iY(AAףp=J@Aq0=@AjV~? AAX&"AAhNA"AZAbAjArAzAAAV9ZAd5{OrAd@A;A JA_iAnпAA֒<*AO9?2A ׽:Ac BAO9?JA ׽RAc ٘i)I9d@Y G JI<JJJJE&K Yf{T~?yeMAEb7b7A+90B)BE[[C@[>U~?[[[[[BZYY i) IiC@S6= UV}))UV}e@yZh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036774.263165 s, next control iter: 1743036774.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036774.663165 s.jJ~,qY(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036774.663289F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10273, header.stamp.nsec: 00 temperature: 13.389241* salinity: 33.391449, density: 1025.000000* values[0]: 0.689532F (some fields omitted in printout)A@A*Qr@AaV~? A A&"AAhNA"AZAbAjArAzAAAKu5 AsAd@A@<An ANA-ϿAA<*A9?2A)׽:ABA9?JA)׽RAY%U@y A<ٓH`Aɿ`Z? Em?C@ɿ@?x\? w??)%U@ I٘i)I9d@Y+ G J <B=J JJJE&KYx> YuT~?y"NAE77 -9) B[[AА@[U~?[[[[[BZYY i) -IiS@-6= x))x<@yfx=,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036774.683165 s, next control iter: 1743036775.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036775.083165 s.DqJ~,SY(AA)\µ@A~@ARYV~? AHA1&"AAhNA"AZAbAjArAzAAA1ݠm AK3sA28e@ARi/<AA(ALͿA`2BAl<*A9?2A ׽:AVfBA9?JA ׽RAVf٘i)I98e@Y G J<C=JJJJE&K YpT~?y NAE777.9)B[[G]@[&U~?[k[[[[BZYY i) JIi@96= ńt))ńtB@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036775.103165 s, next control iter: 1743036775.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036775.503165 s.wJ~,D4Y(AJ"J*J2J:J0?BJ0?nJ>95vJAR@Anb~@ACQV~? AA&"AAhNA"AZAbAjArAzAAA- A ֬G sAe@Aw;A4AݿA ̿A`gA <*AL9?2Aֽ:A(ABAL9?JAֽRA(A٘i)I9e@Y G J#<B=JJJJE&K YojT~?yFNAEb77091B)BE[[?@[U~?[$[[[[BZYY i) Ii@p 7= p))p: @&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036775.543165 s, next control iter: 1743036775.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10274, header.stamp.nsec: 00 temperature: 13.389009* salinity: 33.391449, density: 1025.000000* values[0]: 0.690655F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036775.923165 s.?~J~,Y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036775.923296F (some fields omitted in printout)A{G!@A';@AIV~? A A1&"AAhNA"AZAbAjArAzAAAga ACƼsA[\f@AAmAۿA%QʿAAo<*A/9?2AH~ֽ:AfBA/9?JAH~ֽRAf٘i)I9\f@Y3 G J<C=JJJJE&K YdT~?y[OA El29,B)B[[v@[U~?[*[[[[BZYY i) ԤIi@7= k))kܘ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036775.943165 s, next control iter: 1743036776.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036776.343165 s.<J~,Z(AJ"J*J2J:J0?BJ0?nJ95vJAp= W@AI@ABV~? Ay(Am &"AAhNA"AZAbAjArAzAAAҎB + APsAUf@A4AZA_ؿA@/~ȿA`A!<*A 9?2A^ֽ:ABA 9?JA^ֽRA٘i)I9f@Y G J]<JJJJE&K Y!_T~?y#OA"E777749)B[[8@[U~?[1[[[[BZYY i) RIim@f8= =Ug))=Ug3%@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036776.383165 s, next control iter: 1743036776.743176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10275&, header.stamp.nsec: 0&0 temperature: 13.388749&* salinity: 33.391396&, density: 1025.000000&* values[0]: 0.691868&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036776.763165 s.5J~,0Z(AǍ@A@A YP\T~?yG,&PAտ%E{7{769)B[[@[nU~?[<8[[[[BZYY i) :IiR@Ļ8= b))b걬@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036776.803165 s, next control iter: 1743036777.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036777.183165 s.˒J~,xKZ(AJ"J*J2J:JF1?BJF1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743036777.183278F (some fields omitted in printout)A(\@A;@A6V~? A'8Az< &"AA}hNA"AZAbAjArAzAAAӬ&[ AKRQHQ sAh@A󠿻A!AHӿA ĿA A=<*AC9?2Aֽ:ABAC9?JAֽRA٘i)I9h@Y? G J/<JJJJE&K YYT~?y 5PA(E77779)BE[[@[mU~?[>[[[[BZYY i) c:Iif@~8=  ^)) ^>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036777.203165 s, next control iter: 1743036777.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036777.603165 s.94J~,fZ(AAQ@AL F@A0V~? A @A &"AA?thNA"AZAbAjArAzAAAw A2}_#%sAh@AK<;AAOпA¿A@GAhW<*Ac9?2A= ׽:A^BAc9?JA= ׽RA^٘i)I9h@Y G Jԣ<JJJJE&K YVT~?y=PA*Eŧ7ŧ799)B[[?@[U~?[E[[[[BZYY i)  ;Ii@+9= %Z))%Z:˭@E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036777.643165 s, next control iter: 1743036778.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10276 , header.stamp.nsec: 0 0 temperature: 13.388503 * salinity: 33.391415 , density: 1025.000000 * values[0]: 0.693085 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036778.023165 s.J "J *J 2J ZJ~:Jn1?BJn1?, |Z(AnJ :5vJAHz.@AT!@A+V~? AGA &"AAClhNA"AZAbAjArAzAAApZA$)sA!i@A%<ABAͿA TA %A[<*A9?2AF6׽:A.BA9?JAF6׽RA.٘i)I9!i@Y G J <JJJJE&K YST~?yFPQA-E77{7b;9)B[[5@[U~?[wL[[[[BZYY i) ];Ii@۽9= EU))EUW@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036778.043165 s, next control iter: 1743036778.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036778.443165 s.;æJ~,O]Z(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065972< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743036778.443299F (some fields omitted in printout)Aq= c@A1>V@A 'V~? AOAl &"AAehNA"AZAbAjArAzAAA>JA_ۻ.sAޟi@A8E<AQlAjM˿A4AQ/A<*A~9?2Ah/׽:ABA~9?JAh/׽RA󼙘٘i)I9i@Y0G J%<JJJJE&K YQT~?ySOQA0Eb77,=9)߯B[[@[U~?[5S[[[[BZYY i) L;Ii@P:= ]_Q))]_Q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036778.463165 s, next control iter: 1743036778.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10277, header.stamp.nsec: 00 temperature: 13.571676* salinity: 33.375004, density: 1025.000000* values[0]: 0.570796F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036778.863165 s.+J~,>Z(AJ"J*J2J:JBJnJvJA@Al@A1#V~? AWA9 &"AA^hNA"AZAbAjArAzAAA&A463sAnj@Ab;A 눽A@ȿAnAAAf<*A9?2Aֽ:ABA9?JAֽRAYُ@ ȿyꈽ.t;ٓH`??@<d??`? x\?u?)ُ@ I٘i)I9j@Y{G J<JP<JJJE&KLx> YQT~?y!XRAȿ2E7S7>9)ۯBE[[bN@[!U~?[Y[[[[BZYY i=) ,_;Iiv@*1:= L))L]p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036778.903165 s, next control iter: 1743036779.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036779.283165 s.SRJ~,C Z(AA(\@A.R@AV~? A_A5 &"AAYhNA"AZAbAjArAzAAA/0xA&8sAj@A4AAޘA3ƿA`ݫA QA <*A9?2Aֽ:AuBA9?JAֽRAu٘i)I9j@YG J<JJJJE&K Y-QT~?y`kRA5Eb77@9)ׯB[[ȿ[U~?[`[[[[BZYY i) q;Ii^@J:= H))HH*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036779.303165 s, next control iter: 1743036779.683208 s, wait time: 0.380043 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10278., header.stamp.nsec: 0.0 temperature: 13.571429.* salinity: 33.374996., density: 1025.000000.* values[0]: 0.571342.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036779.703165 s.ںJ~,!Z(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076451< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036779.703307F (some fields omitted in printout)AQ@A`@AV~? AgAc&"AAAThNA"AZAbAjArAzAAA AL)=sAk@A1ACنAÿA粿A ^Aڐ<*A9?2A/ֽ:AhBA9?JA/ֽRAh٘i)I9k@YG J<B=JJJJE&K Y;QT~?yiRA8E)7ŧ7B9)ӯB[[eƿ[5U~?[|g[[[[BZYY i) x;Iiu@/:= 2D))2D2D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036779.723165 s, next control iter: 1743036780.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036780.123165 s.3J~,L[(AAG:@A-@AV~? ApAi&"AA:PhNA"AZAbAjArAzAAAmAy#=kBsAk@A~FARA/AH<AiATm<*A9?2A9yֽ:ABA9?JA9yֽRA٘i)I9k@YZG J<C=JJJJE&K YJQT~?yr#SA:E777WD9)ЯBE[[!pĿ[U~?[;n[[[[BZYY i) J elevatorAngleAction: 0.076451< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036780.963297F (some fields omitted in printout)Affff@A[@A[V~? A'A&"AAJhNA"AZAbAjArAzAAAľ؂"ARDLsAvl@AFtAnAŻAǝA xAO<*AE9?2Aֽ:A^BAE9?JAֽRA^Y @»yn|ܴٓHE~?? vy ?<?*?@V?) @ I٘i)I9vl@YG J<B=J,JJJE&KNx> YGTT~?y SA»@E7ŧ7G9)ȯB[[ [U~?[{[[[[BZYY i) #׽:A/BA9?JA>׽RA/٘i)I9]m@YwG J<B=JJJJE&K Y$ZT~?yTAEE{7j7K9)BE[[[U~?[-[[[[BZYY i) B elevatorAngleAction: 0.076451< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036782.223283F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A]:@AV~? AcA&"AA)HhNA"AZAbAjArAzAAA7S+Aj/G[sAm@A(<AِAUڳA h?A ׽:A BAZ9?JA>׽RA ٘i)I9m@YG J<C=JJJJE&K Y]T~?yhTAHEMM9)B[[w[YU~?[䏩[[[[BZYY i) :jR YeT~?yɯUAME{7j7P9)B[[s[XU~?[B[[[[BZYY i) q elevatorAngleAction: 0.076451< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036783.483302F (some fields omitted in printout)A\@A@AV~? AA&"AALhNA"AZAbAjArAzAAAMBA^=ÞisAUo@Al9Ag!As=A?A&fA]<*A*9?2AtTֽ:AVBA*9?JAtTֽRAV٘i)I9Uo@YG J<JJJJE&K YkT~?yfVAPE7777R9)BE[[㲿[U~?[죩[[[[BZYY i) & elevatorAngleAction: 0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419999J2 time: 1743036784.743293F (some fields omitted in printout)"J*J2J:JBJnJvJǍ@A!9}@A#V~? A ɪA0&"AA+YhNA"AZAbAjArAzAAA;CAcxsArq@AĔx;A*Ai%A`?A:A> <*A9?2A׽:ArSBA9?JA׽RArSY @.yज^Oy;ٓH!??_@3?pz? ?o??) @ I٘i)I9q@YG J<JJJJE&KI> YT~?yҩHWA.XE7 X9.B)BE[[L[U~?[Ϸ[[[[BZYY i) ֖?A5A{<*A9?2A׽:ABA9?JA׽RA٘i)I9r@YTG JU<JJJJE&K Y,T~?yXA]E{7j7[9/B)BE[[秿['U~?[ĩ[[[[BZYY i) &ǥ elevatorAngleAction: 0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036786.003292F (some fields omitted in printout)AR+@A%Zx@A0V~? AAXe%"AAlhNA"AZAbAjArAzAAA܊ A)0OsAr@A?;A椽AlAh?AAԈ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YG Je<JJJJE&K YT~?y>XA`E77m]9)B[[O[U~?[~˩[[[[BZYY i) 3@<*A9?2A{ֽ:AaABA9?JA{ֽRAaA٘i)I97s@YG JD<JJJJE&K YCT~?yXAcE7_9)BE[[g~[ V~?[ҩ[[[[BZYY i)  elevatorAngleAction: 0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743036787.263287F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AV6ſ@A CV~? AAL%"AANhNA"AZAbAjArAzAAA[_! AWY5vsAyt@AeFAJᬽAdДA@?A`qAg<*A9?2A1ֽ:ABA9?JA1ֽRAY@yެ[GٓH`_?h^?斿@@@g?W ?/?݈:?)@ I٘i)I9yt@YG JQ<B=JĄJJJE&Kw> Y T~?yYAhE777b90B)B E[[[WV~?[ީ[[[[BZYY i) _{ elevatorAngleAction: 0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036788.523306F (some fields omitted in printout)AHzn@Akծ a@AYV~? A9A%"AA{hNA"AZAbAjArAzAAA.qی A_⽘sA;uv@AT;AAƌAN"?A_6A_<*A9?2A׽:A$BA9?JA׽RA$٘i)I9uv@YG Jl<JJJJE&K YT~?yM.[ApE)7ŧ7-h92B)~B$E[[t[*V~?[[[[[BZYY i) UsA w@AoC<A#AIA@?A& AP<*A9?2A׽:A;*BA9?JA׽RA;*٘i)I9 w@YhG Ji<JJJJE&K YT~?y_$[AsE777i9)yB[[q=[P2V~?[e[[[[BZYY i) W](AA@Afk}@AokV~? AfA%"AArhNA"AZAbAjArAzAAA1FxIMA*۬sAw@Ag#<A(AuA?A A%<*A9?2AZֽ:AmBA9?JAZֽRAmY"@y$<ٓH<-??@X?v??|??)"@ I٘i)I9w@YG Jt<B=JJJJE&Kx> YT~?y ,\AuE)7ŧ7k9)sB[[y[:V~?[[[[[BZYY i)  elevatorAngleAction: 0.085515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036789.783286F (some fields omitted in printout)A(\@Aw;S@AuV~? A%A %"AAhNA"AZAbAjArAzAAA|c#dAosAx@A/7;A[`A-Aࡾ?A Acj<*At9?2Aʈֽ:ABAt9?JAʈֽRA٘i)I9x@Y>G J<C=JJJJE&K YT~?y3\AxE)7m93B)oB(E[[ё[CV~?[[[[[ZZZZ¸>BZYY i¸>) ٓH \?a0?`5#`Sc?W??q=J&=JJJ E&K>w> Y%7U~?yQT^AXuEj7j7t96B)XB/E[[a툿[[kV~?[M[[[[ZZZZBZYY i) l`JJJE&K/x> YU~?yqu_AJ[E77}98B)GB6E[[v{[V~?[:[[[[ZZZZBZYY io'n) ZlsAV~@AAFA6=ApPAg?A24AB*A9?2Aֽ:A!E<BA9?JAֽRA!E<٘i)I9V~@YG J.3JJJJ E&K Y¯U~?yȂI_AESI7SI7B9)[[Wur[V~?[*F[[[[BZYY i) oHA %sAE5~@A A_[=A)KA/?A`~A_*AS9?2Aֽ:A<BAS9?JAֽRA<٘i)I95~@YG JJJJJ#E&K YMU~?ys-_AE)7b7 9:B)HB9A0y=AЊFA@w?A8A}4*A9?2AFֽ:A=BA9?JAFֽRA=٘i)I9}@YG JJJJJ%E&K YU~?y_AE77{7؄9 YjU~?y(^AVAE9)OB[[Sd[~V~?[V[[[[BZYY i`e) B)aBIE[[R[&!W~?[k[[[[BZYY i#) ;Iim@= l))llԪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036797.363165 s, next control iter: 1743036797.743174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10296&, header.stamp.nsec: 0*0 temperature: 13.567314** salinity: 33.375080*, density: 1025.000000** values[0]: 0.580562*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036797.763165 s.4J~,p_(AA @A@AW~? ALAoL%"AAp`jNA"AZAbAjArAzAAA?A2sA{@A GA=A 'A~h?AAQ*A9?2Aֽ:A7=BA9?JAֽRA7=Y$@F'y5=BGٓH nV?@m?? fl? D@ rሿ`?)$@ I٘i)I9{@YG JYB=J <JJJ6E&K$x> YRV~?y\AF'Eb779@B)gBME[[G.N[0W~?[ q[[[[BZYY i) /܎;Ii:j@= ͣ))ͣͣҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036797.783165 s, next control iter: 1743036798.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036798.183165 s.J~,c_(AJ"J*J2J:J?BJ?nJ5vJA(\B@Ar5@AtW~? AA%"AA{jNA"AZAbAjArAzAAA$5?AGtAz@A7Aɖ=A !Af?ApA`*A9?2Axֽ:A=BA9?JAxֽRA=٘i)I9z@YyG JC=JJJJ8E&K YhV~?yy\AE777c9)lB[[KI[<@W~?[ v[[[[BZYY i) Pa;Ii,g@7= p))ppϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036798.203165 s, next control iter: 1743036798.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036798.603165 s.:4J~,_(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065302< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743036798.603289F (some fields omitted in printout)AQx@A4Fk@A0W~? AAl%"AA jNA"AZAbAjArAzAAA¹Nv?A[tA$y@AYA{=AA?A 9Al*A9?2Aֽ:A}=BA9?JAֽRA}=٘i)I9y@Y#G J]JJJJ;E&K Y~V~?y\\AEb77-9)qBPE[[[ E[SPW~?[{[[[[BZYY i) >$;Ii~d@F<= p<))p<p<̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036798.643165 s, next control iter: 1743036799.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10297 , header.stamp.nsec: 0 0 temperature: 13.567497 * salinity: 33.375095 , density: 1025.000000 * values[0]: 0.579955 F (some fields omitted in printout)F~V~?)F\ rAdjusting time to match Gazebo time: 1743036799.023165 s.ZJ~,|_(AJ"J*J2J:JBJnJvJAHz@A؀@AIW~? AA%"AAjNA"AZAbAjArAzAAAWK>o?AhQs tAjy@Aޙ;Ae=AͺA>f?A"߿A\*A9?2AZֽ:A=BA9?JAZֽRA=٘i)I9jy@YG JtJJJJ>E&K Y^V~?yê[AEj7Z79AB)vBSE[[s@[`W~?[[[[[BZYY i) :Ii2b@=  =)) = =yմɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036799.043165 s, next control iter: 1743036799.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036799.443165 s.;J~,O]_(AAq= @A2@AW~? AuA%"AAjNA"AZAbAjArAzAAA k6?A͹ tAx@AE&9<A*=AA?Ac޿A*AQ9?2A;ֽ:A&z=BAQ9?JA;ֽRA&z=٘i)I9x@YwG JJJJJ@E&K YʫV~?yɪE[AE77Ö9)zB[[s;[qW~?[[[[[BZYY i) 40:IiH`@`= S=))S=S=SŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036799.483165 s, next control iter: 1743036799.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10298, header.stamp.nsec: 00 temperature: 13.567658* salinity: 33.375088, density: 1025.000000* values[0]: 0.579360F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036799.863165 s.+J~,>_(AJ"J*J2J:JP?BJP?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065302< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743036799.863297F (some fields omitted in printout)A@A> @AW~? AA/%"AAjNA"AZAbAjArAzAAAKI?A.utAmSx@A+C<AL=A6n AX?Ae޿Aȡ*A9?2ATֽ:A<BA9?JATֽRA YV~?yͪZA8 EZ7Z79BB)BVE[[B7[vW~?[[[[[[BZYY i) Ii\@, = @g=))@g=@g=gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036799.903165 s, next control iter: 1743036800.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036800.283165 s.6RJ~,`(AA(\O@AbMeQB@AW~? AūA%"AA kNA"AZAbAjArAzAAAN>Z?AR w tAw@A}X;A7=AAmT?AUݿA8f*A9?2Aֽ:A)<BA9?JAֽRA)<٘i)I9w@YG JJJJJFE&K YV~?yLҪZAE777X9CB)B[E[[2[W~?[[[[[BZYY i) IiDY@A = 7=))7=7=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036800.303165 s, next control iter: 1743036800.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10299., header.stamp.nsec: 0.0 temperature: 13.567835.* salinity: 33.375099., density: 1025.000000.* values[0]: 0.578781.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036800.703165 s.ں J~,!-`(AJ"J*J2J:JBJnJvJAQ@ABx@A# X~? AʫA g%"AA,kNA"AZAbAjArAzAAA/`@p?AӷXtAOw@A?A2A'=AA?A@ܿA*A%9?2Aֽ:A2<BA%9?JAֽRA2<٘i)I9Ow@YG JB=JJJJHE&K YV~?y֪*ZAE#9DB)B^E[[.[bW~?[|[[[[BZYY i) >S IiUV@3, = `A=))`A=`A=UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036800.723165 s, next control iter: 1743036801.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036801.123165 s.6J~,XG`(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065302< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743036801.123316F (some fields omitted in printout)AG@A,խ@AX~? AϫA%"AAKkNA"AZAbAjArAzAAA)Ҫ,2@A tAv@AΟ(AH=AA]?AۿA!*AH9?2A׽:AF<BAH9?JA׽RAF<٘i)I9v@Y<G J׎C=JJJJKE&K Y W~?y۪YAE7흃9)B[[cb)[ZW~?[[[[[BZYY i) KIiS@݊= k=))k=k=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036801.163165 s, next control iter: 1743036801.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036801.543165 s.IJ~,b`(AJ"J*J2J:J?BJ?nJK5vJA= ף@A|ԗ@A 4X~? A^ԫAc%"AAkkNA"AZAbAjArAzAAA7L_@Aw7tAdv@A43LAL=AUAW3?AvۿAy*A9?2Ah׽:A<BA9?JAh׽RA<٘i)I9dv@YG J舼JJJJNE&K Y$W~?y$nYAEb779)BaE[[$[W~?[K[[[[BZYY i엽) lIiQ@(= `a>))`a>`a>ܵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036801.563165 s, next control iter: 1743036801.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10300, header.stamp.nsec: 00 temperature: 13.567978* salinity: 33.375114, density: 1025.000000* values[0]: 0.578268F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036801.963165 s.vJ~,}`(AAffff&@A$[@AyIX~? AثAjN%"AAˋkNA"AZAbAjArAzAAA@A׹tAu@A1A&=AA@x?A@>ڿA9E*A9?2Aֽ:AV<BA9?JAֽRAV Y=W~?yYATE77779EB)BdE[[O [W~?[[[[[BZYY i) eѣIiM@= 0#>))0#>0#>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036801.983165 s, next control iter: 1743036802.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036802.383165 s.%J~,8`(AJ"J*J2J:J?BJ?nJ)5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036802.383287F (some fields omitted in printout)A(\@AqO@A1_X~? AhݫA%"AAwkNA"AZAbAjArAzAAA|G @A r!tAu@A :A4=A۾A U?AsٿA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9u@YmG JyJJJJSE&K YVW~?yXAE{7{7M9)BgE[[o[W~?[[[[[BZYY i) 4ûIi!J@8]= 06>))06>06>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036802.403165 s, next control iter: 1743036802.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10301", header.stamp.nsec: 0"0 temperature: 13.568090"* salinity: 33.375103", density: 1025.000000"* values[0]: 0.577807"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036802.803165 s.|A,J~,g`(AA@A߄@A1uX~? AA`%"AAkNA"AZAbAjArAzAAAH~hl\" @Ab-$tACu@Ab<AG=AѾA?AؿAp*A9?2A_ֽ:A/<BA9?JA_ֽRA/<٘i)I9u@Y)G JυJJJJVE&K YipW~?yfXAEj79FB)BjE[[;[X~?[[[[[BZYY i) hIiF@L< :I>)):I>:I>yZחдYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036802.843165 s, next control iter: 1743036803.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036803.223165 s.J "J *J 2J :J ?BJ ?nJ 5vJ g3J~,H`(AAz@AD/@AxX~? AA`M%"AAkNA"AZAbAjArAzAAAuV> @APF&tAt@A0M<AQ=A{ǾA`y:?A׿A*A>9?2AWֽ:AL=BA>9?JAWֽRAL=٘i)I9t@YG J*JJJJXE&K YۉW~?ywXAEŧ7ŧ7㦃9)B[[S [\X~?[[[[[BZYY i) Ii/D@<  \>)) \> \>5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036803.263165 s, next control iter: 1743036803.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036803.643165 s.x9J~,*`(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743036803.643318F (some fields omitted in printout)A ףp@AHjd@AX~? AA%"AA lNA"AZAbAjArAzAAA$bxa @A|)tA/t@AR<Aߴ=AOA@}w?A`׿A *A9?2Aֽ:A=BA9?JAֽRA=٘i)I9/t@YG JoJJJJ[E&K YMW~?yLWAE7779HB)BnE[[;R [)X~?[[[[[BZYY i) DIiA@< n>))n>n>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036803.663165 s, next control iter: 1743036804.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10302, header.stamp.nsec: 00 temperature: 13.568193* salinity: 33.375149, density: 1025.000000* values[0]: 0.577356F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036804.063165 s.@J~,_ a(AJ"J*J2J:J?BJ?nJ5vJA33333@AE&&@AѸX~? AA%"AAe3lNA"AZAbAjArAzAAA0 @A3v+tA(s@A{:ASp=AAA`?A*ֿA^*A9?2Aֽ:A=BA9?JAֽRA=Y@2yFp=:ٓH?? _?տ ?豘@갿ro[??)@ I٘i)I9s@YYG JJJ@;JJJ^E&KGx> Y۽W~?yM[WA2Eŧ7b7x9)BqE[[[))roր>ր>tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036804.103165 s, next control iter: 1743036804.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036804.483165 s.w_GJ~,a(AA\h@A[@AX~? AAe%"AA"VlNA"AZAbAjArAzAAA*z@Aޮ -tAOs@A3A-=AA?ANտAg*AH9?2A׽:AZu=BAH9?JA׽RAZu=٘i)I9Os@YG JB=JJJJaE&K YmW~?yNWAEj7Z7C9)BtE[[[ QX~?[鶪[[[[BZYY i) :/Ii9@~< D>)) D>D>KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036804.523165 s, next control iter: 1743036804.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10303, header.stamp.nsec: 00 temperature: 13.568312* salinity: 33.375122, density: 1025.000000* values[0]: 0.576897F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036804.903165 s.MJ~,9a(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743036804.903287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@A-X~? A'AI%"AAAylNA"AZAbAjArAzAAAB@Aw/tAr@AGA =AA$?A^nԿA*A9?2Av3ֽ:AO=BA9?JAv3ֽRAO=٘i)I9r@YG JℼC=JJJJcE&K YW~?yOVA DE77779IB)BwE[[`[eX~?[s[[[[BZYY i) j?Ii6@< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036804.923165 s, next control iter: 1743036805.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036805.323165 s.vTJ~,%Ta(AAGz@Air@AX~? AAo%"AAlNA"AZAbAjArAzAAAI@AX[D 2tAmr@A|@1A{s=AⒾA`W?A`3ӿA͛*Ak9?2A#ֽ:A=BAk9?JA#ֽRA=٘i)I9mr@YG JJJJJfE&K Y X~?yPJVAE7ŧ7د9)B[[u[PzX~?[㽪[[[[BZYY i) XNIi3@\< AH>))AH>AH>êY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036805.363165 s, next control iter: 1743036805.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10304*, header.stamp.nsec: 0*0 temperature: 13.568409** salinity: 33.375153*, density: 1025.000000** values[0]: 0.576455*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036805.743165 s.W[J~,oa(AJ"J*J2J:J?BJ?nJ5vJAףp= @A:6@AxY~? AAm%"AAlNA"AZAbAjArAzAAA-5@A9^BJ4tAq@A SsA ސ=Af҈A`?A 'ҿA~*A9?2Aս:Ah=BA9?JAսRAh=٘i)I9q@YDG JJJJJiE&K Y(X~?yRUAE779)BzE[[-B[kX~?[8[[[[BZYY i) Ē^Ii0@w< ݦ>))ݦ>ݦ>QǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036805.783165 s, next control iter: 1743036806.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036806.163165 s.s}bJ~,qa(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083368< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036806.163278F (some fields omitted in printout)A@ @AH2 @Am.Y~? A ALW%"AAlNA"AZAbAjArAzAAAoW@A5tAzq@A;Ah=A}A?AѿA*A9?2A0ս:A =BA9?JA0սRA =Yh#@+}yjh= x;ٓH U?@g_?:?s>Ͽ?R^h[v??)h#@ I٘i)I9zq@YG JϓJd<JJJkE&Ku> YzCX~?yyUA+}Eb77n9)B}E[[-[{X~?[eĪ[[[[BZYY i) @mIi,@4< W>))}W>W>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036806.183165 s, next control iter: 1743036806.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036806.583165 s.hJ~, Sa(AJ"J*J2J:JBJnJvJA)\u @AX歺h @AFY~? A A%"AA" mNA"AZAbAjArAzAAAH6E|@Ac7tAp@A><AP=AZ)) >>yΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036806.603165 s, next control iter: 1743036806.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10305, header.stamp.nsec: 00 temperature: 13.568528* salinity: 33.375168, density: 1025.000000* values[0]: 0.575980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036807.003165 s.y pJ~,P4a(AAR @Ax @A^Y~? AA%"AA-mNA"AZAbAjArAzAAAsjRߣ@A}r9tActp@AA<A|E=ATA?A пA<*A9?2AܡԽ:A=BA9?JAܡԽRA=٘i)I9tp@YXG JJJJJqE&K Y))>>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036807.023165 s, next control iter: 1743036807.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036807.423165 s.uvJ~,a(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083368< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743036807.423285F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G @A; @AwwY~? AA%"AARmNA"AZAbAjArAzAAA&sSb@A.1;tAo@A;A?=A?At7?AmfοA*A9?2A}ս:A׶=BA9?JA}սRA׶=٘i)I9o@YG JaJJJJsE&K YX~?y cTAE777θ9)ʯBE[[ľ[X~?[Kͪ[[[[BZYY i) ɍIi!@Z< *>))*>*>֪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036807.443165 s, next control iter: 1743036807.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10306, header.stamp.nsec: 00 temperature: 13.568650* salinity: 33.375164, density: 1025.000000* values[0]: 0.575431F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036807.843165 s.|J~,a(AAp= !@A !@A*Y~? A" AKx%"AA3xmNA"AZAbAjArAzAAA$M@A))E>E>ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036807.863165 s, next control iter: 1743036808.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036808.263165 s.J~,b(AJ"J*J2J:JBJnJvJAL!@A1~?!@AY~? A A H%"AAmNA"AZAbAjArAzAAA x1e&@Awnp3>tAWn@A|&,AHi=APAǀ?AVʿA槼*A9?2A"ֽ:Aq=BA9?JA"ֽRAq=Yi[@+yf=j,ٓH?`? [t?@;¿?RmG?)i[@ I٘i)I9n@Y\G J@Jˎ<JJJyE&K:u> YX~?yaSA+E7)7c9)ӯB[[ [9Y~?[Ҫ[[[[BZYY i) לIi@#< >)){>>5ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036808.283165 s, next control iter: 1743036808.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 103072, header.stamp.nsec: 020 temperature: 13.5688122* salinity: 33.3751952, density: 1025.0000002* values[0]: 0.5748732F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036808.683165 s.lJ~,^+b(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245236@ elevatorAngleAction: -0.083368< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743036808.683316F (some fields omitted in printout)A(\!@Au!@AY~? AA%"AAmNA"AZAbAjArAzAAAuxU@AE?tAtGn@AHHAх=A ]Aʡ?AeȿA3<*A9?2APֽ:Aψ=BA9?JAPֽRAψ=I٘i)I9Gn@YG JJJJJ{E&K YX~?y&SAEZ7Z7.9)دBE[[[(Y~?[ժ[[[[BZYY i) DIi@N< .>)) .>.>vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036808.683165 s, next control iter: 1743036809.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036809.103165 s.J~,Fb(AJ"J*J2J:JBJnJvJAQ!@A#F!@A.Y~? AA%"AAmNA"AZAbAjArAzAAAjv @Ar@tAm@AlAn=A˯ؽA?AAǿAT*A9?2AԽ:A=BA9?JAԽRA=٘i)I9m@YG JJJJJ~E&K YY~?yRAE779LB)ޯBE[[0[?Y~?[oת[[[[BZYY i) cIi@A>< )>)))>)>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036809.123165 s, next control iter: 1743036809.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036809.523165 s.J~,|ab(AAHz!@AT !@AvY~? AA%"AAnNA"AZAbAjArAzAAAiM@A`aIAtAZm@Af:A5=A\A`?A@JſA[H*Ar9?2AԽ:A =BAr9?JAԽRA =٘i)I9m@YLG JGJJJJE&K Y Y~?y<LRAE{7{79)BE[[_[VY~?[٪[[[[BZYY i) Ii@]< >))>>YLYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036809.543165 s, next control iter: 1743036809.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10308, header.stamp.nsec: 00 temperature: 13.568957* salinity: 33.375202, density: 1025.000000* values[0]: 0.574283F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036809.943165 s.UdJ~,5]|b(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083368< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743036809.943295F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #"@AOu"@A Z~? A|Aå%"AA6nNA"AZAbAjArAzAAA!H@A٤ CtA]tl@AI<AU=AoԉAT?A|ÿA GƼ*A9?2AԽ:A7=BA9?JAԽRA7=٘i)I9tl@YG J¼JJJJE&K Yb(AAY"@A,L"@A\'Z~? AAȄ%"AA\nNA"AZAbAjArAzAAAP:E @A!# DtAk@A:M<A`=AAA ?AAJs˼*A9?2AԽ:A6=BA9?JAԽRA6=Yؑ@w=y]=M<ٓH?@I8?g?ז/?␿ĵ*??)ؑ@ I٘i)I9k@YG JȼJc<JJJE&Kt> YXY~?yjQAw=Ej7Z7YŃ9)BE[[y[zY~?[ݪ[[[[BZYY i) Iib@I< ?))_'y??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036810.383165 s, next control iter: 1743036810.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10309&, header.stamp.nsec: 0&0 temperature: 13.569127&* salinity: 33.375206&, density: 1025.000000&* values[0]: 0.573628&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036810.783165 s.\J~,b(AJ"J*J2J:J?BJ?nJ5vJA(\"@A&P"@A@Z~? AAf%"AAcnNA"AZAbAjArAzAAAĨ{,!@AAw'DtAk@A?J<AT=AڼA@#?AA)0ͼ*A49?2A wս:A| =BA49?JA wսRA| =٘i)I9k@YG J̼JJJJE&K YtY~?yVPAE77#ǃ9)BE[[m[ Y~?[ߪ[[[[BZYY i) ɼIi8@=< 4 ?)) 4 ?4 ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036810.803165 s, next control iter: 1743036811.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036811.203165 s.J~,b(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083368< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036811.203273F (some fields omitted in printout)AQ"@A؞Y"@AZZ~? AA:L%"AA@nNA"AZAbAjArAzAAAd E!@A~%EtAAsj@Aҋ:A =AǻA9?A@A̼*A9?2AiԽ:AN=BA9?JAiԽRAN=٘i)I9sj@YG JFͼJJJJE&K Y'Y~?yPAEb7b7ȃ9)BE[[Z[Y~?[2[[[[BZYY i) _VмIiu@n< ?))??:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036811.223165 s, next control iter: 1743036811.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036811.623165 s.ZJ~,ib(AJ"J*J2J:J?BJ?nJ5vJAG"@A"@AltZ~? AA4%"AA?nNA"AZAbAjArAzAAAvd"@A_aFtAi@AAA/=Akl<A J?A Ay|˼*A9?2Aս:AV=BA9?JAսRAV=٘i)I9i@YHG J,̼B=JJJJE&K YXY~?y& PAE777ʃ9)B[[F[Y~?[[[[[BZYY i5) ׼Ii8?f$< ?))??YB,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036811.643165 s, next control iter: 1743036812.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10310 , header.stamp.nsec: 0 0 temperature: 13.569337 * salinity: 33.375229 , density: 1025.000000 * values[0]: 0.572906 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036812.043165 s.J~,c(AA= ף0#@Ak+##@ACZ~? AAU %"AAZnNA"AZAbAjArAzAAADw=#@A{٤FtAi@A9IAir=AG =AW?A`@A˼*A9?2A)xս:AW=BA9?JA)xսRAW=٘i)I9i@Y G J˼C=JJJJE&K YY~?yOAẼ9)BE[[2[XY~?[([[[[BZYY i) ޼IiZ?c< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036812.083165 s, next control iter: 1743036812.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036812.463165 s.[J~,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: -0.092301< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036812.463291F (some fields omitted in printout)Afffff#@A*Z^Y#@A(Z~? AA%"AAoNA"AZAbAjArAzAAAƄ@#@ArGtAeqh@Ar+A=A:`a=Ac?AAg̼*A^9?2ACս:A=BA^9?JACսRA=Y@]=y=d,ٓH?'"?X?&?1? %L`~ j?)@ I٘i)I9qh@Yx G J˼B=J;JJJE&Kt> YY~?yOA]= EN΃9KB)BE[[0[Y~?[g[[[[BZYY i) Ii?Pr< !?))w!?!?aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036812.483165 s, next control iter: 1743036812.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10311, header.stamp.nsec: 00 temperature: 13.569527* salinity: 33.375256, density: 1025.000000* values[0]: 0.572188F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036812.883165 s.yJ~,M8c(AA(#@A0 #@AZ~? ANA%"AAFoNA"AZAbAjArAzAAAlSb';$@AwGtAg@AkMAw=A=Ak?A 鋩AѼ*A_9?2AКս:A=BA_9?JAКսRA=٘i)I9g@Y G JμC=JJJJE&K YZ~?yNA Eb77Ѓ9) BE[[1 [Z~?[[[[[ZZ¸BZYY i¸ ۨ=) ڼIi?< b&?))b&?b&?y5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036812.903165 s, next control iter: 1743036813.283182 s, wait time: 0.380017 sZ~?) rAdjusting time to match Gazebo time: 1743036813.303165 s.XJ~,gSc(AJ"J*J2J:JBJnJvJA#@A#@AZ~? AA%"AA(noNA"AZAbAjArAzAAA@}$@AO'dHtA!g@A;A᏶=A=A`t?A%̡Aؼ*A>9?2Aӽ:AFx=BA>9?JAӽRAFx=٘i)I9g@Y G JԼJJJJE&K YZ~?y!.NAE777у9)BE[[f[.Z~?[{[[[[ZZBZYY i) μIi?$< n+?)) n+?n+?y)]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036813.323165 s, next control iter: 1743036813.703180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10312*, header.stamp.nsec: 0*0 temperature: 13.569708** salinity: 33.375259*, density: 1025.000000** values[0]: 0.571454*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036813.723165 s.J~,Hnc(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036813.723323F (some fields omitted in printout)Az$@AP3#@AZ~? AAK%"AAoNA"AZAbAjArAzAAAvAv%@APFOHtA|Ff@Ay@<A 9=Ah=A@`u?AA*A9?2Aӽ:A=BA9?JAӽRA=٘i)I9Ff@Y& G J5JJJJE&K Y/:Z~?yMAEӃ9)BE[[ý[GZ~?[M[[[[ZZBZYY i)  ¼Ii*?ɇ< ؞0?))؞0?؞0?y?=2YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036813.743165 s, next control iter: 1743036814.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036814.143165 s.S/J~,)c(AJ"J*J2J:JBJnJvJA ףp=$@A'd0$@A[~? A<A%"AAoNA"AZAbAjArAzAAAg O&@ARfHtAee@A&:<A =AtG>A v?AyA*A9?2ArԽ:Ab<BA9?JArԽRAb<٘i)I9ee@Y G J6JJJJE&K YXVZ~?y->MAE)7ŧ7yՃ9)BE[[[`Z~?[[[[[ZZBZYY i) G Ii4?< 5?))5?5?yI==5֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036814.163165 s, next control iter: 1743036814.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036814.563165 s.J~,p c(AA3333s$@AS'f$@A*[~? A:A%"AAUoNA"AZAbAjArAzAAA$#&@Aũ]~eHtAAd@As;A]y=Adm>Av?Aq?Am*A9?2A:ս:A7u<BA9?JA:սRA7uy\y=c;ٓH?˙ÿ)(? ?I? r?&)s??)@ I٘i)I9d@Y G JJdJJJE&Ks> YErZ~?yLA>E77{7C׃9JB)&BE[[ld[yZ~?[|[[[[ZZBZYY i) êIi?{< :?))gw:?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036814.583165 s, next control iter: 1743036814.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10313, header.stamp.nsec: 00 temperature: 13.569991* salinity: 33.375278, density: 1025.000000* values[0]: 0.570573F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036814.983165 s.J~,c(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241607> elevatorAngleAction: 0.082449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036814.983297F (some fields omitted in printout)J"J*J2J:JBJnJvJA\$@Ah$$@AD[~? AA%"AA pNA"AZAbAjArAzAAA6GO'@A{*JHtAUc@A^AI5=A32>Au?A@җ?ACм*A9?2Arս:AHx;BA9?JArսRAHx;٘i)I9c@Y G JJJJJE&K Y2Z~?yyLAE77ك9),B[[[Z~?[[[[[ZZBZYY i) zIiS?q< ??))ᅾ????q~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036815.003165 s, next control iter: 1743036815.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036815.403165 s.&J~,c(AAQ$@Am$@A^[~? AAt%"AA'3pNA"AZAbAjArAzAAAH'@A HtA'c@Ak DA}<AeG>As?A 5ƣ?A*A5:?2Aӽ:AVBA5:?JAӽRAV٘i)I9'c@Y? G J}JJJJE&K Y Z~?yCLAE)7ŧ7ڃ9HB).BE[[׎[Z~?[ [[[[ZZBZYY i) 1Ii?9g< dE?)) dE?dE?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036815.443165 s, next control iter: 1743036815.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10314", header.stamp.nsec: 0"0 temperature: 13.570232"* salinity: 33.375290", density: 1025.000000"* values[0]: 0.569733"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036815.823165 s.J~,)c(AJ"J*J2J:JBJnJvJAGz%@A(r%@A x[~? A8Aw%"AAZpNA"AZAbAjArAzAAA~vޓϊ(@A}#GtA'b@AYALc,<A3[>A`m?A?A^"*AY:?2A2Խ:AbBAY:?JA2ԽRAb٘i)I9b@Y G JJJJJE&K YZ~?y KAEŧ77܃9GB)2BE[[;[Z~?[[[[[ZZBZYY i) 舼IiЭ?{^< /J?))/J?/J?#YfYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036815.843165 s, next control iter: 1743036816.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036816.243165 s.J~,yd(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082449< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036816.243299F (some fields omitted in printout)Aףp=J%@A=`2=%@A[~? AA%"AApNA"AZAbAjArAzAAAgP%()@A˹aGtAIb@A AyUAo>Ad?A B?A4*AP:?2AoԽ:ABAP:?JAoԽRA٘i)I9Ib@Y G J`JJJJE&K YZ~?yk KA!E77nރ9MB);BE[[)<[?Z~?[[[[[ZZBZYY i) ~A{Ii٧?gV< A`X?A3?Ajڻ*Ac9?2A>ս:A*BAc9?JA>սRA*YL1=`7>y7u :ٓH`?пZ?@l? /cyR?@hU?l?)L1= I٘i)I9 b@Y G JJ2DJJJE&Kt> Y`Z~?y2 KA7>$E7799)!%"AAkpNA"AZAbAjArAzAAA=Mua*@A{GFtALa@A:<AAČ>A@.J?A@0̸?AR*A9?2Aս:AͼBA9?JAսRAͼ٘i)I9a@Y~ G J JJJJE&K Y[~?yKA&E{7j79LB)=B¹E[[=[X[~?[B[[[[BZYY iҍ=) VIi?$?< :Y?)) :Y?:Y?`2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036817.123165 s, next control iter: 1743036817.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036817.503165 s.J~,D4`d(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743036817.503274F (some fields omitted in printout)J"J*J2J:JBJnJvJAR%@AN}%@A[~? AA5%"AApNA"AZAbAjArAzAAA!>*@AHtEtAa@A"N<A4A>A:?A϶?A94;*A:?2AKMԽ:ABA:?JAKMԽRA伙٘i)I9a@Y} G JHB=JJJJE&K Y/4[~?yKA)E{79KB)A'?A'?Az;*A79?2AԽ:AV6BA79?JAԽRAV6٘i)I9b@Y G Jږ;C=JJJJE&K YO[~?yLA,E779LB);B[[ =[F[~?[[[[[BZYY i) 2Ii?]|-< Au?A['`[~?[[[[[BZYY i) ? Ii?/%< ԕi?))ԕi?ԕi?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036818.363165 s, next control iter: 1743036818.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10317&, header.stamp.nsec: 0&0 temperature: 13.570136&* salinity: 33.375320&, density: 1025.000000&* values[0]: 0.569314&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036818.763165 s.8+J~,#ذd(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069248< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036818.763307F (some fields omitted in printout)Ǎ&@An&@A],\~? A9A%"AA=lqNA"AZAbAjArAzAAAF\_S6,@AOABtAUb@A AQA+!>A@w?A`^?Alj<*Ah9?2AAԽ:A[DBAh9?JAAԽRA[DYGw >l>yOQ<ٓH ?+ֿ6`I(?i?` ?g?)Gw > I٘i)I9b@Y G JyL<JJJJE&Ks> Yw[~?yB~LAl>1E77{7.9JB)5B˹E[[>[y[~?[[[[[BZYY i"f=) Iip?R< n?))xn?n?޸*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036818.803165 s, next control iter: 1743036819.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036819.183165 s.2J~,d(AJ"J*J2J:JBJnJvJA(\&@A`&@AE\~? ArAy%"AAגqNA"AZAbAjArAzAAALj-@AkAtAc@AUAxAb>A?A?AM<*A9?2Aս:A~BA9?JAսRA~٘i)I9c@Y+ G J<JJJJE&K Y[~?y4LA4E{79)2BιE[[5?,>[[~?[[[[[BZYY i) ivIi`?a< t?)) t?t?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036819.203165 s, next control iter: 1743036819.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036819.603165 s.749J~,d(AAQ&@A#F&@A_\~? AA%"AAFqNA"AZAbAjArAzAAA6.@Aס@tAc@A-A!A>A?A@?A⹝<*A:?2Adӽ:A5BA:?JAdӽRA5٘i)I9c@Yw G Jɔ<JJJJE&K Yt[~?y%5MA6E)7ŧ79IB)-BѹE[[mA>[[~?[[[[[BZYY i) IiQ?< ty?))ty?ty?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036819.623165 s, next control iter: 1743036820.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10318 , header.stamp.nsec: 0 0 temperature: 13.569838 * salinity: 33.375340 , density: 1025.000000 * values[0]: 0.569820 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036820.023165 s.Z@J~,|e(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036820.023301F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.'@Aq !'@AAu?A R?A<*A:?2AԽ:A]BA:?JAԽRA]٘i)I9 d@Y G J <JJJJE&K Y[~?yMA9Ej7Z79)(BԹE[[W>[[~?[p[[[[BZYY i) ĻIiC?; ~?))~?~?ymf=;*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036820.043165 s, next control iter: 1743036820.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036820.443165 s.;FJ~,O]e(AAq= c'@Aj-V'@AD\~? A) A)%"AArNA"AZAbAjArAzAAAة 4/@A>=tA!d@Af;AA>A ;?A#?A<*Ae:?2Aiaս:A? BAe:?JAiaսRA? ٘i)I9d@Y! G J<JJJJE&K Ys[~?y MA[[~?[ߪ[[[[BZYY iJ=) IiW8?; h?))h?h?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036820.463165 s, next control iter: 1743036820.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10319, header.stamp.nsec: 00 temperature: 13.569450* salinity: 33.375343, density: 1025.000000* values[0]: 0.570540F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036820.863165 s.J "J *J 2J :J ?BJ ?nJ '5vJ +MJ~,>7e(AA'@AkGq'@A&\~? A AJ%"AAj+rNA"AZAbAjArAzAAA>A/@A0vA`d`?A`?A׫<*A\!:?2A(ս:AtBA\!:?JA(սRAtYmq>>y`L<ٓH5?@+ܿ` X ?`?ɝ`y2? M?L?)mq> I٘i)I9*e@Yy G Jϫ<JͥJJJE&K#u> Y\~?y*SNA>>E{7Z7$9EB)BֹE[[>[-[~?[ݪ[[[[BZYY i) drIi.&?; Ʉ?))uOzɄ?Ʉ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036820.883165 s, next control iter: 1743036821.263189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743036821.283165 s.5RTJ~,Re(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244444> elevatorAngleAction: 0.065573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743036821.283312F (some fields omitted in printout)A(\'@A S'@A\~? A0Az%"AAQrNA"AZAbAjArAzAAArh00@Az/:tA?e@Az?<AA>A9?AV?A!<*A!:?2A;ֽ:AݳBA!:?JA;ֽRAݳ٘i)I9e@Y G J)<JJJJE&K Y."\~?yLNAAEZ79DB)BٹE[[+ϋ>[\~?[۪[[[[BZYY i) oRIi?; {?)) {?{?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036821.303165 s, next control iter: 1743036821.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 103202, header.stamp.nsec: 020 temperature: 13.5690692* salinity: 33.3753782, density: 1025.0000002* values[0]: 0.5713052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036821.703165 s.ZJ~,Tme(AJ"J*J2J:JBJnJvJAQ(@AG'@Ak\~? AwAk%"AA]vrNA"AZAbAjArAzAAAaz0@A2G9tAMIf@Ao;A䃕Ax>A?A@>M?A<*A::?2A+Խ:A UBA::?JA+ԽRA U٘i)I9If@Y( G J <B=JJJJE&K Y;\~?yl"OADEj79CB)BܹE[[>[.\~?[&٪[[[[BZYY i)  Ii $? $; 14?)) 14? 14? *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036821.743165 s, next control iter: 1743036822.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036822.123165 s.3aJ~,Le(AAG:(@ADb-(@A\~? AA%"AAurNA"AZAbAjArAzAAAjܼ0@A^Udž7tAf@A۔AA?A l?A'?AǪ<*A::?2AԽ:A)BA::?JAԽRA)٘i)I9f@Y G J<C=JQ>JJJE&K> YT\~?yOAFEŧ7b79BB) B߹E[['>[eH\~?[֪[[[[BZYY i) ʳIi>; 7?))7?7?yD=*YM'YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036822.143165 s, next control iter: 1743036822.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036822.543165 s.IhJ~,âe(AJ"J*J2J:JZ?BJZ?nJv5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036822.543295F (some fields omitted in printout)A= ףp(@Aݗc(@A ]~? AAB%"AAFrNA"AZAbAjArAzAAA@ŎF1@A=R%5tAgg@A<AZeA4?A@7?A@?AzD<*A9:?2A}Խ:ABA9:?JA}ԽRA٘i)I9gg@Y G JF<JQ>JJJE&K> YCn\~?yުOAIE777N9)B[['>[#b\~?[Ӫ[[[[BZYY i) tIi>; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036822.563165 s, next control iter: 1743036822.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10321, header.stamp.nsec: 00 temperature: 13.568675* salinity: 33.375389, density: 1025.000000* values[0]: 0.572069F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036822.963165 s.vnJ~,褽e(AAffff(@A.R\(@A#]~? AgAZ%"AArNA"AZAbAjArAzAAAFV1@A,-b3tAvg@AKAɗA?A`.?A@d?A.ä<*A89:?2Ajս:ABA89:?JAjսRAY E>#;?y(LٓH`6?@?3?`w?Xu ?) E> I٘i)I9g@Y, G J~<J0g<JJJE&Kuu> YC\~?y ڪOPA;?LE{7j79)BE[[+>[s{\~?[ Ѫ[[[[BZYY i) ,`:IiP>o; i?))|i?i?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036822.983165 s, next control iter: 1743036823.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036823.383165 s.uJ~,8e(AJ"J*J2J:J?BJ?nJ5vJA((@Aap(@A;]~? AA%"AA sNA"AZAbAjArAzAAA 3x1@AƸ1tAQ|h@A"޻AߊA V?A?[?A ?A!{<*A"8:?2Aֽ:ABA"8:?JAֽRA٘i)I9|h@Y~ G J<JJJJE&K YC\~?yhժPAOEb779AB)BE[[w>[Ŕ\~?[ͪ[[[[BZYY i) y:Ii> G; )?)) )?)?U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036823.423165 s, next control iter: 1743036823.783181 s, wait time: 0.360016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10322", header.stamp.nsec: 0"0 temperature: 13.568287"* salinity: 33.375393", density: 1025.000000"* values[0]: 0.572800"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036823.803165 s.yA|J~,ge(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036823.803288F (some fields omitted in printout)A)@Am)@AQS]~? AA%"AA,sNA"AZAbAjArAzAAA"bY1@ACF/tAh@AN";ARA?A &?AP?AD?<*A`K:?2A8ս:AY9BA`K:?JA8սRAY9٘i)I9h@Y G J<JJJJE&K YB\~?yЪ QAQE77779@B)BE[[[>[\~?[ʪ[[[[BZYY i) p^;Ii~>D#; ?))??޹*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036823.823165 s, next control iter: 1743036824.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036824.223165 s.gJ~,Hf(AJ"J*J2J:JBJnJvJAzG)@A8+:)@Aj]~? AA!%"AAwPsNA"AZAbAjArAzAAA-2@Afxd-tAxi@A,f+<AAi?A@?A `}?Ae<*AJ:?2Avս:A#BAJ:?JAvսRA#񼙘٘i)I9xi@YG J<JJJJE&K  9YA\~? 9y̪mQATE{7y9=B)BE[[>[M\~?[MǪ[[[[BZYY i) <Y;IiM>; ָ?))ָ?ָ?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036824.243165 s, next control iter: 1743036824.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036824.643165 s.vЉJ~,*)f(AA ףp})@A.ep)@A]~? A:A i%"AAssNA"AZAbAjArAzAAA_Es2@Anj+tAi@AS<AUA6#?A?AaS?A)<*A/I:?2Aֽ:ArDBA/I:?JAֽRArD9I٘i)I9i@Y_G J<JJJJE&K YA\~?yxǪQAWE)7ŧ7D9[o\~?[ê[[[[BZYY i) T;Ii5$>I0: ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036824.663165 s, next control iter: 1743036825.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10323, header.stamp.nsec: 00 temperature: 13.567939* salinity: 33.375416, density: 1025.000000* values[0]: 0.573511F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036825.063165 s.J~,_ Df(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065573< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036825.063307F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333)@ARo&)@A]~? ARAѳ%"AA~sNA"AZAbAjArAzAAAo#\2@AyKj(tA`j@A <A%lAY1(?A?~?A &?AE<*AF:?2Aֽ:ABAF:?JAֽRA񼙘٘i)I9`j@YG JU<JJJJE&K Y?\~?yª+RAYE77j79;B)BE[[?C>[l\~?[ؿ[[[[BZYY i=) b%;Ii0>: X?))X?X?c*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743036825.083165 s, next control iter: 1743036825.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036825.483165 s.y_J~,^f(AA\)@A)@A-]~? AEA^%"AAsNA"AZAbAjArAzAAAUdE2@AZ<&tAj@AF\AjAB-?AA?AM?Aպ<*AbD:?2Aֽ:ABAbD:?JAֽRA٘i)I9j@YG J<B=JJJJE&K YA]~?y.RA\E7779:B)BE[[>[>]~?[Ի[[[[BZYY i) 9;Iid=: -?))-?-?k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036825.503165 s, next control iter: 1743036825.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10324, header.stamp.nsec: 00 temperature: 13.567587* salinity: 33.375435, density: 1025.000000* values[0]: 0.574142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036825.903165 s.%ȝJ~,yf(AJ"J*J2J:J?BJ?nJ5vJAQ*@AGɫ*@A]~? AAQ%"AAsNA"AZAbAjArAzAAA4ZO@3@A"#tAHk@AAAW2?A`?A`O?Aa<*Aw=:?2AOֽ:ABAw=:?JAOֽRA٘i)I9Hk@Y2G J<C=JJJJE&K Y>.]~?yRA_Eb779)߯B[[;?[*]~?[[[[[BZYY i) @;Ii= Y:  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036825.943165 s, next control iter: 1743036826.303193 s, wait time: 0.360028 s rAdjusting time to match Gazebo time: 1743036826.323165 s.uJ~,!f(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036826.323283F (some fields omitted in printout)AGzT*@A ˟oG*@A]~? AܫA%"AAsNA"AZAbAjArAzAAAX3@AEG !tA6k@A,sTA(Aׂ7?Ak?A@?Ah<*A6:?2A[?ֽ:A]BA6:?JA[?ֽRA]٘i)I9k@YyG J<JJJJE&K Y>F]~?y䴪HSAaE777o 98B)ۯBE[[?[*C]~?[D[[[[BZYY i) 0N^]~?y>SAdEŧ7b79 97B)֯BE[[WZ?[6[]~?[[[[[BZYY i) o^]~?)&> rAdjusting time to match Gazebo time: 1743036827.163165 s.x}J~,qf(AA*@AU*@A^~? AӫAR%"AA>tNA"AZAbAjArAzAAA3}_X4@A%5XtAl@AoA A*B?A@6?A(?A<*A):?2Aֽ:A`BA):?JAֽRA`Y ?3B?yq rٓH,? @F3? ~:?s,ް?@͗`@.?) ? I٘i)I9l@YG J<J,;JJJE&Kw> Yr]~?y/TA3B?gEj7Z7 93B)ίBE[[?[r]~?[[[[[BZYY i) M" elevatorAngleAction: 0.075176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036827.583289F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\*@Anض*@A^~? AΫAɭ%"AA^tNA"AZAbAjArAzAAAIqsF4@ANHtA2m@AF;A?AG?A@?A@?A`f<*Ae#:?2AV׽:A2sBAe#:?JAV׽RA2s٘i)I9m@YHG J<JJJJE&K YA]~?y \TAiE77{79)ʯB[[ܚ?[]~?[B[[[[BZYY i) Q1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036828.443165 s, next control iter: 1743036828.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10327, header.stamp.nsec: 00 temperature: 13.566604* salinity: 33.375481, density: 1025.000000* values[0]: 0.575995F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036828.843165 s.J~, 5g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743036828.843324F (some fields omitted in printout)Ap= +@A+@AcY^~? AA%"AAtNA"AZAbAjArAzAAA={5@AqpttAin@AԜ;AtAV?A`} ?A|0?A(I<*A 0:?2Abս:ABA 0:?JAbսRA٘i)I9in@YG Jٍ<JJJFJE&K Y]~?ylUAqEŧ7b7/9)B[[*?[ ]~?[[[[[BZYY i =) ` elevatorAngleAction: 0.084494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743036830.103286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8,@AqH+,@A^~? A֯Ad%"AAguNA"AZAbAjArAzAAAT85@AV}tA o@ANJA$+Af?AV?A`A$?A _<*A:?2Aս:AXBA:?JAսRAX٘i)I9o@YG Ji<JJJJE&K YK^~?y|VAyEb779(B)BE[[-'g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036831.363286F (some fields omitted in printout)A,@Ad,@A^~? AAQ%"AAjuNA"AZAbAjArAzAAA}nY6@A* "sA?q@A4D0<AA<8v?A$?A'?A<*A9?2A elevatorAngleAction: 0.084494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036832.623305F (some fields omitted in printout)AGz-@As?/?@gw? ?)X? I٘i)I9t@YG J=<JCJJJE&Kr9? Y^~?yMmYA ?E'9B)vBE[[Vj?[^~?[2P[[[[BZYY i) ! elevatorAngleAction: 0.094007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036833.883290F (some fields omitted in printout)A(.@A~.@A._~? AYyA"%"AAvNA"AZAbAjArAzAAAR7@A![sALu@A_ A뱽AN?Ai?A@ ?AA8<*A9?2Aֽ:A2BA9?JAֽRA2٘i)I9Lu@YLG Jf<JJJJE&K YD^~?yEYAE7)9)pB[[p?[^~?[%I[[[[BZYY i) ZZAE77z+9B)jBE[[Qu?[^~?[A[[[[BZYY i) ս:AV(BA9?JA>սRAV(٘i)I9v@YG J<JJJJ"E&K Y^~?y6ZAE)7b7E-9)dB[[]{?[^~?[:[[[[BZYY i)  8 elevatorAngleAction: 0.094007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743036835.143282F (some fields omitted in printout)A ףp.@AqQe.@AZ_~? AZeAp%"AAHvNA"AZAbAjArAzAAAC 8@A]~&sAVw@ActP<A%A r?A`X?A ?A<*A9?2Aս:ABA9?JAսRA٘i)I9Vw@YG Jk<JJJJ%E&K Yl^~?y.F[AE77{7/9B)ZBE[[?[l^~?[3[[[[BZYY i) bt Y^~?y&[A?Ej709)UB[[m?[j^~?[+[[[[ZZZZ¸>BZYY i¸>) L՗ ?))??0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036837.263165 s, next control iter: 1743036837.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036837.663165 s.ZJ~,qji(AJ"J*J2J:J]?BJ]?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085005< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201102 time: 1743036837.663436F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10336, header.stamp.nsec: 00 temperature: 13.563145* salinity: 33.375568, density: 1025.000000* values[0]: 0.583461F (some fields omitted in printout)A0@AC/@A$_~? A;A'%"AAӽvNA"AZAbAjArAzAAA&X8@A=]sAH|@A;ATGAӡ?Any? P?`?Ts5?)P΅? I٘i)I9H|@YG J<J=JJJ5E&Kw> Y_~?y+^Aڡ?E799B)-BE[[9?[=_~?[[[[[ZZZZBZYY ibD) <x?A?A@V?A߻<*A9?2A\ֽ:AN:BA9?JA\ֽRAN:٘i)I9|@YG J<JJJJ8E&K Y__~?yH^AE7777;9)'B[[ -?[I_~?[i[[[[ZZZZBZYY i) ȏ6q;*Ax9?2Aֽ:A<BAx9?JAֽRAJJJBE&Kx> Y>_~?yө^A?E77{7B9)B[[?[r_~?['٩[[[[ZZZZBZYY ien) CL*Ab9?2Alֽ:A=BAb9?JAlֽRA=٘i)I9.~@YG J+JJJJJE&K YO_~?yq^AE777%H9)B[[t ?[_~?[[[[[BZYY i) gwj(AJ"J*J2J:JBJnJvJA2@A 2@A_~? APA*%"AA YX_~?y]A?Eb7b7K9B)BE[[?[_~?[~[[[[BZYY i]l) ,;I_H?i^DpZ  @)) @ @ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036841.883165 s, next control iter: 1743036842.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036842.283165 s.DRJ~, j(AA(\O2@A{2QB2@A`~? AvA5%"AAQwNA"AZAbAjArAzAAAf:@A]DNsA^}@A[<AiC=Ab?A e ?A?A5*A9?2A$ֽ:A=BA9?JA$ֽRA=٘i)I9}@YG JJJJJRE&K Yw[_~?yҟ]AE)7ŧ7M9)B[[?[f_~?[d[[[[BZYY i) ;ITH?iKK | @))| @| @ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036842.303165 s, next control iter: 1743036842.683190 s, wait time: 0.380025 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10341., header.stamp.nsec: 0.0 temperature: 13.562502.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.584606.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036842.703165 s.ӺJ~J"J*J,j(A2J:J?BJ?nJ5vJvPublished 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: 0.4199472 time: 1743036842.703260F (some fields omitted in printout)AQ2@ASx2@Ax `~? AߪA%"AAZwNA"AZAbAjArAzAAAJp$:@Að)~sAN|@A70<A=A?A.?A /?A *A9?2A]]ֽ:At=BA9?JA]]ֽRAt=٘i)I9|@YG J뛼B=JJJJUE&K Y^^_~?y)]AEb77PO9)B[[?['_~?[6[[[[BZYY i) bP;IIH?i5P@  @)) @ @ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036842.723165 s, next control iter: 1743036843.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036843.123165 s.7J~,]j(AAG2@Aխ2@A`~? AתA!i%"AAbwNA"AZAbAjArAzAAA#74:@A|vsA|@AJ";A"=Aմ?AJ?A?A`D*Ay9?2Aֽ:A=BAy9?JAֽRA=٘i)I9|@Y`G JC=JJJJXE&K YDa_~?yM\AEŧ7b7Q9B)!BE[[M?[6_~?[[[[[BZYY i) X;I8>H?iS @))@@yl֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036843.143165 s, next control iter: 1743036843.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036843.543165 s.IJ~,j(AJ"J*J2J:JBJnJvJA= ף2@A2@A`~? AϪA&&"AA7jwNA"AZAbAjArAzAAA2A:@AZ+|sAp{@AAs=APh?A@ƾ?A`*?A*Al9?2A"׽:Au =BAl9?JA"׽RAu =٘i)I9p{@Y G JŪJJJJ[E&K Y*d_~?yi\AEb77R9)&B[[#"?[_~?[[[[[BZYY i) خc;I2H?iS  @)) @ @֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036843.583165 s, next control iter: 1743036843.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10342, header.stamp.nsec: 00 temperature: 13.562738* salinity: 33.375595, density: 1025.000000* values[0]: 0.584009F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036843.963165 s.yJ~,j(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: 0.4199582 time: 1743036843.963273F (some fields omitted in printout)Affff&3@A`3@A`~? AǪA&"AApwNA"AZAbAjArAzAAATB%N:@ATwsA z@ASAE=A?A?A>?A*A-9?2A^6׽:A/u=BA-9?JA^6׽RA/u=Y?1?y=@yTٓH PM?P`mk`?F +?@f+{`P?)? I٘i)I9z@YG JѪB=JrF<JJJ]E&KKx> Y0d_~?y|\A?E7)7T9)*B[['?[;_~?[z~[[[[BZYY i) JO';I'H?i[~ @))@@yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036844.003165 s, next control iter: 1743036844.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036844.383165 s.J~,4k(AJ"J*J2J:Jk?BJk?nJ5vJA(\3@A%O3@A`~? AA;&"AAqvwNA"AZAbAjArAzAAALZX:@A5F ssACRz@ADA=A?A )?AN?AL*A9?2A׽:A<=BA9?JA׽RA<=٘i)I9Rz@YZG JC=JJJJ`E&K Y7d_~?ys[A DE77zV9)/B[[-?[1_~?[.u[[[[BZYY i) g:IH?ia  @))@@yϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036844.423165 s, next control iter: 1743036844.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10343", header.stamp.nsec: 0"0 temperature: 13.562977"* salinity: 33.375610", density: 1025.000000"* values[0]: 0.583331"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036844.803165 s.vAJ~,wg3k(AA3@Ab߄3@A`~? AAo&"AA\{wNA"AZAbAjArAzAAAa:@AS #nsAy@AfAӒ=A4?Ab?A@!]?AȨ*A9?2Aֽ:AK<BA9?JAֽRAK<٘i)I9y@YG J?JJJJcE&K Y=d_~?y"k4[AEEX9B)1BE[[?7?[s_~?[k[[[[BZYY i) x::IH?idJ  @)) @ @mʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036844.843165 s, next control iter: 1743036845.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036845.223165 s.J "J gJ~*J2J,HNk(A:J??BJ??nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066896< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743036845.223280F (some fields omitted in printout)Az3@A8+3@A!`~? AA^u&"AA}wNA"AZAbAjArAzAAAQ>i:@AZ8:isA7y@A0;A=A}?A;?Ah?AM"*A9?2Aȉֽ:A<BA9?JAȉֽRA<٘i)I97y@YG J)JJJJeE&K YDd_~?yUbZAE{7{7Z9)6B[[A?[_~?[{b[[[[BZYY i) [IEH?ifw= @))@@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036845.243165 s, next control iter: 1743036845.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036845.643165 s.zJ~,*ik(AA ףp3@AKe3@A#`~? AA&"AAӂwNA"AZAbAjArAzAAAn:@A]OdsAix@Ar,D<A$~=AiE?AO?A@q?A+*A9?2Agֽ:Aj<BA9?JAgֽRAj<٘i)I9x@Y[G JdJJJJhE&K YJd_~?yYfZAEj7[9):B[[#L?[ӯ_~?[Y[[[[BZYY i) -IG?ie7 @))@@yOYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10344, header.stamp.nsec: 00 temperature: 13.563242* salinity: 33.375591, density: 1025.000000* values[0]: 0.582686F (some fields omitted in printout)]Waiting for Gazebo time sync: latest Gz time: 1743036845.663165 s, next control iter: 1743036846.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036846.063165 s.J~,c k(AJ"J*J2J:J*?BJ*?nJi5vJA333334@A}(&4@AF%`~? AA&"AA^wNA"AZAbAjArAzAAA4s:@ATb_sAM)x@AUP<ABU=A?A?Ayx?Aٚ*A9?2Aֽ:AY<BA9?JAֽRAY?Ȕ`D?@`\?1?)}? I٘i)I9)x@Y G JwJJJJkE&KXx> Yqa_~?yP ZA?E]9)>B[[U?[_~?[O[[[[BZYY i) TKICG?ik \@))\@\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036846.083165 s, next control iter: 1743036846.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036846.483165 s.~_J~,k(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066896< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743036846.483324F (some fields omitted in printout)A\h4@A[4@A#&`~? AlAM&"AAwNA"AZAbAjArAzAAAJxu:@A2CsZsAHw@A;A=A?A F?A|?A@~*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9w@YG J+B=JJJJmE&K Y^_~?yGYAE77p_9B)ABE[[a?[Y_~?[fF[[[[BZYY i) FI^G?io]q @))@@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036846.503165 s, next control iter: 1743036846.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10345, header.stamp.nsec: 00 temperature: 13.563475* salinity: 33.375618, density: 1025.000000* values[0]: 0.582057F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036846.903165 s.J~,͹k(AJ"J*J2J:JBJnJvJAQ4@A4@Av&`~? AWA&"AA wNA"AZAbAjArAzAAAӄjv:@AQUsA2w@A]6A"=A9?A֨T?A x~?A*AM9?2A׽:AjL<BAM9?JA׽RAjL<٘i)I92w@YsG JC=JJJJpE&K Y[_~?y Y]P_~?y%EXA?E777f9)MB[[??[͟_~?[![[[[BZYY i) IWG?ivtt  @)) @ @LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036848.183165 s, next control iter: 1743036848.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036848.583165 s.J~, S%l(AJ"J*J2J:JBJnJvJA)\u5@A4h5@Ao"`~? A oA{b&"AAwNA"AZAbAjArAzAAA]w.rj:@AAsAu@A=9A=A?A2Ak?AwE*AL9?2A?ֽ:A<BAL9?JA?ֽRA<٘i)I9u@YjG J~JJJJ{E&K YJ_~?ysWAEeh9B)RBE[[?[_~?[[[[[BZYY i) IG?iw! !@))!@!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036848.603165 s, next control iter: 1743036848.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10347, header.stamp.nsec: 00 temperature: 13.563893* salinity: 33.375599, density: 1025.000000* values[0]: 0.580980F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036849.003165 s.x J~,L4@l(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743036849.003295F (some fields omitted in printout)AR5@AG>x5@A `~? AfA&"AAwNA"AZAbAjArAzAAAy@ec:@ATJJJJ}E&K YD_~?yWAEj7j70j9)VB[[k?[_~?[[[[[BZYY i) }IG?iw~ #@))#@#@y鴪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036849.023165 s, next control iter: 1743036849.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036849.423165 s.uJ~,[l(AJ"J*J2J:JBJnJvJA{G5@A%<5@AC`~? A^Aܜ&"AA|wNA"AZAbAjArAzAAAwZ:@A}]L7sAt@AZ<A#Q=A ?AFAR?Aҟ*A9?2AInֽ:A,=BA9?JAInֽRA,=٘i)I9t@YG J-JJJJE&K YK?_~?y1 AWAE777k9B)XBE[[??['_~?[b[[[[BZYY i) 5;IG?i*v $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036849.443165 s, next control iter: 1743036849.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10348, header.stamp.nsec: 00 temperature: 13.564114* salinity: 33.375587, density: 1025.000000* values[0]: 0.580477F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036849.843165 s.J~,ul(AAp= 6@A 6@A`~? AVA9 &"AA xwNA"AZAbAjArAzAAA*P:@A$ĕ3sAn3t@A6)<A=AT\?A+SAA?AX*A\9?2Asֽ:A0=BA\9?JAsֽRA0=٘i)I93t@YG JJJJJE&K Y9_~?yVAE77m9)\B[[?[ކ_~?[C[[[[BZYY i) .IxsG?irH )&@)))&@)&@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036849.863165 s, next control iter: 1743036850.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036850.263165 s.$J~,ؐl(AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036850.263284F (some fields omitted in printout)AL6@A??6@A`~? ANA &"AArwNA"AZAbAjArAzAAAduD:@AɈ8.sAs@A3:A=A ?A@#A /?Ai*A\9?2Aֽ:Ac=BA\9?JAֽRAc=Y??y=j:ٓHy'ӿՒ u?@0ӿ? =E^?b?)? I٘i)I9s@Y\G J'J$<JJJE&KUx> Y 1_~?y)VA?Eb77o9)_B[[?[~_~?[2[[[[BZYY i) Wz>IAfG?iuKO '@))'@'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036850.283165 s, next control iter: 1743036850.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10349., header.stamp.nsec: 0.0 temperature: 13.564330.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.579922.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036850.683165 s.l*J~,^l(AA(\6@A\ u6@A`~? AFAq &"AAHlwNA"AZAbAjArAzAAA5O7:@A[)sA>Rs@AA8Ԍ=AO?AA?A*(*A9?2A7׽:ABH=BA9?JA7׽RABH=٘i)I9Rs@YG JJJJJE&K Y(_~?y0VAEj7SI7Zq9B)eBE[[?[7v_~?[/[[[[BZYY i) MIXG?iv ..)@))..)@..)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036850.683165 s, next control iter: 1743036851.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036851.103165 s.1J~,l(AJ"J*J2J:Jc?BJc?nJ5vJAQ6@AwF6@A `~? A?A &"AA4ewNA"AZAbAjArAzAAA^nMJ(:@AW`Z$sAr@ASAۏ=Ab?A¿A?A$ӈ*A9?2A;L׽:A;=BA9?JA;L׽RA;=٘i)I9r@YG JJJJJE&K Y. _~?y[UAE777%s9)hBE[[?[l_~?[<[[[[BZYY i) |]IKG?ium ʲ*@))ʲ*@ʲ*@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036851.123165 s, next control iter: 1743036851.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036851.523165 s.7J~,{l(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076502< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743036851.523282F (some fields omitted in printout)AHz6@AX56@A%`~? A)7Ag &"AAV]wNA"AZAbAjArAzAAAѡ:@A߻sAkr@A<A=A?A%ĿA`?A*A9?2A!׽:A` =BA9?JA!׽RA` =٘i)I9kr@YG J2JJJJE&K Y_~?ywUAEZ7Z7t9)kB[[?[b_~?[_ب[[[[BZYY i) lI>G?ir 48,@))48,@48,@ʪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743036851.543165 s, next control iter: 1743036851.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10350, header.stamp.nsec: 00 temperature: 13.385327* salinity: 33.391613, density: 1025.000000* values[0]: 0.702132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036851.943165 s._d>J~,_]l(AJ"J*J2J:JBJnJvJAq= #7@Ah 7@A'`~? AM/APA &"AATwNA"AZAbAjArAzAAAt:@AksAq@Aw҃A(ϕ=AR?ARƿA@?A**A9?2Aֽ:AfW =BA9?JAֽRAfW =٘i)I9q@Y@G J<JJJJE&K Y;_~?yبUAE77v9B)qBE[[??[X_~?[Ϩ[[[[BZYY iƯ) |I1G?imMM L-@))L-@L-@ ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036851.963165 s, next control iter: 1743036852.343183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036852.363165 s.EJ~,y>m(AAY7@A>L7@A_~? Az'A| &"AABKwNA"AZAbAjArAzAAAaq9@A\RPsAnq@A;AB=A?AhȿAK?Aԟ*A`9?2Arֽ:A=BA`9?JArֽRA=Y ?V?y=B=J:;ٓH:ٿ` fƘ`P?Fٿ`?`v?>?) ? I٘i)I9nq@YG JJ<JJJE&Kx> Y_~?ywШTA?Eb77x9)uB[[ ?[L_~?[ƨ[[[[BZYY i) UЅI%G?io$] &@/@))&@/@&@/@oѪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036852.403165 s, next control iter: 1743036852.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10351&, header.stamp.nsec: 0&0 temperature: 13.385572&* salinity: 33.391632&, density: 1025.000000&* values[0]: 0.701099&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036852.783165 s.VKJ~,2m(AJ"J*J2J:J{3?BJ{3?nJ3<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036852.783297F (some fields omitted in printout)A(\7@AjQ7@A_~? AAr &"AAAwNA"AZAbAjArAzAAAh89@A_sAp@AߦI<A睚=A3?Aa:ʿA?Ap*A9?2A7Fֽ:A=BA9?JA7FֽRA=٘i)I9p@YG J᡼JJJJE&K Y^~?yaȨNTA E7{7Pz9)yB E[[1-?[@_~?[N[[[[BZYY i) _I(G?i?oK 0@))0@0@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036852.803165 s, next control iter: 1743036853.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036853.203165 s.SJ~,Mm(AAQ7@As7@A&_~? AA[ &"AA6wNA"AZAbAjArAzAAA9@AtQ sAG[p@AM<AD=A@A` ̿A6g?A*A9?2A(]ֽ:A=BA9?JA(]ֽRA=٘i)I9[p@YIG JJJJJE&K Y^~?yKSA Eb77|9B)B E[[@[4_~?[̵[[[[BZYY i) 9Im G?ilǐ G2@))G2@G2@y3تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036853.223165 s, next control iter: 1743036853.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036853.623165 s.ZYJ~,igm(AJ"J*J2J:JBJnJvJAG7@A7@A#_~? AHA&"AAc*wNA"AZAbAjArAzAAAna9@AsAwo@AГ;AG =Ak@A-ͿA@@?A嗩*A9?2Aȫֽ:AI=BA9?JAȫֽRAI=٘i)I9o@YG JϨJJJJE&K Y^~?y4SAE}9)B[[@[&_~?[f[[[[BZYY i) ZIF?i[h= 3@))3@3@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036853.643165 s, next control iter: 1743036854.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10352 , header.stamp.nsec: 0 0 temperature: 13.385813 * salinity: 33.391636 , density: 1025.000000 * values[0]: 0.699976 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036854.043165 s.`J~,Âm(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743036854.043276F (some fields omitted in printout)A= ף08@A ܺ#8@A_~? AAw6&"AAwNA"AZAbAjArAzAAAj)9@AgO|NsA>o@AIYA=A@A^ϿA?A *Aث9?2A׽:A =BAث9?JA׽RA =٘i)I9>o@YG JJJJJE&K Yl^~?ySAE9)B[[&@[_~?[ [[[[BZYY i) IF?ia @R5@))@R5@@R5@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036854.063165 s, next control iter: 1743036854.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036854.463165 s.J "J *J 2J :J 3?BJ 3?nJ ;5vJ bgJ~,m(AAfffff8@Ahv[Y8@A_~? AA&"AAwNA"AZAbAjArAzAAA偣]x9@AVK"rA_n@A5A3+=A @A@lпA ?A8/*Ay9?2A9׽:A=BAy9?JA9׽RA=Y2??@y(=6ٓH@* ߿mN-?@1߿` ?=`߿?)2? I٘i)I9n@YDG JJf<JJJE&Khx> Y^~?ynRA@E77{9B)BE[[@[Z _~?[[[[[BZYY i) oIF?ib 6@))6@6@WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036854.483165 s, next control iter: 1743036854.863183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10353, header.stamp.nsec: 00 temperature: 13.386082* salinity: 33.391644, density: 1025.000000* values[0]: 0.698798F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036854.883165 s.zmJ~,nm(AA(8@A[ 8@A_~? AAF^&"AAwNA"AZAbAjArAzAAAu=[9@A7(rAn@A{ZUAg=A n@A@ѿA H?A*Ar9?2Ax)׽:A=BAr9?JAx)׽RA=٘i)I9n@YG JUJJJJE&K Y^~?y =BAɑ9?JA3ֽRA> =Y?y @y=дZ<ٓH@B?`. !? fLH?\;?`?)? I٘i)I9k@Y[G JϼJv<JJJE&Kw> Y^~?yzuPA @"Eŧ77p9 B)BE[[9 @[^~?[u[[[[BZYY i)  #мIF?iaMq ya>@))ya>@ya>@'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036856.603165 s, next control iter: 1743036856.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10355, header.stamp.nsec: 00 temperature: 13.386661* salinity: 33.391682, density: 1025.000000* values[0]: 0.696263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036856.983165 s.J~,>n(AJ"J*J2J:JBJnJvJA\9@Ae,9@AF_~? AԩA,&"AAvNA"AZAbAjArAzAAAPkS8@AxUrAGj@A;.!<AH=A @AտAn?AԼ*A9?2AWֽ:A`=BA9?JAWֽRA`=٘i)I9j@YG J6ԼJJJJE&K Yqr^~?yE{OA%E{7j7;9)B[[k@[ ^~?[n[[[[BZYY i) V׼I/F?i'Ja ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036857.023165 s, next control iter: 1743036857.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036857.403165 s.&J~,Yn(AAQ9@A9@A_~? AͩAo&"AA)vNA"AZAbAjArAzAAAk͏8@A;A=A@AXڿA 8?A *Al9?2AV2ֽ:AA<BAl9?JAV2ֽRAA<٘i)I9f@YM G J5JJJJE&K Y ^~?yQ"MA5E79B)ݯBE[[@[0^~?[dE[[[[ZZBZYY i) ȼIgF?i&Eջ 'H@))'H@'H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036859.523165 s, next control iter: 1743036859.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10358, header.stamp.nsec: 00 temperature: 13.387660* salinity: 33.391712, density: 1025.000000* values[0]: 0.691988F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036859.923165 s.>J~,n(AA{G!;@AQ<;@A2_~? AA4&"AAb"vNA"AZAbAjArAzAAA5\7@AfO8SrAӢe@AH<A=A@AבۿA4?AZ{*Aݝ9?2A2ֽ:AD<BAݝ9?JA2ֽRAD<٘i)I9e@Y G JJJJJE&K YK]~?yKLA8E)7ŧ7Ƙ9B)BE[[0@[^~?[?[[[[ZZBZYY i) 4IW_F?iU@ʻ uG))uG@cJ@y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036859.963165 s, next control iter: 1743036860.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036860.343165 s.<J~,o(AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743036860.343315F (some fields omitted in printout)Ap= W;@A?I;@A"_~? AAX&"AAG vNA"AZAbAjArAzAAA$+b7@AiCrAd@AeV@<A&t=A6:@AUܿA ?AM*A29?2A8ֽ:ADk<BA29?JA8ֽRADk<٘i)I9d@Y< G JJJJJE&K Y]~?y[D,LA:Eŧ79B)BE[[@[%^~?[8[[[[ZZBZYY i) IdWF?iA =F))=FK@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036860.363165 s, next control iter: 1743036860.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10359&, header.stamp.nsec: 0&0 temperature: 13.388064&* salinity: 33.391712&, density: 1025.000000&* values[0]: 0.690200&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036860.763165 s.8J~,#0o(AǍ;@A/J;@A_~? AGA&&"AAuNA"AZAbAjArAzAAAtd:s27@A5rAd@A &;A.=A@A ݿA`r`?A=#Ҽ*A9?2AOUֽ:A^P;BA9?JAOUֽRA^P;Y @@y.=2J;ٓH8@au? =Ġ?ԥds? u?) @ I٘i)I9d@Y G JB=JJJJE&Kv> YL]~?yI>KA@=E7\9)B[['@[]~?[2[[[[ZZBZYY i =) I OF?i  Z D)) D _M@ uYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036860.803165 s, next control iter: 1743036861.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036861.183165 s.J~,cKo(AJ"J*J2J:JBJnJvJA(\;@A&v;@Ai_~? AAQ&"AA$uNA"AZAbAjArAzAAA&#7@Ab rAL`c@A*PAҐ<A@AݿA?Ar[*AE9?2ASֽ:Aܘ)BAE9?JASֽRAܘ)٘i)I9`c@Yb G JwC=JJJJE&K YǼ]~?y;8KA@E77{7&9B)BE[[:@[V]~?[0-[[[[ZZBZYY i) I8HF?i7 밻 BC))BCN@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036861.203165 s, next control iter: 1743036861.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036861.603165 s.A4J~,ؚfo(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072094< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743036861.603305F (some fields omitted in printout)AQ;@AwF;@A^~? AԋAd&"AAuNA"AZAbAjArAzAAA)*j6@AQrAb@ACNA"<A\*@A޿A`?A!s*A9?2Ac=ֽ:A)BA9?JAc=ֽRA)٘i)I9b@Y G J&JJJJE&K Y<]~?y+2|KABE79B)BE[[@[g]~?['[[[[ZZBZYY i) 1I5AF?il MA))MAhZP@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036861.623165 s, next control iter: 1743036862.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10360 , header.stamp.nsec: 0 0 temperature: 13.388407 * salinity: 33.391731 , density: 1025.000000 * values[0]: 0.688737 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036862.023165 s.ZJ~,{o(AJ"J*J2J:JQ0?BJQ0?nJ85vJAHz.<@A|!<@A^~? AÅAC&"AA|uNA"AZAbAjArAzAAAFv6@ACjrAjb@AP1aAǻAdu@A-M߿A x?Aa!*A9?2A7ֽ:ABA9?JA7ֽRA٘i)I9b@Y G J]o(AAq= c<@AytV<@A^~? AA&"AA=uNA"AZAbAjArAzAAA%HXNe6@AX"ƯrAUb@AAşA@A@A`&?AŲ*A9?2AjXֽ:ArjBA9?JAjXֽRArj٘i)I9Ub@Y G J JJJJE&K Y#]~?y &KAHEZ7Z79B) BE[[ "@[]~?[[[[[ZZBZYY i) pBuI4F?iپo >))>,TS@yp}=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036862.463165 s, next control iter: 1743036862.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10361, header.stamp.nsec: 00 temperature: 13.388611* salinity: 33.391727, density: 1025.000000* values[0]: 0.687892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036862.863165 s.+J~,>o(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081644< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036862.863282F (some fields omitted in printout)J"J*J2J:JBJnJvJA<@Am;m<@A^~? AyA+&"AAdsuNA"AZAbAjArAzAAA.6@ASQ5rA;b@Ao:A=A@AZA ?AѬ*A9?2APֽ:A(ɼBA9?JAPֽRA(ɼY @@y/:ٓHX@ Κ??[P`5?m]??) @ I٘i)I9;b@Y G J}J65JJJE&Kx> Yh]~?y 2KA@KE)7)7P9B) BE[[C#@[{]~?[[[[[BZYY ivg=) cIG/F?iϾ (Q=))(Q=T@yS=,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036862.883165 s, next control iter: 1743036863.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036863.283165 s.7RJ~,o(AA(\<@AB]P<@Aɪ^~? A9tA &"AAWuNA"AZAbAjArAzAAAPv5@AsrA9b@An)<A6/Af @AAA@{?Ah;*AI9?2Aֽ:AFBAI9?JAֽRAF弙٘i)I99b@Y J-JJJJE&K YKR]~?yH]KAME77{79)[[$@[Zc]~?[[[[[BZYY i8=) PRI*F?i¾Rx ;));$IV@y =k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036863.303165 s, next control iter: 1743036863.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10362., header.stamp.nsec: 0.0 temperature: 13.388689.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.687615.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036863.703165 s.ۺJ~,&o(AJ"J*J2J:J0?BJ0?nJ85vJAQ=@AN<@A^~? AnA &"AA;uNA"AZAbAjArAzAAAӾ5@Au|HrAUb@ASX<AUA!@AA"#?A;*A9?2Aֽ:AX BA9?JAֽRAX ٘i)I9Ub@Y G Jރ;B=JJJJE&K Y;]~?yKAPEb77樄9B) B޹E[[r&@[J]~?[%[[[[BZYY i) @IS%F?i*0~a [:))[:W@yAj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036863.723165 s, next control iter: 1743036864.103180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036864.123165 s.;J~,mp(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036864.123287F (some fields omitted in printout)AG:=@A-=@A^~? AiA~x&"AAeuNA"AZAbAjArAzAAA+5@AbrAb@A/R<AsA[#@A FZA#?Aː&<*Aޘ9?2Aֽ:AcSBAޘ9?JAֽRAcS٘i)I9b@Y G J<C=JJJJE&K Yq%]~?yKASE79 B)۹E[[z'@[ 2]~?[ [[[[BZYY i) 0^/I-!F?izKE _8))_8V=Y@y=ܤ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036864.163165 s, next control iter: 1743036864.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743036864.543165 s.IJ~,"p(AJ"J*J2J:JBJnJvJA= ףp=@Acc=@Aq^~? AcA&"AAKuNA"AZAbAjArAzAAArGJ5@ArAb@A׸AAC$@AA?Ae_<*A9?2ALֽ:A BA9?JALֽRA ٘i)I9b@Y G J@<JJJJE&K Y]~?y" KAUE{9$B) B׹E[[ X)@[]~?[Q[[[[BZYY i) fIF?i뀾% }i7))}i78Z@*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743036864.563165 s, next control iter: 1743036864.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10363, header.stamp.nsec: 00 temperature: 13.388644* salinity: 33.391743, density: 1025.000000* values[0]: 0.687833F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036864.963165 s.vJ~,=p(AAffff=@A[=@A]^~? A}^AJ&"AAtNA"AZAbAjArAzAAA#l5@A6qrAfFc@AZAA%@A`-A(?A<*A!9?2Aֽ:A#BA!9?JAֽRA#Y@+%@yTٓH#L5߫?`x?@0צܱ?`C낿?)@ I٘i)I9Fc@YR G Jv<JJJJE&KQw> Y\~?y@LA%@XEj7j7F9) B[[>*@[\~?[([[[[BZYY ig=) BIF?ii 75))75~,\@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036864.983165 s, next control iter: 1743036865.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036865.383165 s.J~,'Xp(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J> elevatorAngleAction: 0.056566"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.419980:JBJ2 time: 1743036865.383275F (some fields omitted in printout)nJvJA(=@Ay=@AI^~? A\YA&"AAtNA"AZAbAjArAzAAADBߌ4@AiOrAc@A̗^AkA&@A7FAm?AH<*A9?2Aս:A'BA9?JAսRA'٘i)I9c@Y G JB<JJJJE&K Y\~?yLA[Eb779%B)BԹE[[<,@[9\~?[2[[[[BZYY i) KIF?iI.  }4)) }4]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036865.423165 s, next control iter: 1743036865.783177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10364&, header.stamp.nsec: 0&0 temperature: 13.388515&* salinity: 33.391750&, density: 1025.000000&* values[0]: 0.688477&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036865.803165 s.{AJ~,gsp(AA>@A.Y>@Ap5^~? A[TA$&"AAڧtNA"AZAbAjArAzAAA 4@AĔ WBrAEd@A%1A AO(@A_A@?A<*AH9?2A6ֽ:A5BAH9?JA6ֽRA5٘i)I9Ed@Y G J<JJJJE&K Y\~?y9MA]E7۱9'B)BѹE[[ -@[\~?[o[[[[BZYY i) ߻IF?iL"WϺ 73))73~_@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036865.843165 s, next control iter: 1743036866.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036866.223165 s.J "J *J 2J :J ^0?BJ ^0?nJ 85vJ g#J~,Hp(AAzG>@AH7¢:>@A ^~? A|OAs&"AAtNA"AZAbAjArAzAAA?i T4@A?/*IrA*d@AAAOw)@A =A%?AӪ<*A;9?2A,ֽ:A4 BA;9?JA,ֽRA4 ٘i)I9d@YD G JH<JJJJE&K Y\~?y`MA`E79(B)BιE[[/@[\~?[[[[[BZYY i) I!F?iA潉V] 1))1`@yxg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036866.243165 s, next control iter: 1743036866.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036866.643165 s.})J~,$*p(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056566< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036866.643294F (some fields omitted in printout)A ףp}>@Aefp>@A ^~? AJA&"AA itNA"AZAbAjArAzAAAi4@AdrAide@A;AlA*@AZ&A~"?Al <*A>9?2A1ֽ:A٭BA>9?JA1ֽRA٭٘i)I9de@Y G J<JJJJE&K Y\~?yMAcEq9)B[[0@[И\~?[[[[[BZYY i) IQF?iq 0))0b@*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10365, header.stamp.nsec: 00 temperature: 13.388333* salinity: 33.391758]:, density: 1025.000000* values[0]: 0.689398F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743036866.663165 s, next control iter: 1743036867.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036867.063165 s.0J~,V p(AJ"J*J2J:JBJnJvJA3333>@A- (>@AG]~? A%FA,&"AAHtNA"AZAbAjArAzAAAݡ}+3@AmvrAe@A\LW<A0A_%,@A/mA dX?AXz<*A9?2A׽:ABA9?JA׽RAYV@y,@ycW<ٓH``ۿl? ?[Eٔ |ٲ?X? ?)V@ I٘i)I9e@Y G JѪ<JJJJE&KHx> Y}\~?y%NA,@eE7)7;9*B)B˹E[[t1@[~\~?[O[[[[BZYY i) EIF?i˧ ǫ.))ǫ.sc@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036867.103165 s, next control iter: 1743036867.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036867.483165 s.w_7J~,p(AA\>@AYE>@A]~? AAA&"AAO(tNA"AZAbAjArAzAAA/w3@A`xۉrAf@AF<AٓAoq-@AlA@ٌ?A<*Ag9?2Aֽ:ABAg9?JAֽRA٘i)I9f@YJ G J <B=JJJJE&K Y+d\~?y>NAhE7S79-B)BǹE[[`3@[d\~?[M[[[[BZYY iT=) JIF?i!;h7 9-))9-d@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036867.523165 s, next control iter: 1743036867.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10366, header.stamp.nsec: 00 temperature: 13.388144* salinity: 33.391766, density: 1025.000000* values[0]: 0.690418F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036867.903165 s.=J~,p(AJ"J*J2J:J0?BJ0?nJU95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065747< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036867.903305F (some fields omitted in printout)AQ?@Aū?@A]~? AY=A&"AACtNA"AZAbAjArAzAAAY/O3@Az~\6rAg@AK;A*A(.@AA&?A'&<*As9?2A,ֽ:AE5BAs9?JA,ֽRAE5٘i)I9g@Y G J֧<C=JJJJE&K YJ\~?ydNAkEŧ7b7Ѻ9/B)BĹE[[4@[I\~?[[[[[BZYY i) i5IF?i5=l9 +))+Wf@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036867.943165 s, next control iter: 1743036868.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036868.323165 s.xDJ~,-q(AAGzT?@AnG?@Ah]~? A(9A.&"AAsNA"AZAbAjArAzAAAKu 3@Af$龍rA͙g@A`A9-A/@A2A ?A3<*AL9?2Ahֽ:AYBAL9?JAhֽRAY٘i)I9g@Y G Jl<JJJJE&K Ye1\~?yUOAmE9)B[[36@[/\~?[[[[[BZYY i) /IF?i=Xt: gW*))gW*Ng@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036868.343165 s, next control iter: 1743036868.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10367*, header.stamp.nsec: 0*0 temperature: 13.387910** salinity: 33.391762*, density: 1025.000000** values[0]: 0.691399*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036868.743165 s.WKJ~,/q(AJ"J*J2J:JBJnJvJAףp=?@AD3}?@A]~? A5A&"AAsNA"AZAbAjArAzAAAX,72@Ag.rAT!h@ARGAAm>1@A2oA1 ?A<*A9?2AHֽ:ABA9?JAHֽRA٘i)I9!h@YG G JN<JJJJE&K Y\~?yOApE77f90B)BE[[ʙ7@[\~?[z[[[[BZYY i) hIF?iI>4: ())(8i@yۚ=h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036868.783165 s, next control iter: 1743036869.143178 s, wait time: 0.360013 s*\~?)* rAdjusting time to match Gazebo time: 1743036869.163165 s.{}RJ~,qJq(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065747< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036869.163295F (some fields omitted in printout)A?@AW Yw[~?yݧPA2@sE{7{7191B)BE[[9@[[~?[;[[[[BZYY i) p1&:IVF?i7>V: \y'))\y'Yj@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036869.183165 s, next control iter: 1743036869.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036869.583165 s.XJ~,Seq(AJ"J*J2J:JBJnJvJA)\?@ACV?@Ap]~? Am-A &"AA~sNA"AZAbAjArAzAAA&;b=2@AlR}rA!i@Ax ޻AA 3@A@Ar?AD<*A9?2Aҩֽ:AbBA9?JAҩֽRAb򼙘٘i)I9!i@Y G JȔ<JJJJE&K Y[~?yڧnPAuE7793B)BE[[i:@[[~?[.[[[[BZYY i) e:IRF?i]> ; S &))S &bl@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036869.603165 s, next control iter: 1743036869.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10368, header.stamp.nsec: 00 temperature: 13.387744* salinity: 33.391750, density: 1025.000000* values[0]: 0.692330F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036870.003165 s.v `J~,D4q(AAR+@@A!y@@AX]~? A)A` &"AA[sNA"AZAbAjArAzAAA1@AQI{rAi@Ai>;ApA75@AAX?Ad<*A59?2Aֽ:Av&BA59?JAֽRAv&٘i)I9i@Y*G J<JJJJE&K Yh[~?yקPAxE77j7Ä92B)BE[[;@[[~?[Rާ[[[[BZYY i) w&;IF?i>"-+; ߝ$))ߝ$ցm@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036870.023165 s, next control iter: 1743036870.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036870.423165 s.J "J *J 2J :J Y1?BJ Y1?nJ 95vJ ufJ~,Hq(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065747< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200862 time: 1743036870.423375F (some fields omitted in printout)A{Ga@@A-=T@@AVA]~? AW&A &"AAn8sNA"AZAbAjArAzAAAÄ̔1@A{[F+yrAj@A5<AUxAЍ6@APA`+?A(<*A*9?2A*׽:AkBA*9?JA*׽RAk鼙٘i)I9j@YnG J<JJJJE&K Y[~?yԧ"QA{E777ń94B)BE[[$2=@[[~?[ܧ[[[[BZYY i) we;I9$F?i1> M; @1#))@1#un@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036870.463165 s, next control iter: 1743036870.823179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10369", header.stamp.nsec: 0"0 temperature: 13.387589"* salinity: 33.391758", density: 1025.000000"* values[0]: 0.693180"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036870.843165 s.lJ~,q(AAp= @@AA}@@A)]~? A#Aw &"AAsNA"AZAbAjArAzAAAmg1@A+%wrAoj@A[<AO~A7@AA?Ay<*A9?2A%׽:AUBA9?JA%׽RAU鼙٘i)I9oj@YG Jm|<B=JJJJ E&K YV[~?yѧ{QA~Eb77\DŽ9)B[[Ē>@[:[~?[.ۧ[[[[BZYY i.n=) ȑ;IW)F?iQ>%s; !))!Zp@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036870.883165 s, next control iter: 1743036871.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036871.263165 s.tJ~,q(AJ"J*J2J:JBJnJvJA@@A1 ǿ@@A]~? AA'!&"AArNA"AZAbAjArAzAAAh 1@AU:A6urAmj@AϬ<A~A &9@A`lAW?Az<*AV9?2Aֽ:A*gBAV9?JAֽRA*gY +@.9@y%~4<ٓHϿ ܯ??`#{?Ձ? ?) +@ I٘i)I9j@YG J&y<C=J;JJJ E&K'x> Yw[~?y_ϧQA9@EZ7SI7&Ʉ96B)߯BE[[6?@[ s[~?[٧[[[[BZYY i) 'c;I.F?i>Z; [ ))[ q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036871.283165 s, next control iter: 1743036871.663173 s, wait time: 0.380008 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 103702, header.stamp.nsec: 020 temperature: 13.3874452* salinity: 33.3917472, density: 1025.0000002* values[0]: 0.6939022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036871.683165 s.lzJ~,Rq(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036871.683272F (some fields omitted in printout)A(\A@Af@@A\~? AAxd!&"AArNA"AZAbAjArAzAAAO0@A-=^srAOAk@AxA_mAi:@A [A(?A{<*AN9?2Ajֽ:ABAN9?JAjֽRA٘i)I9Ak@Y.G Jy<JJJJE&K Y\[~?y3ͧ&RAE{7{7ʄ97B)ݯBE[[WA@[X[~?[ا[[[[BZYY i) ;I4F?i>C; ))-s@Э*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036871.683165 s, next control iter: 1743036872.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036872.103165 s.J~,r(AJ"J*J2J:JBJnJvJAQ8A@A{E+A@A1\~? AA!&"AAfrNA"AZAbAjArAzAAAl0@A̞qrAЫk@ARA?A;@A` A1?AJ<*A9?2A!bֽ:ABA9?JA!bֽRAI٘i)I9k@YoG J}<JJJJE&K Y0A[~?y˧{RAE777̄98B)ۯBE[[B@[=[~?[ק[[[[BZYY i) y;I;F?i>; ))Җt@yFh=ܯ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036872.143165 s, next control iter: 1743036872.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036872.523165 s.J~,|!r(AAHznA@AEaA@A\~? AAA!&"AAfrNA"AZAbAjArAzAAALb A0@AorAl@A-^A8A<@A`3A ?AA<*A69?2AsXֽ:ABA69?JAsXֽRA٘i)I9l@YG J΁<JJJJE&K Y%[~?yȧRAE77΄99B)دBE[[(D@[>"[~?[ק[[[[BZYY i) | elevatorAngleAction: 0.075405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743036872.943285F (some fields omitted in printout)Aq= ףA@A[˖A@A\~? AAD"&"AA!]rNA"AZAbAjArAzAAA./@A?JgnrA_l@AW*AwAH>@AZA?A<*A9?2A=ֽ:A]BA9?JA=ֽRA]٘i)I9l@YG J<JJJJE&K Yi [~?yƧ&SAE{7QЄ9:B)֯BE[[,pE@[[~?[֧[[[[BZYY i) Wr(AAA@ADA@A&\~? ALA8"&"AA7rNA"AZAbAjArAzAAA9,W/@A9lrAl@AAKA?@A~AA?Aq<*A9?2Aֽ:AkBA9?JAֽRAkY1@?@y=6ٓH ` ¿?A?@@5?@]?)1@ I٘i)I9l@Y8G J<J*JJJE&K;x> YuZ~?ycŧSA?@Eŧ7b7҄9;B)ӯBE[[F@[Z~?[%֧[[[[BZYY i) t' elevatorAngleAction: 0.075405< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743036874.203337F (some fields omitted in printout)AQEB@Aqn8B@Ae\~? A A"&"AAqNA"AZAbAjArAzAAA1 !'.@A_FLjrAm@AW<A͍AKB@AA 6?A,<*A9?2A9׽:A1BA9?JA9׽RA1٘i)I9m@YG Jw<JJJJE&K YZ~?y§8TAE{7j7Մ9<A'ܐA2C@AAZ?AA <*AM9?2Aa׽:AXBAM9?JAa׽RAX٘i)I9Fn@YG J<JJJJ!E&K YZ~?yTAE77|ׄ9)ʯBE[[LJ@[{Z~?[֧[[[[BZYY i) "V elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036875.463295F (some fields omitted in printout)AffffB@AZB@A\~? AA"&"AAxqNA"AZAbAjArAzAAA|LY,@AP{grA>o@Ad(AA F@A_A?A<*Ae9?2Aaֽ:A~ BAe9?JAaֽRA~ Y8@#F@yYĪٓH@~O?L?+t@^?w?)8@ I٘i)I9>o@YG J;<JJJJ'E&Kw> YzbZ~?yпSUA#F@E77ۄ9>B)įBE[[݉M@[gZ~?[֧[[[[BZYY i) t elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036876.723270F (some fields omitted in printout)AzC@A/zC@A[~? AAM#&"AA2qNA"AZAbAjArAzAAA,*@A}0drArp@A{̻AAHA`FA~?A><*A9?2Aֽ:ABA9?JAֽRA٘i)I9p@YG J<JJJJ/E&K Y Z~?yVAEŧ7b7q9@B)BE[[[Q@[CZ~?[X٧[[[[BZYY i) ?5@wEyof:<ٓH 9?`>?Y3?@p?@.?P?)>@ I٘i)I9q@Y@G J<JqJJJ4E&KXx> YvY~?yTWAwEE779AB)BE[[)T@[Y~?[ۧ[[[[BZYY i) 5 elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036877.983291F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(D@A/-D@A-~[~? A|Ah#&"AApNA"AZAbAjArAzAAAJr(@A{zIcrAr@AX<A䦽APDA iA?A:<*A9?2AV׽:AX<BA9?JAV׽RAX<٘i)I9r@YG J<JJJJ7E&K YHY~?y2WAE77{79)BE[[{U@[BY~?[Lݧ[[[[BZYY i) h elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743036879.243273F (some fields omitted in printout)Aףp=D@A "5D@A?0[~? AA#&"AApNA"AZAbAjArAzAAA;5&@Aj;LbrAYt@A#A̮AP@AYtA `r?AF<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Yt@YG J5<B=JJJJ?E&K YdY~?y YAE8{819CB)B}E[[aY@[$Y~?[[[[[BZYY i) ؽyN^9]ٓH |?I? Ŀݚ$??@$ ?)$E@ I٘i)I9u@YG J<C=J@qJJJBE&Kw> YHY~?y§YA>E779)BzE[[[Z@[RhY~?[[[[[BZYY i)  elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743036880.503291F (some fields omitted in printout)ARkE@A<y^E@AOZ~? A+A#&"AAoNA"AZAbAjArAzAAAg P$@ATcrAav@AڀAZA&[<A`cjA`A<*A9?2Aֽ:AG~BA9?JAֽRAG~٘i)I9av@YG JE<JJJJGE&K Y,Y~?yħoZAE779)B[[2E]@[z7Y~?[b[[[[BZYY i) yJ~,;t(AA{GE@A=D;E@A`Z~? AA#&"AA,{oNA"AZAbAjArAzAAA|a$@A]rjcrAw@A+<A-A2;A bA[Aat<*A9?2A׽:A4BA9?JA׽RA4٘i)I9w@Y^G J4<JJJJJE&K YQX~?y6ƧZAE{7j7\9DB)BtE[[^@[Y~?[[[[[BZYY i)  elevatorAngleAction: 0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036881.763295F (some fields omitted in printout)A F@AE@AZ~? A;Am#&"AA,oNA"AZAbAjArAzAAA(K`'#@AYJ[drA1lx@A09<AASa8AIA %еAm<*A9?2Aֽ:AfBA9?JAֽRAfYڧK@q8y괽/9<ٓH@`~??^п 6?Ε?%? ?)ڧK@ I٘i)I9lx@Y2G J_<J>JJJOE&Kx> Y2X~?yɧ[Aq8E77779)BnE[[)a@[6X~?[c[[[[ZZZZ¸>BZYY i¸>) !@AjMerAUy@AU*̻A!歽Ab5A 6%A;CA=*A9?2A5,ֽ:AaBA9?JA5,ֽRAa٘i)I9y@YG J<JJJJTE&K YX~?y]Χ\AEb779)uBhE[[Ic@[X~?[n[[[[ZZZZBZYY i) Mt(AJ"J*J2J:JBJnJvJAG@A> G@AZ~? A A+"&"AAXjnNA"AZAbAjArAzAAA⻫% @AonhrA=a|@A,A8/,A*1AOAD:ĿA*<*A9?2A?Qֽ:AG[BA9?JA?QֽRAG[Y"R@1y.,OٓH O??Qֿ@'O?7? es?)"R@ I٘i)I9a|@YG J<C=J=JJJ]E&Kv> Y6X~?yէ]A1 DE79)aBcE[[Apg@[S~X~?[w[[[[ZZZZBZYY i/1)  5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082790< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743036885.543321F (some fields omitted in printout)A= ףG@AsdG@AܯY~? A AxZ"&"AA2mNA"AZAbAjArAzAAAC>x@ArmrAG~@A';Ap<A.AA@0ʿAF;*Ar:?2AUǽ:Aԩ<BAr:?JAUǽRAԩ<٘i)I9~@YG J;JJJJgE&K YW~?yt^AE9)TBWE[[arl@[4(X~?[[[[[ZZZZBZYY i) i_JJJjE&K]C> Y Y4W~?y]AC&E{7{79)[B[[s@[W~?[*[[[[BZYY i^k) ^=;II?i@Y>< Kؿ))KؿH@FȪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743036888.103165 s, next control iter: 1743036888.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036888.483165 s.t_J~,v(AA\hI@Ay>[I@AY~? A&A& &"AAlNA"AZAbAjArAzAAAӻX[@AbokjyrA |@Ac<A@=A_%AyA LӿAS*AI:?2A'gԽ:AY=BAI:?JA'gԽRAY=I٘i)I9|@YG JޕJJJJzE&K YW~?ye7]AE779BB)^BIE[[Zu@[W~?[s/[[[[BZYY i) q;Ii@M< ˔տ))˔տ@9ѪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743036888.503165 s, next control iter: 1743036888.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10387, header.stamp.nsec: 00 temperature: 13.384669* salinity: 33.391632, density: 1025.000000* values[0]: 0.708322F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036888.903165 s.!ȍJ~, 9v(AJ"J*J2J:JBJnJvJAQI@AI@AX~? A*A &"AAlNA"AZAbAjArAzAAA+1`<@ApB|{rA{@AP0<A=A#AEA*ԿA*AJ:?2AEս:A=BAJ:?JAEսRA=٘i)I9{@YYG JJJJJ}E&K Y_W~?y\AE{7g9)bBFE[[yHv@[ZW~?[A4[[[[BZYY i) ;Ii@< &ӿ))&ӿ8F@t֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036888.923165 s, next control iter: 1743036889.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036889.323165 s.wJ~,)Tv(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199122 time: 1743036889.323284F (some fields omitted in printout)AGzI@AoI@AxX~? A-Ab &"AAфlNA"AZAbAjArAzAAA5J@ARn}rAa{@A(;A,ߜ=A~L"AA@տA||*AL:?2AU"ֽ:A =BAL:?JAU"ֽRA =٘i)I9a{@YG J﮼JJJJE&K Y3V~?ys\AE77729)gBCE[[}w@[ZyW~?["9[[[[BZYY i) Xy;Ii!@< п))п@y@kתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036889.343165 s, next control iter: 1743036889.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10388*, header.stamp.nsec: 0*0 temperature: 13.384931** salinity: 33.391609*, density: 1025.000000** values[0]: 0.707336*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036889.743165 s.WJ~,iov(AJ"J*J2J:JBJnJvJAףp= J@A ~1I@A>X~? AY1A &"AAlalNA"AZAbAjArAzAAAE@AJrAz@A[3Ae=A AqAտA湰*AN:?2Aֽ:A=BAN:?JAֽRA=٘i)I9z@YG JhJJJJE&K YV~?y \AEŧ7b79)kB[[ðx@[gW~?[>[[[[BZYY i) q;Ii%@< Uο))Uο]z@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036889.763165 s, next control iter: 1743036890.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036890.163165 s.z}J~,qv(AA@J@A4f2J@ADX~? A/5A%&"AAe>lNA"AZAbAjArAzAAAˬ @A6ϝt=rA8z@A^A|י=AAA`DֿAE*AP:?2AU-׽:Ah=BAP:?JAU-׽RAh=Yqd@ϧyә==^ٓH v &P?u@<@؂_5y%?)qd@ I٘i)I98z@YKG JJ<JJJE&K{> YV~?y^[AE779)pBAE[[y@[VVW~?[1C[[[[BZYY i) m5;Ii'@D< ˿))˿d@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036890.183165 s, next control iter: 1743036890.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036890.583165 s. J~,&Sv(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: -0.057464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743036890.583329F (some fields omitted in printout)A)\uJ@A7RhJ@AX~? A*9A&"AAlNA"AZAbAjArAzAAAId @ARrAy@A}GA忖=AHA`9`A׿AY*AR:?2A7׽:A-<BAR:?JA7׽RA-<٘i)I9y@YG JJJJJE&K YV~?yC[AE7779AB)tB>E[[s{@[HEW~?[_H[[[[BZYY iz) 9:Ii*@2e< ɿ))ɿ@ϪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036890.603165 s, next control iter: 1743036890.983184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10389, header.stamp.nsec: 00 temperature: 13.385187* salinity: 33.391602, density: 1025.000000* values[0]: 0.706283F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036891.003165 s. J~,v4v(AARJ@AڦxJ@AzX~? AJ=A7&"AAkNA"AZAbAjArAzAAASF@H @AرX0rAy@AA=AA`!AhؿAB*AT:?2A ׽:A<BAT:?JA ׽RA<٘i)I9y@YG JӭJJJJE&K YqV~?yZAEj7j7]9)xB[[N|@[4W~?[M[[[[BZYY i) 's:Ii-@ YNV~?y,YAEj7j7"9?B)B5E[[@[W~?[][[[[BZYY i) "Ii(7@p< G))G@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036892.283165 s, next control iter: 1743036892.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 103912, header.stamp.nsec: 020 temperature: 13.3856842* salinity: 33.3915862, density: 1025.0000002* values[0]: 0.7042832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036892.683165 s.lJ~,^+w(AA(\K@AݓuK@A#X~? A,OA&"AAtkNA"AZAbAjArAzAAAGY@AΉrAv@Ai;AЅ=AVAAߗۿAw*AK:?2A6׽:A<BAK:?JA6׽RA<٘i)I9v@YIG JJJJFJE&K Y:V~?y2VYA EZ7$9@B)B6E[[^@[V~?[pc[[[[BZYY i) 4G8Ii9@I< ))Y@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036892.683165 s, next control iter: 1743036893.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036893.103165 s.J~,Fw(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743036893.103316F (some fields omitted in printout)J"J*J2J:JBJnJvJAQK@AbEK@AX~? ASA&"AATkNA"AZAbAjArAzAAA?A rA}rv@A08aAӃ=AxAAz_ܿAx*AH:?2A׽:AgL<BAH:?JA׽RAgL<٘i)I9rv@YG JJJJJE&K YW%V~?y8XA E{7{7R&9?B)B3E[[)!@[V~?[i[[[[BZYY i) qvIi<@T< 2))2$C@YFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743036893.123165 s, next control iter: 1743036893.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036893.523165 s.J~,{aw(AAHzK@A|A K@AtW~? AXA$&"AA5kNA"AZAbAjArAzAAAc?ACrA+u@A5=Al=A!A|A #ݿA*AE:?2Ah׽:AA<BAE:?JAh׽RAA<٘i)I9u@YG J?B=JJJJE&K YV~?y>XAE(9)B[[9@[dV~?[n[[[[BZYY i) 5SIi?@< ָ))ָ4ښ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036893.543165 s, next control iter: 1743036893.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10392, header.stamp.nsec: 00 temperature: 13.385940* salinity: 33.391579, density: 1025.000000* values[0]: 0.703385F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036893.943165 s.XdJ~,B]|w(AJ"J*J2J:J4?BJ4?nJ<5vJAq= #L@AL@A W~? A^A)&"AAkNA"AZAbAjArAzAAAAQv?A'rAfu@A_A=AA@#/AݿA*AB:?2A׽:A-U<BAB:?JA׽RA-U<٘i)I9u@YuG JჼC=JJJJE&K YU~?yDCXAEb77)9)B0E[[SN@[bV~?[t[[[[BZYY i2) kIi~C@{;< 3~))3~Np@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036893.963165 s, next control iter: 1743036894.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036894.363165 s.J~,}>w(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036894.363294F (some fields omitted in printout)AYL@A>LL@A"W~? A4cA^&"AAkjNA"AZAbAjArAzAAAllE*?A.TrA"u@A A)=AӈA` A+޿A'*A9?:?2Ap׽:A<BA9?:?JAp׽RA YYU~?y9KWAE7777+9>B)B,E[[@[V~?[lz[[[[BZYY i) ػIibE@w< g ))g @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036894.383165 s, next control iter: 1743036894.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10393&, header.stamp.nsec: 0&0 temperature: 13.386116&* salinity: 33.391563&, density: 1025.000000&* values[0]: 0.702614&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036894.783165 s.^J~,w(AJ"J*J2J:J3?BJ3?nJ<5vJA(\L@A yPL@A}W~? AhAB&"AA]jNA"AZAbAjArAzAAAD?A`!rAt@AQp:Anj=ADAeAiU߿Aԃ*A7:?2A׽:A2<BA7:?JA׽RA2<٘i)I9t@YG JJJJJE&K YU~?yQWAE{7}-9?B)B.E[[|@[6V~?[\[[[[BZYY i) tOIiG@^< ı))ı@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036894.803165 s, next control iter: 1743036895.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036895.203165 s.J~,w(AAQL@APjL@A3W~? AmA1&"AAջjNA"AZAbAjArAzAAAe?A}DXrAUEt@Ag%<A =AA=AA*A0:?2Aֽ:A"=BA0:?JAֽRA"=٘i)I9Et@YG JτJJJJE&K YU~?yzX=WAE{7j7G/9>B)B*E[[@[:V~?[Z[[[[BZYY i) 4 IiYJ@= k))k4@yĵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036895.243165 s, next control iter: 1743036895.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036895.623165 s.WJ~,]w(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743036895.623277F (some fields omitted in printout)J"J*J2J:JBJnJvJAGL@AL@ADW~? AsA#&"AA؞jNA"AZAbAjArAzAAA@"`g?AT.NrAOs@AKc<A=A˵A`A@(\A*A):?2Aֽ:Af=BA):?JAֽRAf=٘i)I9s@YfG JÇJJJJE&K YU~?y_VAEb7719)B[[a@[V~?[b[[[[BZYY i) ʚIijM@]w= ))\ʝ@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036895.663165 s, next control iter: 1743036896.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10394 , header.stamp.nsec: 0 0 temperature: 13.386309 * salinity: 33.391571 , density: 1025.000000 * values[0]: 0.701844 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036896.043165 s.J~,x(AA= ף0M@A˙#M@AW~? A:yA&"AAijNA"AZAbAjArAzAAAB=JJJJE&K YߞU~?yeVAEŧ7b729=B)B'E[[=@[V~?[t[[[[BZYY i) V+IiP@b= ê))ê_@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036896.083165 s, next control iter: 1743036896.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036896.463165 s.TJ~,ߤx(AJ"J*J2J:J3?BJ3?nJL<5vJAfffffM@A@M-[YM@ArW~? AAE&"AAfjNA"AZAbAjArAzAAAֳ?AMPrAr@AMs:A=AK A@8A > A㈼*A:?2AU׽:A4=BA:?JAU׽RA4=Yx@ y=޶:ٓHz ?K@p׫R iV?6?)x@ I٘i)I9r@YG JNC=J'<JJJE&Kx> YU~?yl2VA !E77{749)B$E[[҅@[}V~?[[[[[BZYY i) :IiR@Y=  l)) l@վYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036896.483165 s, next control iter: 1743036896.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10395, header.stamp.nsec: 00 temperature: 13.386508* salinity: 33.391525, density: 1025.000000* values[0]: 0.701070F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036896.883165 s.y J~,88x(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036896.883310F (some fields omitted in printout)A(M@AB !M@A`W~? AA&"AAEKjNA"AZAbAjArAzAAA"? Aܟ$rAyr@AA{=A+ A`X߿A]A*Ae:?2A׽:A=BAe:?JA׽RA=٘i)I9yr@YG JB=JJJJE&K Y+~U~?ytUA$E7)7r69.B)B%E[[>h@[,rV~?[ݞ[[[[BZYY i) 1PJIiT@x= ))9@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036896.923165 s, next control iter: 1743036897.283178 s, wait time: 0.360013 s"+~U~?)"t rAdjusting time to match Gazebo time: 1743036897.303165 s.XJ~,gSx(AJ"J*J2J:JBJnJvJAM@ALM@AXOW~? AA,_&"AA0jNA"AZAbAjArAzAAAFgտAȄrAr@A/]]AN=A^ A߿AযA*A:?2Ag׽:AÙ=BA:?JAg׽RAÙ=٘i)I9r@YMG JC=JJJJE&K YmU~?yF{wUA&E77{7=89-B)B"E[[@[gV~?["[[[[BZYY i) YIi W@ = ã))ã@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036897.343165 s, next control iter: 1743036897.703178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10396., header.stamp.nsec: 0.0 temperature: 13.386702.* salinity: 33.391537., density: 1025.000000.* values[0]: 0.700286.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036897.723165 s.J~,Hnx(AAzN@AoHM@A[>W~? AA&"AAjNA"AZAbAjArAzAAAoq9JA0YrAq@A>>A=AWA@E޿AA[*A :?2AIv׽:A=BA :?JAIv׽RA=٘i)I9q@YG J JJJJE&K Yy]U~?yuUA)EZ7Z7:9)B[[ @[u\V~?[o[[[[BZYY i) GiIiY@o = Ws))Ws@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036897.743165 s, next control iter: 1743036898.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036898.143165 s.Z/"J~,*x(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076268< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743036898.143327F (some fields omitted in printout)A ףp=N@A/d0N@A-W~? AXAo&"AA iNA"AZAbAjArAzAAAܴ#@ŒAb(rA5q@AΥmA5u=A0AݿAKAS/*A :?2A׽:A0 =BA :?JA׽RA0 =٘i)I9q@YG JLJJJJE&K YMU~?yTA,ES77;9)BE[[^$@[9RV~?[ñ[[[[BZYY i$) xIi]@J~ = &))&YF@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036898.163165 s, next control iter: 1743036898.543181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036898.563165 s.(J~,c x(AA3333sN@AS'fN@AW~? AA&"AA5iNA"AZAbAjArAzAAAA}AQrAcp@Ah ;A|ݘ=AAܿAzAH*A:?2ARֽ:A=BA:?JARֽRA=Y˔~@Ʉyܘ=d;ٓHau߿?> p߿ෞ Ay??)˔~@ I٘i)I9p@YgG JJ<JJJE&KUx> Y4?U~?yLVTA/E{7Z7=9,B)B E[[@[KHV~?[1[[[[BZYY i) 1Ii^@g= Ԝ))Ԝڡ@?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036898.603165 s, next control iter: 1743036898.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10397, header.stamp.nsec: 00 temperature: 13.386919* salinity: 33.391525, density: 1025.000000* values[0]: 0.699466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036898.983165 s./J~,x(AJ"J*J2J:J3?BJ3?nJ;5vJA\N@AFN@A W~? A!AIx&"AAiNA"AZAbAjArAzAAA1A&rAp@AUT<A'=AFAܿAAd*A9?2Aֽ:A_~=BA9?JAֽRA_~=٘i)I9p@YG J줼JJJJE&K YH1U~?ySA1E777h?9)B[[L@[>V~?[[[[[BZYY i) &~IiR`@= ))n@LժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036899.003165 s, next control iter: 1743036899.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036899.403165 s.&6J~,x(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036899.403273F (some fields omitted in printout)AQN@A]hN@AV~? AA&"AAgiNA"AZAbAjArAzAAAI9rAYXRrAso@AeQ<AV=AvA@ۿA O&A塪*A9?2AǨֽ:AT=BA9?JAǨֽRAT=٘i)I9so@YG JJJJJE&K Y^#U~?ySA4Eb772A9)BE[[ @[5V~?[(Ũ[[[[BZYY i)  Iib@= W7))W7@yتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036899.443165 s, next control iter: 1743036899.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10398", header.stamp.nsec: 0"0 temperature: 13.387134"* salinity: 33.391521", density: 1025.000000"* values[0]: 0.698518"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036899.823165 s.<J~,)x(AJ"J*J2J:J2?BJ2?nJ;5vJAGzO@A;9CqO@AV~? AMA#y&"AAziNA"AZAbAjArAzAAA8ArrAn@A;;An=AzAUuڿA@3lAԫ*AJ9?2Aֽ:A=BAJ9?JAֽRA=٘i)I9n@YeG JHJJJJE&K YsU~?yG#SA7E)7ŧ7B9)B[[r@[,V~?[˨[[[[BZYY i) Iie@= 앿))앿ה@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036899.843165 s, next control iter: 1743036900.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036900.243165 s.CJ~,`y(AAףp=JO@A0=O@A.V~? AA&"AA8iNA"AZAbAjArAzAAA@LArAmSn@AނAmV=A]FA ¥ٿA eA*A9?2A%T׽:AZg=BA9?JA%T׽RAZg=٘i)I9Sn@Y G J=JJJJE&K YU~?yﯨRA9E{7{7D9+B)BE[[@[$V~?[5Ҩ[[[[BZYY i) &Iih@= ))&@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036900.283165 s, next control iter: 1743036900.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036900.663165 s.JJ~,q*y(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743036900.663305F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10399, header.stamp.nsec: 00 temperature: 13.387394* salinity: 33.391495, density: 1025.000000* values[0]: 0.697528F (some fields omitted in printout)AO@A IfrO@A/V~? A׾Ar&"AAqiNA"AZAbAjArAzAAA١AvDrAm@A)AAr=A AؿA`UA*A9?2A׽:AT=BA9?JA׽RAT=Y捂@yo=5&BٓHɠٿgP?@H5@ٿ`? ȴ@ 0c?)捂@ I٘i)I9m@YG JwB=J@<JJJE&Kx> Y2T~?yLRAAk,׿A@mA[*A9?2A׽:AH2=BA9?JA׽RAH2=٘i)I9l@YG JJJJJE&K YT~?yȨmQAAEj7(J9*B)ƯBE[[༌@[ V~?[&[[[[BZYY i) CIil@e}= Ì))Ìޥ@GYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036901.523165 s, next control iter: 1743036901.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10400, header.stamp.nsec: 00 temperature: 13.387630* salinity: 33.391483, density: 1025.000000* values[0]: 0.696513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036901.923165 s.<^J~,{y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743036901.923309F (some fields omitted in printout)A{G!P@A?P@AV~? AөA&"AA 5iNA"AZAbAjArAzAAAfݐ1A'SjrA]k@A}:A;c=AB0AXֿA AQƼ*AY9?2AϨֽ:Ak=BAY9?JAϨֽRAk=٘i)I9k@YG JB=JJJJE&K Y-T~?y+ШPADEb77K9)˯BE[[N@[&V~?[[[[[BZYY i) Iio@0= |))|p@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036901.943165 s, next control iter: 1743036902.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036902.343165 s. Y2T~?yPAIE)7ŧ7O9)կB[[q@[U~?[K[[[[BZYY i) 5μIir@B= ))񅿩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036902.783165 s, next control iter: 1743036903.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036903.183165 s.rJ~,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: -0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743036903.183287F (some fields omitted in printout)A(\P@AP@AވV~? AqA7&"AAhNA"AZAbAjArAzAAACAQErAi@A <A3=AsA ӿA@IA] ּ*Ac9?2Azֽ:A=BAc9?JAzֽRA=٘i)I9i@YYG JռJJJJE&K YT~?yOALE777RQ9)گB[[,@[1U~?[[[[[BZYY i) hռIis@= Ϫ))Ϫ'%@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036903.203165 s, next control iter: 1743036903.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036903.603165 s.74yJ~,y(AAQP@AvöEP@A"~V~? AA&"AAhNA"AZAbAjArAzAAAOtA{'rA,/i@Ac8:A=AkAҿA@|AQ7ռ*Ao9?2AWֽ:Aɧ=BAo9?JAWֽRAɧ=٘i)I9/i@Y G JռJJJJE&K YT~?yU%OAOES9)BE[[l@[U~?[[[[[BZYY i) $ܼIiu@}"= e))eg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036903.623165 s, next control iter: 1743036904.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10402 , header.stamp.nsec: 0 0 temperature: 13.388188 * salinity: 33.391479 , density: 1025.000000 * values[0]: 0.694169 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036904.023165 s.ZJ~,{z(AJ"J*J2J:JBJnJvJAHz.Q@Ae!Q@AsV~? A8A&"AA#hNA"AZAbAjArAzAAA:`A]KrAh|h@A@`AX=A.A IҿA@AJԼ*A9?2A^E׽:AU=BA9?JA^E׽RAU=٘i)I9|h@Y~ G JԼJJJJE&K Y@T~?yNAQE{7T9)BE[[5%@[/U~?[[[[[BZYY i) Iiw@Eo= UE~))UE~0G@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036904.043165 s, next control iter: 1743036904.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036904.443165 s.<ÆJ~,S]z(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036904.443274F (some fields omitted in printout)Aq= cQ@AdVQ@A%jV~? AA$&"AAhNA"AZAbAjArAzAAA1WmArAg@A^A?ɶ=A\AѿA@SAԼ*A9?2AS׽:A (=BA9?JAS׽RA (=I٘i)I9g@Y G JLԼJJJJE&K YT~?y4NATE77V9)B[[y@[U~?[z[[[[ZZ¸BZYY i¸=) ׼Iiy@= 5y))5ytש@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036904.463165 s, next control iter: 1743036904.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10403, header.stamp.nsec: 00 temperature: 13.388479* salinity: 33.391449, density: 1025.000000* values[0]: 0.692909F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036904.863165 s.+J~,>7z(AJ"J*J2J:Jb1?BJb1?nJ:5vJAQ@AyQ@A`V~? A@Al&"AAhNA"AZAbAjArAzAAAsM A xsA&g@A%9A+=AA8пA-AXQؼ*A9?2A׽:A'=BA9?JA׽RA'=YH@ y)=A9ٓHsʿM?~ 4,`ʿ`% ?)H@ I٘i)I9g@Y G J.ּJ;JJJE&KUx> YT~?y MAWE7}X9)B[[fF@[U~?[V[[[[ZZBZYY i) ˼Iiz@L] = ;u));uah@bYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036904.883165 s, next control iter: 1743036905.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036905.283165 s.8RJ~,Rz(AA(\Q@AbTQ@A%XV~? AA`&"AA޲hNA"AZAbAjArAzAAA ! A׮sAkLf@AIAG+=AEAnοAh*AC*A\9?2Aȹֽ:AO<BA\9?JAȹֽRAO<٘i)I9Lf@Y) G JJJJJE&K YۗT~?yG>MAYE{7j7HZ9)BE[['ב@[U~?[5#[[[[ZZBZYY i) Ii{@ = ŵp))ŵp"@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036905.303165 s, next control iter: 1743036905.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 104042, header.stamp.nsec: 020 temperature: 13.3887812* salinity: 33.3914452, density: 1025.0000002* values[0]: 0.6916332F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036905.703165 s.ԺJ~,mz(AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743036905.703295F (some fields omitted in printout)AQR@AQ@AOV~? AA&"AAhNA"AZAbAjArAzAAAȗ" A sAke@A%;Aٙ=A޿A̿AOAT*A9?2Ayֽ:Aզ<BA9?JAyֽRAզ<٘i)I9ke@Y G JJJJJE&K YT~?yLA\E777\9)B[[g@[U~?[*[[[[ZZBZYY i) Ii|@k!= M2l))M2l@y=?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036905.723165 s, next control iter: 1743036906.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036906.123165 s.;J~,mz(AAG:R@An-R@A"HV~? A3A5&"AAǙhNA"AZAbAjArAzAAApZ7 AHzsAd@AM<Av=A4ܿA ˿A 4tAP*A9?2Anֽ:Atr<BA9?JAnֽRAtr<٘i)I9d@Y G JJJJJE&K YT~?yz$GLA_E)7ŧ7]9(B)BE[[@[U~?[0[[[[ZZBZYY i) /{Ii~@"= g))g@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036906.163165 s, next control iter: 1743036906.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036906.543165 s.IJ~,âz(AJ"J*J2J:JBJnJvJA= ףpR@AǘcR@A@V~? A%A3 &"AA_hNA"AZAbAjArAzAAA{V Aڶ4sAc@A><AF1=ACٿA@6ɿA$Asּ*A9?2Aֽ:A^;BA9?JAֽRA^;٘i)I9c@Y G J>JJJJE&K Y=T~?y-KAaE77_9) B[[A@[U~?[7[[[[ZZBZYY i) iIic@U$= 4c))4c<@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036906.563165 s, next control iter: 1743036906.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10405, header.stamp.nsec: 00 temperature: 13.389156* salinity: 33.391426, density: 1025.000000* values[0]: 0.690074F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036906.963165 s.{J~,z(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082786< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743036906.963325F (some fields omitted in printout)AffffR@A^I\R@A#:V~? A-A} &"AAhNA"AZAbAjArAzAAA AupysAD#c@A؈;A5<AXֿA@aǿAA=*A9?2A܆ֽ:ACBA9?JA܆ֽRACYWP@ֿy<;ٓH ?҃|󼻿" q?+?)WP@ I٘i)I9#c@Y= G JƼJZJJJE&Kw> Y,T~?y5KAֿdE777sa9)BE[[@[}U~?[>[[[[ZZBZYY i;3=) Ii@T$= E^))E^9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036906.983165 s, next control iter: 1743036907.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036907.383165 s.صJ~,/z(AJ"J*J2J:J{0?BJ{0?nJ95vJA(R@AR@A3V~? A5An &"AAyhNA"AZAbAjArAzAAA AqsAb@AA<AXԿA;ſA/Ak~*Az9?2Anֽ:APBAz9?JAnֽRAP٘i)I9b@Y G JJJJJE&K YT~?y>KAgESI7SI7=c9)B[[@[U~?[E[[[[ZZBZYY iP=) ĆIi@$= *Z))*Zʭ@NcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036907.403165 s, next control iter: 1743036907.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10406&, header.stamp.nsec: 0&0 temperature: 13.389444&* salinity: 33.391407&, density: 1025.000000&* values[0]: 0.688879&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036907.803165 s.uAJ~,sgz(AAS@AS@A-.V~? As=A &"AAphNA"AZAbAjArAzAAA?bAꭅp#sAGb@A5WUAһAhѿAlÿAeA% *A9?2ANֽ:AnҁBA9?JANֽRAnҁ٘i)I9Gb@Y G JuVJJJJE&K Y }T~?ydGaKAiEŧ7b7e9)B[[8@[U~?[L[[[[ZZBZYY i) xIiq@%= U))UZ@(YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036907.823165 s, next control iter: 1743036908.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036908.223165 s.gJ~J"J*J,H{(A2J:JA0?BJA0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077303< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743036908.223267F (some fields omitted in printout)AzGS@Ai:S@A(V~? A]EAi; &"AAohhNA"AZAbAjArAzAAA[DBACa(sA"b@AR`A䤼A+ϿAA@a AmK*AI9?2ALֽ:ABAI9?JALֽRA٘i)I9b@Y G JJJJJE&K YyT~?y*P=KAlE{7{7f9)BE[[ȕ@[U~?[S[[[[ZZBZYY i) d?dIi-@&= 'Q))'Q@yR=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036908.243165 s, next control iter: 1743036908.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036908.643165 s.zJ~,*){(AA ףp}S@AJ^cpS@AF$V~? ANMA &"AA`hNA"AZAbAjArAzAAAr}" A:-sAa@A|AA̿A@߿A!A*Aվ9?2A{ֽ:AYϼBAվ9?JA{ֽRAYϼ٘i)I9a@Y G J]JJJJE&K YvT~?yXKAoE777h9)B[[X@[U~?[tZ[[[[BZYY i) OIi@+'= EL))ELz@0*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10407, header.stamp.nsec: 00 temperature: 13.573122* salinity: 33.374989, density: 1025.000000* values[0]: 0.567173F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743036908.663165 s, next control iter: 1743036909.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036909.063165 s.J~,c D{(AJ"J*J2J:JBJnJvJA3333S@Ax'-S@A V~? AGUAE &"AA'ZhNA"AZAbAjArAzAAA'Ow}pAHb2sAa@Ac*(;A1A^ɿAbA5A).;*A9?2Aֽ:ABA9?JAֽRAYI@ɿyl1R(;ٓHX>{ ?®b)rzB#?)!?Ke?`Q?)I@ I٘i)I9a@Y G J:B=J(JJJE&Kx> YvT~?yaUKAɿrEŧ7b7hj9)B[[ǜȿ[U~?[ba[[[[BZYY ig=) >Ii@'= )H)))H)Hm*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036909.083165 s, next control iter: 1743036909.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036909.483165 s.v_J~,^{(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056582< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036909.483286F (some fields omitted in printout)A\S@AqS@AyV~? AF]Abi &"AA6ThNA"AZAbAjArAzAAA+A6sAb@A Z3<AXAF=ǿAe>A@FA;*A9?2A2ֽ:A8BA9?JA2ֽRA8٘i)I9b@Y G Jw;C=JJJJE&K YvT~?yjKAtE773l9)[[7]ƿ[CU~?[Nh[[[[BZYY i؆=) -IiP@(= C))CC*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036909.503165 s, next control iter: 1743036909.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10408, header.stamp.nsec: 00 temperature: 13.573158* salinity: 33.374962, density: 1025.000000* values[0]: 0.567125F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036909.903165 s.J~,y{(AJ"J*J2J:JBJnJvJAQT@AT@A]V~? AJeA &"AAOhNA"AZAbAjArAzAAA&D/ Ag)X;sASb@A'V[<AwAĿA pAUA(<*A9?2Axֽ:ABA9?JAxֽRA٘i)I9Sb@Y G Ji<JJJJE&K YZvT~?yesKAwE77j7m9)B)BE[[Ŀ[U~?[8o[[[[BZYY i) Ii@2(= ,?)),?,?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036909.923165 s, next control iter: 1743036910.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036910.323165 s.wJ~,){(AAGzTT@AOoGT@AV~? ASmAS0&"AAJhNA"AZAbAjArAzAAA9sw})AkF@sAb@A <AyهA ¿A@A@`A]<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G JeA<JJJJE&K Y*vT~?y7|LAzEb77o9-B)B[[[U~?[v[[[[BZYY i) u@ IiI@aS)= [:))[:[:y-G=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036910.343165 s, next control iter: 1743036910.723178 s, wait time: 0.380013 s*vT~?)7|*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10409*, header.stamp.nsec: 0*0 temperature: 13.573066** salinity: 33.374977*, density: 1025.000000** values[0]: 0.567340*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036910.743165 s.J WJ~"J*J2J,{(A:J=?BJ=?nJK5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036910.743303F (some fields omitted in printout)Aףp=T@AY5}T@AV~? A`uAI&"AA+GhNA"AZAbAjArAzAAA-9tBA EsA c@A-?ApAA7ȩAnjA&|<*A9?2A3fֽ:ABA9?JA3fֽRA٘i)I9 c@Y. G Jt<JJJJ E&K YuT~?y CLA|E777q9)B[[q[hU~?[|[[[[BZYY i) Ii @O*= 56))5656*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036910.783165 s, next control iter: 1743036911.143183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743036911.163165 s.}J~,q{(AAT@ALT@A/V~? Ao}A&"AAfDhNA"AZAbAjArAzAAAlUA㷹JsAc@A} Ae[A4AT@A`vqAq8<*A/9?2A ֽ:ASZBA/9?JA ֽRASZY.Ғ@p꼿yY ٓH@0?P?f? ? ??@??).Ғ@ I٘i)I9c@Yy G J<JJJJ E&Kw> YxT~?y͍LA꼿Eb7b7^s9)B[[Ge[:U~?[ރ[[[[BZYY i) ÇػIi@7#*= 1))11*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036911.183165 s, next control iter: 1743036911.563183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036911.583165 s.J~,S{(AJ"J*J2J:JBJnJvJA)\T@A T@A+V~? AAX&"AAmBhNA"AZAbAjArAzAAACfaA DOsA d@AoaANA+qAXA5vA=<*A89?2Aֽ:AjBA89?JAֽRAj٘i)I9 d@Y G J#<JJJJE&K YT{T~?yMAE77(u9) BE[[1([nU~?[[[[[BZYY i) >Ii@4*= @-))@-@-O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036911.603165 s, next control iter: 1743036911.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10410, header.stamp.nsec: 00 temperature: 13.572883* salinity: 33.374977, density: 1025.000000* values[0]: 0.567846F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036912.003165 s.{ J~,Y4|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036912.003297F (some fields omitted in printout)AR+U@Af.pyU@AV~? AA&"AA@AhNA"AZAbAjArAzAAA PgA_vTsAd@A\,A?AͷA(xAxAA<*A¶9?2AXֽ:A;BA¶9?JAXֽRA;٘i)I9d@Y$ G Jz<JJJJE&K Y~T~?yStMAE77j7v9)B[[C븿[U~?[[[[[BZYY i) Ii6@*= ())((*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036912.023165 s, next control iter: 1743036912.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036912.423165 s.uJ~,w|(AJ"J*J2J:Js?BJs?nJ5vJA{GaU@AF};TU@AV~? AA:&"AA@hNA"AZAbAjArAzAAA fA^jcYsA2e@AA>AA%ɂ?A@xA֔<*A9?2Aֽ:A BA9?JAֽRA ٘i)I92e@Y~ G J<JJJJE&K YT~?yMAE{7x9)B[[[U~?[d[[[[BZYY i) CP{Ii@+= N$))N$N$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036912.443165 s, next control iter: 1743036912.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10411, header.stamp.nsec: 00 temperature: 13.572626* salinity: 33.374992, density: 1025.000000* values[0]: 0.568530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036912.843165 s. J~,5|(AAp= U@A,U@ANV~? AA&"AASAhNA"AZAbAjArAzAAAmj_ABfQ^sA&e@A<At2A hA eߘ?A%vAv/<*AX9?2A'׽:A|K BAX9?JA'׽RA|K ٘i)I9e@Y G Jh<JJJJE&K YZT~?y۰?NAEb77z9)BE[[s[UU~?[.[[[[BZYY i) S>IiB@+= S))SS2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036912.883165 s, next control iter: 1743036913.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036913.263165 s.J~,'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: 0.065842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743036913.263285F (some fields omitted in printout)AU@AAU@AkV~? A˥A&"AABhNA"AZAbAjArAzAAAh2RAk>csAYf@A\<AM A0A@{%?A`qA<*A9?2A\*׽:ABA9?JA\*׽RAY@௿y\<ٓH`?@_? ÜJ%?n?|? ? ?)@ I٘i)I9Yf@Y2 G J<J"JJJE&KOx> Y߈T~?y}NA௿E{7{7S|9)B[[7[U~?[[[[[BZYY i) bIi@z+= _))__*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036913.283165 s, next control iter: 1743036913.663179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 104122, header.stamp.nsec: 020 temperature: 13.5723342* salinity: 33.3749962, density: 1025.0000002* values[0]: 0.5692012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036913.683165 s.lJ~,Zk|(AA(\V@ADׅU@AV~? AۭAlD&"AADhNA"AZAbAjArAzAAA o6>Av)hsAf@ATC<AkAL(Aɫ?A`tiA<*A9?2Ah׽:AlLBA9?JAh׽RAlL٘i)I9f@Y G J<JJJJE&K YdT~?y©OAEZ7~9)B[[y[*U~?[[[[[BZYY i) Ii݅@NY+= ))x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036913.683165 s, next control iter: 1743036914.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743036914.103165 s.!J~,|(AJ"J*J2J:J?BJ?nJ5vJAQ8V@APoF+V@A=V~? A絪A &"AAGhNA"AZAbAjArAzAAAM#AmsA<~g@A٭;AbAA`7?A q_An<*A*9?2AFֽ:ABA*9?JAFֽRA٘i)I9~g@Y G JE<JJJJE&K YT~?yʩyOAE779.B)BE[[K[U~?[v[[[[BZYY i) pQ'Ii@u+= n))nn*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036914.123165 s, next control iter: 1743036914.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036914.523165 s.'J~,{|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743036914.523324F (some fields omitted in printout)AHznV@A+J aV@AV~? AA &"AA'KhNA"AZAbAjArAzAAA\ ApqsAh@A_A(AA`o?ASARկ<*A}9?2Ahֽ:ATdBA}9?JAhֽRATd٘i)I9h@Y= G Jq<JJJJ!E&K YnT~?ybөOAE779/B)BE[[a[U~?[+[[[[BZYY i) F:Ii9@>+=  ))  q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036914.543165 s, next control iter: 1743036914.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10413, header.stamp.nsec: 00 temperature: 13.572054* salinity: 33.374985, density: 1025.000000* values[0]: 0.569890F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036914.943165 s.]d.J~,W]|(AJ"J*J2J:JBJnJvJAq= ףV@Aē̖V@A'V~? AŪA[m&"AAOhNA"AZAbAjArAzAAA*|6AAv\kvsAh@ANA .AYA1?A`]DAl<*A9?2AGֽ:ABA9?JAGֽRA٘i)I9h@Y G Jr<JJJJ#E&K YT~?yܩKPAE{7j7~9)B[[#H[U~?[[[[[BZYY i) 2r:Ii@d,= k ))k k *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036914.963165 s, next control iter: 1743036915.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036915.363165 s.5J~,l>|(AAV@A(V@A V~? AͪA&"AAThNA"AZAbAjArAzAAAʆ]Axao{sA5i@ARA42AA>?A-3A0<*A9?2A&eֽ:A/BA9?JA&eֽRA/Y~V@0٢y+/RٓH ?*?7 =q?|-??`3@ ?)~V@ I٘i)I95i@Y G J<Ja<JJJ&E&K/x> YAT~?yoPA٢Ej7Z7H9)B[[ [XU~?[~ǩ[[[[BZYY i) +;Ii<@+= s ))s s *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036915.383165 s, next control iter: 1743036915.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10414&, header.stamp.nsec: 0&0 temperature: 13.571754&* salinity: 33.374992&, density: 1025.000000&* values[0]: 0.570585&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036915.783165 s.Y;J~,|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743036915.783327F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\W@A2PW@A'%V~? AժA5&"AAZhNA"AZAbAjArAzAAAA AᝀsAi@AG̻ACAKAa?AeA<*A'9?2Aֽ:AtBA'9?JAֽRAt٘i)I9i@YDG J[<JJJJ)E&K YT~?y QAEŧ7b79)B[[Ф[SV~?[Ω[[[[BZYY i) Jqh;Ii@~+= g))gg*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036915.803165 s, next control iter: 1743036916.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036916.203165 s.CJ~, }(AAQEW@An/8W@A)V~? AݪA%"AAahNA"AZAbAjArAzAAA AlJvsAEFj@AEo;AA!AYH?AAݘ<*AQ9?2A׽:ABAQ9?JA׽RA٘i)I9Fj@YG J˝<B=JJJJ,E&K Y߷T~?yDmQAE77{7ވ90B)ޯB E[[[V~?[ԩ[[[[BZYY i) j;Ii@f+= ^0))^0^0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036916.223165 s, next control iter: 1743036916.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036916.623165 s.\IJ~,q'}(AJ"J*J2J:J=?BJ=?nJW5vJAGzW@A5mW@AA/V~? AA%"AAOihNA"AZAbAjArAzAAAk AIUJsAj@A><A.A{횿A,?AAs<*A9?2AX5׽:AsBA9?JAX5׽RAs񼙘٘i)I9j@YG J\<C=JJJJ.E&K Y.T~?yQAE779)گB[[W[gV~?[D۩[[[[BZYY iƙ=) ;Ii@׌+= >))>ᄅ>"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036916.643165 s, next control iter: 1743036917.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10415 , header.stamp.nsec: 0 0 temperature: 13.571487 * salinity: 33.374981 , density: 1025.000000 * values[0]: 0.571249 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036917.043165 s.PJ~,B}(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036917.043288F (some fields omitted in printout)A= ףW@AsW@A5V~? AAd%"AAqhNA"AZAbAjArAzAAAts Ah sA YT~?y7RAѕEj7Z7>91B)ӯB#E[[ߛ[V~?[A[[[[BZYY i) .{;Ii@A++= _ݾ))_ݾ_ݾ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036917.483165 s, next control iter: 1743036917.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10416, header.stamp.nsec: 00 temperature: 13.571232* salinity: 33.374992, density: 1025.000000* values[0]: 0.571820F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036917.883165 s.y]J~,Ix}(AA(X@A9GX@ANBV~? AEA2%"AAhNA"AZAbAjArAzAAAU2 A?sA%l@A!A!ņAJ9A೸?A`$A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9%l@YG J<C=JJJJ6E&K YT~?ySRAE7792B)ЯB$E[[q[%V~?[[[[[BZYY i) V elevatorAngleAction: 0.075086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036918.303272F (some fields omitted in printout)AQX@AQ1DX@AIV~? AA%"AAhNA"AZAbAjArAzAAALaA AqJt^sAl@A"&AAA?A sA<*A9?2A4_ֽ:A):BA9?JA4_ֽRA):٘i)I9l@YG Jٌ<JJJJ9E&K YT~?yo>SAE77j7ӑ9)ͯB[[If[-V~?[[[[[BZYY i) `E&K YT~?y.SAE77i9)ƯB[[Y뒿[b?V~?[[[[[BZYY i) '6 elevatorAngleAction: 0.075086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036919.563288F (some fields omitted in printout)A3333X@AE|'X@AbV~? AAA%"AAuhNA"AZAbAjArAzAAA]M Afd{_sAn@AIuAAʈA`{?AAō<*AC9?2A<ֽ:A"BAC9?JA<ֽRA"Yڟ@LjyϕٓH? ?UO?`g? X?ਮR ?)ڟ@ I٘i)I9n@YG J͎<J2ڻJJJAE&KZx> Y# U~?ya6PTALjE{7j7393B)ïB(E[[S[HV~?[[[[[BZYY i) KETAEj7Z794B)B+E[[q[9RV~?[;[[[[BZYY i)  U׽:ABA?9?JAU>׽RAI٘i)I9n@YmG J<JJJJFE&K YU(U~?yE UAE77ɚ9)B[[3[0\V~?[f[[[[BZYY iA=) d elevatorAngleAction: 0.084108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036920.823293F (some fields omitted in printout)AGzY@ASrY@A`V~? Ab2A!%"AAhNA"AZAbAjArAzAAAb#OQAHsAko@Ac;<A֒A܀A@B'?AoA<*A9?2An׽:ABA9?JAn׽RA٘i)I9ko@YG J<JJJJIE&K Y5U~?yMjUAE95B)B.E[[[fV~?[[[[[BZYY i) As YSU~?y\/VAwEb7)7)97B)B2E[[x[(|V~?[&[[[[BZYY i) B elevatorAngleAction: 0.084108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036922.083300F (some fields omitted in printout)A)\5Z@Ae(Z@AOV~? A3HAFu%"AAXiNA"AZAbAjArAzAAAA=ArT_sAp@AdTAϛArA?AA <*AM9?2A?3ֽ:AXBAM9?JA?3ֽRAX٘i)I9p@YG J <C=JJJJQE&K YcU~?ycVAE779)B[[9[}V~?[,[[[[BZYY i) АrcWAE77{798B)B6E[[r}[9V~?[98[[[[BZYY i)  elevatorAngleAction: 0.084108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743036923.343273F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Z@A<*Z@AnV~? AT]A)%"AAJiNA"AZAbAjArAzAAA6AS;EsA"r@Am;AهAebA(5?A>AE<*A9?2A׽:ABA9?JA׽RA٘i)I9r@YG J`<JJJJYE&K YU~?y}yWA DE77S99B)B9E[[x[V~?[=[[[[BZYY i) F{ YU~?y09XAr]E)7ŧ79)B[[st[@V~?[C[[[[BZYY i) ׮ elevatorAngleAction: 0.084108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743036924.603318F (some fields omitted in printout)AQx[@A%VFk[@AV~? AqAE%"AAiNA"AZAbAjArAzAAAI"A6sA7lt@Aq;AG㬽ARA?A`]QA<*A9?2Aֽ:AlMBA9?JAֽRAlM٘i)I9lt@YG J"<JJJJaE&K YU~?yYAE7)79)B[[nk[V~?[N[[[[BZYY i) ׎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: 0.084108< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743036925.863300F (some fields omitted in printout)A\@A \@A W~? A3A%"AAiNA"AZAbAjArAzAAAroyAxWsAjv@A6`A6ձA_CA`?A yA<*A9?2A ֽ:ABA9?JA ֽRAY}@`jCyб `ٓH?%?@7 `?O?2?_?)}@ I٘i)I9jv@YG J<JCFJJJiE&Kw> YV~?y rZAjCEj79)BCE[[3][V~?[_[[[[BZYY i) }A@?A-A<*A9?2AWֽ:ABA9?JAWֽRA٘i)I9w@YfG J<JJJJlE&K YV~?y"ZAEb7b7޳9=B)BFE[[cYY[/ W~?[cd[[[[BZYY i) sAcw@A AS岽A8A Ga?AA1<*A[9?2Aֽ:A7NBA[9?JAֽRA7N٘i)I9w@YG J<B=JJJJoE&K Y^,V~?y7a[AE77779)B[[+T[%W~?[i[[[[ZZZZ¸>BZYY i¸>) >G JW<C=JJJJqE&K Y@V~?yK[AE77t9?B){BJE[[CP[j)W~?[n[[[[ZZZZBZYY i) |9@B)vBME[[3K[9W~?[s[[[[ZZZZBZYY i) ޷?AA=<*A9?2A&ֽ:A*BA9?JA&ֽRA*Y@Q)y19<ٓHS/? ?@@I`SD?`? ^?`h)??)@ I٘i)I9z@Y6G J%<B=J=JJJwE&Kwx> YjkV~?yȾ\AQ)E)7b7 9)oB[[k+G[HW~?[x[[[[ZZZZBZYY i) JQ?AtZtA\z@A2[;AۺoA$A@?A`wASx<*Ay9?2Atֽ:A8\BAy9?JAtֽRA8\٘i)I9z@YG J<C=JJJJyE&K YV~?y0Ī]AE777Լ9)iBPE[[B[XW~?[}[[[[ZZZZBZYY i) Z{[ziW~?[f[[[[ZZZZBZYY i) ܓJJJE&Kw> YV~?y٪;^A^Eb77Å9)ZB[E[[7J0[W~?[J[[[[ZZZZBZYY i"{) {fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036930.503165 s, next control iter: 1743036930.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10429, header.stamp.nsec: 00 temperature: 13.566811* salinity: 33.375069, density: 1025.000000* values[0]: 0.581389F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036930.903165 s.- J~,͹(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743036930.903278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ^@A&7^@AW~? AuɫA*%"AA]kNA"AZAbAjArAzAAA76q?AEtAj}@A$I<A=AA|?AܿAǼ<*A9?2Akֽ:A<BA9?JAkֽRA<٘i)I9j}@Y=G J;C=JJJJE&K Y W~?yz$^AEb77Dž9)[['[cW~?[[[[[BZYY i) 6@))>>EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036930.923165 s, next control iter: 1743036931.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036931.323165 s.v4 J~,%Ԁ(AAGz^@AGp^@AdX~? A]ΫA!%"AA`7kNA"AZAbAjArAzAAAŞ@[?A0CtAX}@A/U<A:=AfA?AܿA@*Ak9?2AQ ֽ:An<BAk9?JAQ ֽRAn<٘i)I9X}@Y2G J*B=JJJJE&K Y$W~?y+^AE_Ʌ9)ZBaE[[p"[W~?[c[[[[BZYY i) X0.))`}>`}>yEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036931.363165 s, next control iter: 1743036931.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10430., header.stamp.nsec: 0.0 temperature: 13.566690.* salinity: 33.375111., density: 1025.000000.* values[0]: 0.581559.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036931.743165 s.W; J~,m(AJ"J*J2J:J?BJ?nJ5vJAףp= _@A5^@AY&X~? A#ӫAd%"AAVkNA"AZAbAjArAzAAAf>JL@A{-tA,}@A,+;A<^=AIAo?A WۿA3*A9?2A\Lֽ:AK0=BA9?JA\LֽRAK0=٘i)I9,}@YG JaӻC=JJJJE&K Y|))`->`->RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036931.763165 s, next control iter: 1743036932.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036932.163165 s.}}B J~,q (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743036932.163281F (some fields omitted in printout)A@_@As2_@A;X~? A׫A_f%"AAvkNA"AZAbAjArAzAAA*>@Ak*ntA6|@AșA{=A$AZV?AڿA7*Aۍ9?2Aֽ:AO=BAۍ9?JAֽRAO=Y b@y{=#ٓHࣤ? N??uCܿ ? *_t7c?) b@ I٘i)I9|@YG JJ>JJJE&K x> YUW~?y]AE7777̅9)^BgE[[1[W~?[[[[[BZYY ili)  ))`{?>`{?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036932.183165 s, next control iter: 1743036932.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743036932.583165 s.H J~, S%(AJ"J*J2J:J?BJ?nJ5vJA)\u_@Ah_@A1QX~? AGܫA %"AAOkNA"AZAbAjArAzAAA_K @A2 tA8|@A#+Ae'=A߾A?A`ٿA`*A֋9?2APֽ:A# =BA֋9?JAPֽRA# =٘i)I9|@YG J_JJJJJE&K Y)oW~?yd]AEŧ7b7΅9GB)bBhE[[[[ X~?[[[[[BZYY i) ;IiW@ = Q>))Q>Q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036932.623165 s, next control iter: 1743036932.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10431, header.stamp.nsec: 00 temperature: 13.566683* salinity: 33.375126, density: 1025.000000* values[0]: 0.581381F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036933.003165 s. P J~,n4@(AAR_@A||_@AgX~? AAR%"AA5kNA"AZAbAjArAzAAAʒx@A`k#tAu-|@A TA d=AcվAm?AؿAZ*A9?2Aֽ:A8X =BA9?JAֽRA8X =٘i)I9-|@Y|G JvB=JJJJE&K YW~?y]A E7{7Ѕ9)fBkE[[[@X~?[r[[[[BZYY i) i;Ii[U@= d>))d>d>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036933.023165 s, next control iter: 1743036933.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036933.423165 s.uV J~,[(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057038< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036933.423303F (some fields omitted in printout)A{G_@Aۋh;_@A4}X~? AATb%"AAkNA"AZAbAjArAzAAA7$l @A7&tAn{@A A$=A#˾AX?A`#ؿA(*A9?2A9ֽ:AV =BA9?JA9ֽRAV =٘i)I9{@Y1G JOC=JJJJE&K Y١W~?ys\A Eb77T҅9HB)jBnE[[? [1X~?[8[[[[BZYY i) ,6;IiTS@@= ?w>))?w>?w>yjҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036933.443165 s, next control iter: 1743036933.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10432, header.stamp.nsec: 00 temperature: 13.566760* salinity: 33.375114, density: 1025.000000* values[0]: 0.580992F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036933.843165 s.\ J~,u(AAp= `@A `@AX~? AA %"AAKkNA"AZAbAjArAzAAAr @AG~(tA*{@A&y9A>=AAZ?AS׿AiΪ*A9?2AdTֽ:A5 =BA9?JAdTֽRA5 =٘i)I9*{@YG JJJJJE&K Y2W~?yYg\AE77ԅ9)oBqE[[[EX~?[䴪[[[[BZYY i) \;IiQ@L3= >))>>yj֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036933.863165 s, next control iter: 1743036934.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036934.263165 s.d J~,#ؐ(AJ"J*J2J:JBJnJvJAL`@AI~?`@AMX~? AA{%"AAslNA"AZAbAjArAzAAARs*@Aߕ1*tAtz@A<AҜ=A A@?A`ֿAm*A͢9?2Aֽ:A=BA͢9?JAֽRA=Y@y ќ=]<ٓH?c?g?Hֿ?N:`??)@ I٘i)I9z@YG J J3=JJJE&Kw> YW~?ym[AE77Յ9)tBtE[[[YX~?[k[[[[BZYY i) hu;IiFN@= D>))D>D>yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036934.283165 s, next control iter: 1743036934.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 104332, header.stamp.nsec: 020 temperature: 13.5669192* salinity: 33.3751342, density: 1025.0000002* values[0]: 0.5804342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036934.683165 s.lj J~,^(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036934.683281F (some fields omitted in printout)A(\`@A)u`@A))>>PתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036934.683165 s, next control iter: 1743036935.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743036935.103165 s.$q J~,Ɓ(AJ"J*J2J:JBJnJvJAQ`@A]E`@AjX~? A\A-%"AAblNA"AZAbAjArAzAAA=\{D@Au/tAqey@A&%<A=AO/A`!?A@ԿA*A9?2A8Nֽ:Ao =BA9?JA8NֽRAo =٘i)I9ey@YG JJJJJE&K Y X~?y+[AE77{7م9)}B[['[jX~?[/[[[[BZYY i) },:IiH@bc= >))>>aժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036935.123165 s, next control iter: 1743036935.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036935.523165 s.w J~,{(AAHz`@A `@AX~? AA%"AA7lNA"AZAbAjArAzAAA_Ήt`@AI1tAPx@Af:A=AoA #=?A@ӿA7*A9?2Aֽ:Ah=BA9?JAֽRAh=٘i)I9x@YnG J᳼JJJJE&K Y%X~?y ZAE{7Iۅ9)BzE[[[:X~?[jª[[[[BZYY i) ,":Ii[F@< c>))c>c>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036935.543165 s, next control iter: 1743036935.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10434, header.stamp.nsec: 00 temperature: 13.567097* salinity: 33.375153, density: 1025.000000* values[0]: 0.579789F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036935.943165 s.\d~ J~,S](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036935.943296F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #a@Aa@AyY~? A<A]%"AAީlNA"AZAbAjArAzAAAݓZ6@A"Ҧ3tA ))ֳ>ֳ>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036935.963165 s, next control iter: 1743036936.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743036936.363165 s. J~,h>(AAYa@A(\La@AVY~? AqAd%"AAlNA"AZAbAjArAzAAAҠ@A&fN5tAʮw@AQAw=AG A R?A1ҿAe*A9?2A׽:Aɯ<BA9?JA׽RAɯ?)t@ II٘i)I9w@YG J0JEJJJE&K=x> YZX~?yYA ESI7SI7ޅ9KB)BE[[Ծ[aX~?[Ȫ[[[[BZYY i) iW_Ii@@!< 5>))5>5>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036936.403165 s, next control iter: 1743036936.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10435&, header.stamp.nsec: 0&0 temperature: 13.567266&* salinity: 33.375168&, density: 1025.000000&* values[0]: 0.579196&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036936.783165 s._ J~,2(AJ"J*J2J:JF?BJF?nJz5vJA(\a@A"LQa@Ai7Y~? AA&%"AA,lNA"AZAbAjArAzAAAסP@A{z7tA$w@A;A d=A\oA?A OѿAM֢*AϺ9?2Aֽ:Af<BAϺ9?JAֽRAf<٘i)I9$w@YkG JJJJJE&K YvX~?y)YA#Eŧ7b79)BE[[{˾[X~?[a˪[[[[BZYY i) Ii=@< !>))!>!>ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036936.823165 s, next control iter: 1743036937.183183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743036937.203165 s. J~,M(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743036937.203288F (some fields omitted in printout)AQa@Ak3a@AOY~? AhAn%"AAmNA"AZAbAjArAzAAAA@A5S?9tAzv@AA_=A[A`?A{lпAw*A˽9?2Aֽ:A"G<BA˽9?JAֽRA"G<٘i)I9v@YG JJJJJE&K YqX~?ya-YA%E77t9TB)BE[[¾[kX~?[$Ϊ[[[[BZYY i) P1Ii:@/< >))>>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036937.223165 s, next control iter: 1743036937.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743036937.623165 s.X J~,ag(AJ"J*J2J:J!?BJ!?nJS5vJAGa@A@ja@A"hY~? A(A %"AA;mNA"AZAbAjArAzAAAq@A& :tAv@AW;AuS=AFA<&?ALϿA՞*A9?2A^ֽ:A\<BA9?JA^ֽRA\<٘i)I9v@YG JxJJJJE&K YƬX~?yXA(E7?9)B[[q{[XY~?[Ъ[[[[BZYY i) nIiS8@< E>))E>E>#ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036937.663165 s, next control iter: 1743036938.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10436 , header.stamp.nsec: 0 0 temperature: 13.567398 * salinity: 33.375175 , density: 1025.000000 * values[0]: 0.578629 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036938.043165 s. J~,Â(AA= ף0b@A!#b@AÀY~? A A%"AA`mNA"AZAbAjArAzAAAnG>@A4<3))y3>y3>9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036938.063165 s, next control iter: 1743036938.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036938.463165 s.n J~,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: -0.066276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743036938.463350F (some fields omitted in printout)Afffffb@A@M-[Yb@AY~? A4 A>O%"AARmNA"AZAbAjArAzAAAW!]j@A&>tAu@AJ<A =AeA`r?A`Gw˿AQ*A9?2AZֽ:ASn<BA9?JAZֽRASn YX~?y* XA-E9)BE[[q[.Y~?[ժ[[[[BZYY iX) sIiq2@[h< >))>>GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036938.483165 s, next control iter: 1743036938.863179 s, wait time: 0.380014 sX~?)*tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10437, header.stamp.nsec: 00 temperature: 13.567556* salinity: 33.375191, density: 1025.000000* values[0]: 0.578077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036938.883165 s.y J~,@(AA(b@AÖb@AY~? A}A %"AAmNA"AZAbAjArAzAAA>=Wf@A<g?tAt@A;A =AagAו?A <ɿA~*A9?2Aֽ:As<BA9?JAֽRAs<٘i)I9t@YG JRJJJJE&K YX~?yWA0E77779)BE[[E盾[EY~?[ת[[[[BZYY i) ӻIi/@< q8>))q8>q8>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036938.903165 s, next control iter: 1743036939.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036939.303165 s.V J~,wgӂ(AJ"J*J2J:JBJnJvJAb@Azb@AY~? AA%"AAmNA"AZAbAjArAzAAAv@A,D@tA t@AYA=AAV?AǿA *A9?2Aֽ:Aie<BA9?JAֽRAie<٘i)I9 t@YG JّJJJJE&K YY~?yPWA3E)7ŧ7j9)BE[[N[[Y~?[ڪ[[[[BZYY i) Ii+@ < >))>>߹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036939.343165 s, next control iter: 1743036939.703178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10438., header.stamp.nsec: 0.0 temperature: 13.567670.* salinity: 33.375206., density: 1025.000000.* values[0]: 0.577558.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036939.723165 s. J~,H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743036939.723299F (some fields omitted in printout)Azc@AKb@AY~? AA%"AAmNA"AZAbAjArAzAAA6Zi@A6AtAs@AQ4A?=AA`D?AſAu*A59?2AR׽:Aqa<BA59?JAR׽RAqa<٘i)I9s@Y@G JB=JJJJE&K Y7Y~?y2VA5Eŧ7b749)BE[[ũ[rY~?[$ܪ[[[[BZYY i) IiV)@< ?))??y:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036939.743165 s, next control iter: 1743036940.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036940.143165 s.T/ J~,) (AJ"J*J2J:JBJnJvJA ףp=c@A#Ed0c@A1Y~? AdA%"AAbnNA"AZAbAjArAzAAApXL/@A"CtA%s@A`YSA=A),A t?AĿAYӅ*A9?2AR׽:A<BA9?JAR׽RA<٘i)I9%s@YG J煼C=JJJJE&K YSY~?y VA8E)7)79SB)BE[[}[Y~?[ ު[[[[BZYY i) \cIi'@< ֑ ?))֑ ?֑ ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036940.163165 s, next control iter: 1743036940.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036940.563165 s. J~,[ $(AA3333sc@A4(fc@AZ~? A A%"AADnNA"AZAbAjArAzAAABڲ&2 @AWDtARr@AA=AfPA?A@Y'¿AB*A9?2A ֽ:A\=BA9?JA ֽRA\=Yg@Ry=<ٓHi?@ ?hh?`wA@#?r?nS]`?)g@ I٘i)I9r@YG JɆJL:JJJE&Kx> YoY~?y 9VAR;Ej7j79)B[[j[Y~?[ߪ[[[[BZYY i) 'Ii#@ < ]?))]?]?循YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036940.583165 s, next control iter: 1743036940.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10439, header.stamp.nsec: 00 temperature: 13.567772* salinity: 33.375225, density: 1025.000000* values[0]: 0.577106F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036940.983165 s. J~,>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743036940.983287F (some fields omitted in printout)J"J*J2J:JBJnJvJA\c@AwJc@A;1Z~? AAh%"AAknNA"AZAbAjArAzAAAb#/" @ADtA>r@AI:A!=ACVA?A7KA~*A9?2Ayֽ:AJ=BA9?JAyֽRAJ=٘i)I9>r@YpG JJJJJE&K YY~?yq!UA=E{7Z79)BE[[CwW[Y~?[g[[[[BZYY i) N]7Ii@-<  2?)) 2? 2?3ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036941.003165 s, next control iter: 1743036941.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743036941.403165 s.& J~,Y(AAQc@A_ѭc@AJZ~? AAoL%"AA_nNA"AZAbAjArAzAAA[h!@ACVEtAq@A<A=A%;AK1?A`ܼA*A:9?2A#@A>I_GtA>p@AI:AH=AM=A@.^?AwAH*A9?2AQֽ:A =BA9?JAQֽRA =Yv@4WN=y@=ٶ:ٓH?u׮? ~?`?%d? 尲6S?`!?)v@ I٘i)I9>p@Y7G JJP<JJJE&K/x> YY~?y\"`TAWN=HE{7{79RB)ЯBE[[o [Z~?[[[[[BZYY i) uIi@*< &?))&?&?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036942.683165 s, next control iter: 1743036943.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036943.083165 s.D J~,RŃ(AA)\µd@Ad@A:Z~? AA%"AA.oNA"AZAbAjArAzAAAgS#@AoGtAѺo@AA9=A=AFh?A :Al'*A(9?2A׽:AŔ =BA(9?JA׽RAŔ =٘i)I9o@YG J<JJJJE&K Y(Z~?y!SAKEj7j79)ԯBE[[ֻ[.Z~?[}[[[[BZYY i) @IiE@c< `+?)) `+?`+?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036943.103165 s, next control iter: 1743036943.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036943.503165 s. J~,H4(AJ"J*J2J:Jm?BJm?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076537< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743036943.503307F (some fields omitted in printout)ARd@AOwxd@A0Z~? AA%"AAVoNA"AZAbAjArAzAAA ox$@AK@KGHtA7o@A=SA=A=A@q?AdA*A9?2AD;ֽ:ARe =BA9?JAD;ֽRARe =٘i)I97o@YG J圼JJJJE&K Y\5Z~?yy!SAME77T9)دBE[[XĽ[GZ~?[I[[[[BZYY io) Ii @ < Ƅ0?))Ƅ0?Ƅ0?RӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036943.523165 s, next control iter: 1743036943.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10442, header.stamp.nsec: 00 temperature: 13.568118* salinity: 33.375263, density: 1025.000000* values[0]: 0.575606F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036943.923165 s.4 J~,(AA{G!e@A<e@A-Z~? A_A%"AAr}oNA"AZAbAjArAzAAAzH U%@AAv|HtAn@AZ5Ar=A=Au?A`.ΗA*A9?2A#ֽ:AЪ =BA9?JA#ֽRAЪ =٘i)I9n@YEG JꟼJJJJE&K YQZ~?y!3SAPEb79QB)ܯBE[[v[\_Z~?[[[[[BZYY i) LIi @c< lx5?))lx5?lx5?ժY_'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036943.943165 s, next control iter: 1743036944.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036944.343165 s.<!J~,(AJ"J*J2J:JBJnJvJAp= We@AIe@A.[~? AAv%"AAؤoNA"AZAbAjArAzAAAk] %@AxHtA&n@AR^An=A_>A`w?AA*Aг9?2A ս:A=BAг9?JA սRA=٘i)I9&n@YG JAJJJJE&K  9YmZ~? 9y RASEb79)B[[i[wZ~?[t[[[[BZYY i) n嘼Ii@^-< br:?))br:?br:?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036944.363165 s, next control iter: 1743036944.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10443*, header.stamp.nsec: 0*0 temperature: 13.568224** salinity: 33.375278*, density: 1025.000000** values[0]: 0.575070*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036944.763165 s.5 !J~,0(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743036944.763280F (some fields omitted in printout)Ǎe@Ae@A1[~? AAZ%"AAAoNA"AZAbAjArAzAAA\Q&@AQ3ZHtAm@A^;A])=AE\>A@w?A{x?A+*Am9?2Aս:A =BAm9?JAսRA =Y@A>y(= ;ٓH@É?8ÿ@?49??}w?`x??)@ I٘i)I9m@YG JJG<JJJE&Ku> YZ~?yBcRA>UE77{79)BE[[l[+Z~?[[[[[BZYY i) >ZIiG@¦< d_??))d_??d_??y+ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036944.783165 s, next control iter: 1743036945.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036945.183165 s.!J~,gK(AJ"J*J2J:JBJnJvJA(\e@A e@A14[~? AmAd%"AAoNA"AZAbAjArAzAAAue&@AHtAdm@AK<A(Ģ=A.>At?A'?AE*A"9?2Aս:Ax=BA"9?JAսRAx=٘i)I9m@Y@G JѰJJJJE&K YZ~?yQAXEb779PB)BE[[C[Z~?[[[[[BZYY i) 4ϧIi?ܡ< UD?)) UD?UD?ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036945.203165 s, next control iter: 1743036945.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036945.603165 s.74!J~,f(AAQe@A ;Ie@A.N[~? AA%"AApNA"AZAbAjArAzAAA;'@ARUHtAGjl@A}G<AF=A*C>Aq?AV?AT*AZ9?2AԽ:A =BAZ9?JAԽRA =٘i)I9jl@YG JIJJJJE&K Y}Z~?yQA[E77{7J9)BE[[:[RZ~?[[[[[BZYY i) CIi?D~< ZTI?))ZTI?ZTI?PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036945.623165 s, next control iter: 1743036946.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10444 , header.stamp.nsec: 0 0 temperature: 13.568367 * salinity: 33.375282 , density: 1025.000000 * values[0]: 0.574495 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036946.023165 s.Z !J~,{(AJ"J*J2J:J?BJ?nJ65vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743036946.023319F (some fields omitted in printout)AHz.f@A#=!f@A%h[~? AA%"AApBpNA"AZAbAjArAzAAAըrm*(@A{=| HtAk@A;A%=A/&X>Ai?AЩ?A*A_9?2A|<ս:A=BA_9?JA|<սRA=٘i)I9k@YG JVJJJJE&K YbZ~?yH QA]Ej7j79OB)BE[[iK<[Z~?[[[[[BZYY i) Ii?< 6ZN?))6ZN?6ZN?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036946.063165 s, next control iter: 1743036946.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036946.443165 s.;&!J~,O](AAq= cf@AēVf@A[~? AA%"AAipNA"AZAbAjArAzAAANs%(@AmGtA2k@Ajs~A/=AØm>A_?A@?A$к*Aˬ9?2Aս:A =BAˬ9?JAսRA =٘i)I92k@Y%G JjJJJJE&K YMZ~?yPA`E{7Z7 9)BE[[4~%=[Z~?[[[[[BZYY i) -Ii?Y< gS?))gS?gS?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036946.463165 s, next control iter: 1743036946.843178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10445", header.stamp.nsec: 0"0 temperature: 13.568543"* salinity: 33.375298", density: 1025.000000"* values[0]: 0.573853"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036946.863165 s.+-!J~,>(AJ"J*J2J:J?BJ?nJ 5vJAf@Aqf@A[~? A9A%"AApNA"AZAbAjArAzAAAgd)@A8M,GtAhj@A8A=A~>A AS?A?AD׼*A9?2Ai;ֽ:A=BA9?JAi;ֽRA=YL=>yչ=s9ٓH"?`п(?A??^?`p[?)L= I٘i)I9j@YG JJ`o<JJJE&Ku> Y[~?yAPA>cE77{7 9NB)BùE[[Tpu=[ [~?[d[[[[BZYY i) użIiU?sڐ< fX?))~fX?fX?XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036946.883165 s, next control iter: 1743036947.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036947.283165 s.5R4!J~,҄(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248595@ elevatorAngleAction: -0.085807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743036947.283274F (some fields omitted in printout)A(\f@AT~Of@AƵ[~? ACA|%"AA4pNA"AZAbAjArAzAAA<b!*@A'rFtA/i@AGPAdL=A>A@)D?A@F?A**A9?2A_]ֽ:A6D=BA9?JA_]ֽRA6D=٘i)I9i@YcG JȾJJJJE&K Y/[~?yOAfEj7j7u 9)B[[=[$[~?[[[[[BZYY i) ̼Ii?< Np]?)) Np]?Np]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036947.303165 s, next control iter: 1743036947.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10446., header.stamp.nsec: 0.0 temperature: 13.568717.* salinity: 33.375309., density: 1025.000000.* values[0]: 0.573208.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036947.703165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ٺ:!J~,(AAQg@Af@A[~? A$A,%"AAIpNA"AZAbAjArAzAAA6PG*@A0EtANi@AAw=A>A3?A?Avȼ*A9?2ATս:At\=BA9?JATսRAt\=٘i)I9Ni@Y G JļB=JJJJE&K YDK[~?y`YOAhE77?9)BƹE[[ړ=[p=[~?['[[[[BZYY i) r ԼIi?5r< Vb?))Vb?Vb?NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036947.723165 s, next control iter: 1743036948.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036948.123165 s.9A!J~,e(AAG:g@A-g@A3[~? AAD%"AACqNA"AZAbAjArAzAAAK8+@A ]EtA h@A):A=Ağ>A ?A`?ADOѼ*A9?2AԽ:A=BA9?JAԽRA=٘i)I9h@Y G J̼C=JJJJE&K Yf[~?y/NAkE{7j7 9MB)BɹE[[c=[zV[~?[K[[[[BZYY i) 8RۼIi?]< Pg?))Pg?Pg?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036948.143165 s, next control iter: 1743036948.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036948.543165 s.IH!J~,"(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743036948.543293F (some fields omitted in printout)A= ףpg@AZcg@A\~? AkAg^%"AA-qNA"AZAbAjArAzAAA2+@Ag{=DtARg@A/M$<ADJ=Ap>A ?A ?A ؼ*A9?2ACԽ:AT4=BA9?JACԽRAT4=٘i)I9g@Y) G JԼJJJJE&K Y[~?yqNAnE7779JB) B˹E[[>[o[~?[G[[[[ZZ¸BZYY i¸=) dϼIiM?1< Bl?))Bl?Bl?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036948.563165 s, next control iter: 1743036948.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10447, header.stamp.nsec: 00 temperature: 13.568912* salinity: 33.375305, density: 1025.000000* values[0]: 0.572511F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036948.963165 s.~N!J~, =(AAffffg@A9}=_g@AG\~? AA{%"AASqNA"AZAbAjArAzAAA4Jn,@ADCtAn8g@A*V<AmS=A>A?A X?Aܼ*A9?2Aս:A=BA9?JAսRA=Y%>I>ygO=ϰW<ٓH?ֿ 7?@? ?Tɒ? 9¶ڊ?@?)%> I٘i)I98g@Y G JڼB=J6<JJJE&KWu> Ya[~?y MA>pE{7j79IB)BιE[[#>[a[~?[[[[[ZZBZYY i) LTüIi?UOu< "q?))b ~"q?"q?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036948.983165 s, next control iter: 1743036949.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036949.383165 s.U!J~,4X(AJ"J*J2J:Jw?BJw?nJ5vJA(g@Akg@A5\~? AAg%"AA_zqNA"AZAbAjArAzAAA--@A Z1BtA:lf@Ai<A=Ar>A g?A@\?A#*A[9?2A+ս:Az<BA[9?JA+սRAz<٘i)I9lf@Y= G J3C=JJJJE&K Yֶ[~?y|MAsE77{7j9)BѹE[[y7>[E[~?[[[[[ZZBZYY i) FIiַ?Ok<  elevatorAngleAction: 0.083035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743036949.803286F (some fields omitted in printout)Ah@APh@AN\~? A'A%"AAqNA"AZAbAjArAzAAA}Ø-@A{AtAe@A9A-q=Ak">A ?A D?A*A9?2A Խ:A<BA9?JA ԽRA<٘i)I9e@Y G J3JJJJE&K YN[~?yMAvEZ7SI759HB)BԹE[[L>[A[~?[L[[[[ZZBZYY i) i7Iiް?db< >|?))>|?>|?yq=|ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036949.823165 s, next control iter: 1743036950.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036950.223165 s.gc!J~,H(AJ"J*J2J:JBJnJvJAzGh@A~:h@Ah\~? AA%"AAqNA"AZAbAjArAzAAAw,9.@AǾd?tA|d@AwXA6t=A>A`m?A?A̗*A9?2A-ս:A+y`<BA9?JA-սRA+y`<٘i)I9d@Y5 G JJJJJE&K Y[~?yLAxEŧ7b79)"B[[`>[K[~?[[[[[ZZBZYY i) (Ii?fZ< B?))B?B?Y)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036950.243165 s, next control iter: 1743036950.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036950.643165 s.ui!J~,*(AA ףp}h@A|8cph@A\~? A A%"AAqNA"AZAbAjArAzAAARf.@Ale>tAc@AcA.1=AE>A3z?AE?Agʼ*A9?2Ajս:A;BA9?JAjսRA;٘i)I9c@Y G J߼JJJJE&K Y<\~?y LA{E{7j79GB)'B׹E[[5u>[X[~?[ު[[[[ZZBZYY i) 3Ii?S< 4=?))4=?4=?xYFFtReceived state from Gazebo (printed only once in a while):F2 header.stamp.sec: 10449, header.stamp.nsec: 00 temperature: 13.569409* salinity: 33.375343, density: 1025.000000* values[0]: 0.570805F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743036950.663165 s, next control iter: 1743036951.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036951.063165 s.p!J~,V ą(AJ"J*J2J:J ?BJ ?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083035< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743036951.063303F (some fields omitted in printout)A3333h@A 2*h@A֙\~? Aw A=%"AArNA"AZAbAjArAzAAAݩh/@Afy,AzW?A?A*A9?2Aս:A1"BA9?JAսRA1"Y=o>>yv^<mDBٓH? ܿ???0?뚿`BF?)=o> I٘i)I9`c@Yb G JmB=JJJJ E&Kwu> Y\~?yKA>~Eb779FB)+BڹE[[2>[#\~?[ܪ[[[[ZZBZYY i贎=) &ˆIiМ?H< ԅ?))-~ԅ?ԅ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036951.103165 s, next control iter: 1743036951.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743036951.483165 s.x_w!J~,ޅ(AA\h@A/-h@A\~? AAm%"AA48rNA"AZAbAjArAzAAA/@A!5d;tAb@A}A<Ah>A 2?A~?AOQ*A9?2AKս:ABA9?JAKսRA٘i)I9b@Y G JC=JJJJ E&K Y!9\~?yKAE{7{7_9)/BݹE[[>[\~?[ڪ[[[[ZZBZYY i) |Ii?k>< p?)) p?p?rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036951.503165 s, next control iter: 1743036951.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10450, header.stamp.nsec: 00 temperature: 13.569581* salinity: 33.375359, density: 1025.000000* values[0]: 0.570109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036951.903165 s.}!J~,(AJ"J*J2J:JBJnJvJAQi@Ai@A \~? A9A%"AA]rNA"AZAbAjArAzAAAW-I0@A29tA8b@Az;A@A>A ?A-?A4*A9?2A*Խ:AyoBA9?JA*ԽRAyo٘i)I9b@Y G JcJJJJE&K YR\~?y6KAEb77*!9EB)1BE[[G'>[6\~?[^ت[[[[ZZBZYY i(=) 4hIi?5< ?))?? (YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036951.923165 s, next control iter: 1743036952.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036952.323165 s.v!J~,%(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743036952.323286F (some fields omitted in printout)AGzTi@A8GnGi@Ab\~? A^A%"AArNA"AZAbAjArAzAAAJ50@A, 8tABb@AF<A^A?A?A ?Awл*A9?2AHս:AYBA9?JAHսRAYI٘i)I9Bb@Y G J:JJJJE&K Yl\~?yY|KAE77{7"9)3B[['>[O\~?[ժ[[[[ZZBZYY i) ͋SIi?I.< ?))??y =)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036952.343165 s, next control iter: 1743036952.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10451*, header.stamp.nsec: 0*0 temperature: 13.569646** salinity: 33.375381*, density: 1025.000000** values[0]: 0.569739*F (some fields omitted in printout)2l\~?)2Y rAdjusting time to match Gazebo time: 1743036952.743165 s.W!J~,m/(AJ"J*J2J:JBJnJvJAףp=i@Av1}i@A\~? A]A%"AARrNA"AZAbAjArAzAAA{d<0@A{*6tA $b@AbA<A_A?AE?A?A{*A9?2AYս:AļBA9?JAYսRAļ٘i)I9$b@Y G JAJJJJE&K Yv\~?y{XKAE777$9AB)0BE[[`>[h\~?[4Ӫ[[[[BZYY i)  >Ii?]'< `?))`?`?y\w=.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036952.783165 s, next control iter: 1743036953.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743036953.163165 s.y}!J~,qJ(AAi@Ani@A]~? A6AK%"AArNA"AZAbAjArAzAAAwR$1@A"G=4tAI$b@A^;Az1A ?A{?A1?A.;*A9?2Aս:AܽBA9?JAսRAܽY[>g ?yy1.;ٓH0?(`?`}6?@3j-?Ft?5?)[> I٘i)I9Y G J;8J)JJJE&Kt> Y\~?yKA ?E77&9@B)/BE[[>[\~?[fЪ[[[[BZYY ik=) + .IiYt?3b< O?))GO?O? elevatorAngleAction: 0.057523< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743036953.583294F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\i@A3i@AC+]~? AA%"AArNA"AZAbAjArAzAAAl1@A#92tADb@A@AYA?AHU?A{?A;*A9?2A2wս:ABA9?JA2wսRA٘i)I9Db@Y G Ji;JJJJE&K Y\~?y4KAE{7{7U(9?B)-BE[[>[\\~?[kͪ[[[[BZYY i=) 8Iid?< ԩ?)) ԩ?ԩ?ǒ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036953.603165 s, next control iter: 1743036953.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10452, header.stamp.nsec: 00 temperature: 13.569569* salinity: 33.375393, density: 1025.000000* values[0]: 0.569697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036954.003165 s.v !J~,D4(AAR+j@A-xj@AB]~? AuA%"AAsNA"AZAbAjArAzAAA©C1@A5ו0tAσb@AfCAyA?A!?A@"?A?<*Ad9?2A^Խ:Apl BAd9?JA^ԽRApl ٘i)I9b@Y G J<JJJJE&K Y\~?yު LAEj7 *9@B),B[[9>[\~?[Bʪ[[[[BZYY i) d IiIW? < 2V?))2V?2V?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036954.023165 s, next control iter: 1743036954.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036954.423165 s.u!J~,(AJ"J*J2J:JBJnJvJA{Gaj@A%[ \~?[ƪ[[[[BZYY i) IijK?w/< ?))??*Y](YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036954.443165 s, next control iter: 1743036954.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10453, header.stamp.nsec: 00 temperature: 13.569345* salinity: 33.375393, density: 1025.000000* values[0]: 0.570031F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036954.843165 s.ݬ!J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036954.843290F (some fields omitted in printout)Ap= j@A#ظj@A0q]~? A AX%"AAZsNA"AZAbAjArAzAAAG@2@ARE+tAJc@AA AB"?A?A-?AU)<*A9?2ADս:AV BA9?JADսRAV ٘i)I9Jc@YU G JA<JJJJ#E&K Y\~?yJժLAE{7{7-9>B)#BE[[G>[B\~?[eê[[[[BZYY i) uջIiWA?y; ?))??y&=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743036954.863165 s, next control iter: 1743036955.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036955.263165 s.!J~,І(AJ"J*J2J:J?BJ?nJ5vJAj@AeTƿj@A]~? A=A%"AAU}sNA"AZAbAjArAzAAAv2@AlVdE)tA7c@A:AmA/'?AHz?A`U?Ae2<*AQ9?2Aս:A!BAQ9?JAսRA!YU>ș'?ym:ٓH`pP?$}e@n?`wa?`ѧ`G?_??)U> I٘i)I9c@Y G JI<B=J6JJJ&E&Ku> Y*]~?yϪLA'?Ej7Z7/9:B)BE[[w>[\~?[¿[[[[BZYY i) )Ii0?d; h?))ih?h?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036955.283165 s, next control iter: 1743036955.663176 s, wait time: 0.380011 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 104546, header.stamp.nsec: 060 temperature: 13.5690306* salinity: 33.3754126, density: 1025.0000006* values[0]: 0.5705976F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036955.683165 s.l!J~,g(AA(\k@A|ʄj@A]~? A6A%"AAsNA"AZAbAjArAzAAAU@2@AX &tABFd@A%)<A՛A-?A[]~?[[[[[BZYY i) FᘻIix!?; ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036955.683165 s, next control iter: 1743036956.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743036956.103165 s.!J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036956.103299F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8k@A8L4H+k@A]~? A A@%"AAsNA"AZAbAjArAzAAAQ; &3@A)fD$tA{d@A;Y<AA&82?A@u?A`ư?Aט<*A9?2Aս:A+ BA9?JAսRA+ ٘i)I9d@YA G JW<JJJJ+E&K Y@]~?y5ŪMAEj7j7398B)BE[[͓?[#)]~?[﷪[[[[BZYY i) +uIi4?W; ѥ?))ѥ?ѥ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036956.123165 s, next control iter: 1743036956.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036956.523165 s.!J~,|!(AAHznk@Ap& ak@A]~? AݫA%"AA`sNA"AZAbAjArAzAAAJP3@AM!tA_e@A<A1!A1C7?A?A`z?A<*AM9?2AMս:A BAM9?JAMսRA ٘i)I9_e@Y G J|<JJJFJ.E&K Y\W]~?yؿNAE{7{7497B) BE[[ ?[@]~?[[[[[BZYY i) ݓ8Ii?; q?))q?q?*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036956.543165 s, next control iter: 1743036956.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10455, header.stamp.nsec: 00 temperature: 13.568670* salinity: 33.375443, density: 1025.000000* values[0]: 0.571354F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036956.943165 s.]d!J~,W]<(AJ"J*J2J:JBJnJvJAq= ףk@A `ʖk@A]~? AH٫A%"AAtNA"AZAbAjArAzAAA @ؒ3@AxtA6e@A9ARA@ս:A^ BAs9?JA>սRA^ ٘i)I9e@Y G Jl<JJJJ0E&K Ym]~?y|NAE7b769)B[[ ?[W]~?[b[[[[BZYY i) Ii:>; hL?))hL?hL?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036956.963165 s, next control iter: 1743036957.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036957.363165 s.!J~,>W(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743036957.363296F (some fields omitted in printout)Ak@Ack@A]~? AԫA@%"AAT%tNA"AZAbAjArAzAAA@3@AtAEf@AA\A+EA?A {8?A?A <*A9?2A|ս:Ah BA9?JA|սRAh YnY ? rA?y[[ZٓH@T8?p@ ?`M?F? O`?)nY ? I٘i)I9f@YT G J<JJJJ3E&Kv> YL]~?ysNArA?Eŧ77u896B)BE[[?[n]~?[說[[[[BZYY i) .Iiw>.; H?))H?H?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036957.383165 s, next control iter: 1743036957.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10456*, header.stamp.nsec: 0*0 temperature: 13.568281** salinity: 33.375454*, density: 1025.000000** values[0]: 0.572122*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036957.783165 s.X!J~,r(AJ"J*J2J:JBJnJvJA(\l@A,Sl@AD ^~? AϫA%"AAEtNA"AZAbAjArAzAAATKJ 4@A76?tA1g@A5YAnA!fF?AE?A?A<*A9?2Aս:Ad BA9?JAսRAd ٘i)I91g@Y G J<JJJJ6E&K Yؖ]~?yjUOAE7b7@:92B)BE[[\w?[]~?[>[[[[BZYY i) IiO>{(v; ð?)) ð?ð?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036957.803165 s, next control iter: 1743036958.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036958.203165 s.!J~,(AAQEl@A8l@A ^~? A&˫A%"AAetNA"AZAbAjArAzAAAGL>S4@ApiDhJtAg@A /AԚAyK?A`?A?A4<*Af:?2AFս:A3$ BAf:?JAFսRA3$ ٘i)I9g@Y G J̻<JJJJ8E&K Yc]~?yaOAE77{7 <9)B[[c?[]~?[f[[[[BZYY i) \:Iiͦ>5U; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036958.223165 s, next control iter: 1743036958.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036958.623165 s.J "J *J 2J :J ?BJ ?nJ 5a!J~vJ,⧇(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743036958.623289F (some fields omitted in printout)AGzl@Aml@A4^~? A,ƫAW%"AAtNA"AZAbAjArAzAAAWoN{4@ANoh@tAgh@A %AVAP?A@^?AhR?A!<*A:?2Aս:ABA:?JAսRA٘i)I9gh@Yr G Jj<JJJJ;E&K Y]~?yX+PAEŧ7b7=91B)BE[[M#?[]~?[_[[[[BZYY i) :Ii>9; N?))N?N?:*YHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036958.643165 s, next control iter: 1743036959.023185 s, wait time: 0.380020 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10457 , header.stamp.nsec: 0 0 temperature: 13.567870 * salinity: 33.375450 , density: 1025.000000 * values[0]: 0.572948 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036959.043165 s.!J~,‡(AA= ףl@A|ԗl@AH^~? AA%"AAãtNA"AZAbAjArAzAAA4@A #tAh@A;A ,ALV?A`?A`?A#<*A:?2AVֽ:AcBA:?JAVֽRAc٘i)I9h@Y G J<JJJJ>E&K Yz]~?yOPAEb77?9/B)BE[[.")?[]~?[+[[[[BZYY i) .;Ii}>\"; ?))??g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036959.063165 s, next control iter: 1743036959.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036959.463165 s.V!J~,݇(AJ"J*J2J:JBJnJvJAffffl@AF ^l@A\^~? AֻA%"AA%tNA"AZAbAjArAzAAAc 5@A tAi@A S<A⯒A{[?A U?A ?AI<*A:?2A/ֽ:ABA:?JA/ֽRAYLG#?_[?yìrS<ٓH ?B46?`?hQ?Ba?Q?)LG#? I٘i)I9i@Y!G J<B=J{q<JJJ@E&Kv> Y]~?yPA_[?Eŧ7b7kA9)B[[X.?[]~?[ܑ[[[[BZYY i) Rk;Iic>>: ޻?))޻?޻?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036959.503165 s, next control iter: 1743036959.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10458, header.stamp.nsec: 00 temperature: 13.567506* salinity: 33.375481, density: 1025.000000* values[0]: 0.573714F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036959.883165 s.y!J~,I(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743036959.883292F (some fields omitted in printout)A(m@AHm@A9p^~? AzA%"AAtNA"AZAbAjArAzAAAtF5@A tAj@AD<AA3`?A rq?A@?AE<*AU:?2Aֽ۫:ABAU:?JAֽ۫RA٘i)I9j@YtG J<C=JJJJCE&K Yu]~?y[QAE77{75C9+B)گBE[[QB4?[K]~?[^[[[[BZYY i) Gm;Ii{>": ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036959.923165 s, next control iter: 1743036960.283182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743036960.303165 s.P"J~,^g(AJ"J*J2J:JBJnJvJAQm@ADm@Ac^~? AA%"AAXtNA"AZAbAjArAzAAA&55@ATtA elevatorAngleAction: 0.075755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743036961.143286F (some fields omitted in printout)A ףpm@A{ Y*A^~?ysRAzu?Eŧ7`J9)ǯB[[|J?[ D^~?[t[[[[BZYY i) f z>sA|l@A:A 6A9z?AM?A`o?A",<*Az9?2Aֽ:ABAz9?JAֽRA٘i)I9l@YG JQ<JJJJQE&K YcQ^~?yl;SAE{7j7+L9#B)B E[[P?[W^~?[jn[[[[BZYY i)  elevatorAngleAction: 0.075755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743036962.403289F (some fields omitted in printout)AQ^n@Ab Qn@A^~? AAp"%"AAuNA"AZAbAjArAzAAA4|Gב6@A`5sAm@A/;AA?A@?A_?A<*A9?2A׽:A9BA9?JA׽RA9٘i)I9m@YOG J|<JJJJSE&K Ya^~?ygeSAEZ7Z7M9)B[[5AV?[j^~?[g[[[[BZYY i) r& elevatorAngleAction: 0.075755< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743036963.663302F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10462, header.stamp.nsec: 00 temperature: 13.566157* salinity: 33.375526, density: 1025.000000* values[0]: 0.576422F (some fields omitted in printout)Ao@A;n@A_~? AA%"AAuNA"AZAbAjArAzAAA Ј'7@A+sAT|n@A <A7NAW݇?Av?A?A/<*A9?2A\׽:AN~BA9?JA\׽RAN~YZzW?|ɇ?yL <ٓH'*?`I3 0?4?`?`??)ZzW? I٘i)I9|n@Y%G J<JٻJJJ[E&K|x> Yݏ^~?yLOTAɇ?E77US9B)BE[[g?[^~?[S[[[[BZYY i) T elevatorAngleAction: 0.084649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743036964.923300F (some fields omitted in printout)A{Go@AF};o@A<_~? AemAi %"AAvNA"AZAbAjArAzAAA.±7@A6MsA@p@AZA~A|?A@=?A|?Aʢ<*A9?2Atoֽ:A BA9?JAtoֽRA ٘i)I9p@YG Jt<JJJJcE&K Y8^~?y>8UAE{7j7X9B)BE[[Mx?[\^~?[>[[[[BZYY i) lj Y7^~?yy(VAԔ?Eŧ7b7K\9B)BE[[M?[^~?[.[[[[BZYY i) 8Ð elevatorAngleAction: 0.084649BJnJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743036966.183303F (some fields omitted in printout)A(\Bp@AOr5p@A@f_~? AXA%"AAYvNA"AZAbAjArAzAAAb"\/8@AsAMq@A;AA?A@d?A W@?A<*A=9?2A8F׽:ABA=9?JA8F׽RA٘i)I9q@Y G JZ<JJJJkE&K Yl^~?yd WAE777^9)B[[ elevatorAngleAction: 0.084649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743036967.443325F (some fields omitted in printout)Aq= p@A䃞p@A_~? ACA5%"AAӓvNA"AZAbAjArAzAAA)蜡8@AH'sA@s@A4O;A/KAK?A B?A@?A<*A19?2Aֽ:A9BA19?JAֽRA9٘i)I9@s@Y G JG<C=JJJJsE&K Y^~?y'6XAE77vc9B)vBE[[&?[O,_~?[([[[[BZYY i) (AJ"J*J2J:JD?BJD?nJw5vJAq@AƼ q@AI_~? Af<A%"AAvNA"AZAbAjArAzAAA$Ȭ8@Aj'sA>s@AڶAQAˡ?A`ui?Ak#?A8n<*A 9?2Ajֽ:ABA 9?JAjֽRAY΅?ڡ?y Qj|ٓHF;?ng?S? ׳C?:v?)΅? I٘i)I9s@YkG J<JћJJJvE&Kx> Y_~?yXAڡ?E77{7@e9)rB[[?[8_~?[[[[[BZYY i) 0< elevatorAngleAction: 0.084649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743036968.703285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQq@Axq@A_~? A-A*%"AAevNA"AZAbAjArAzAAAyy_j9@A8ū1sA,(u@AMAA?A@?Av?A<*A9?2AQֽ:A9BA9?JAQֽRA9I٘i)I9(u@Y5G J<B=JJJJ|E&K Y_~?yYAE77{7h9 B)cBE[[?[P_~?[2[[[[BZYY i)  _?))_?_?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036969.143165 s, next control iter: 1743036969.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036969.543165 s.I"J~,b(AJ"J*J2J:JBJnJvJA= ףq@A:Vq@A_~? AA%"AA vNA"AZAbAjArAzAAAfYFB9@A̓sAov@ApKY;AAS?A`4?AK?A'<*A9?2A׽:A@BA9?JA׽RA@٘i)I9v@YG J<JJJJE&K Y)_~?y7ީqZAEj7j7kl9)XB[[?[e_~?[[[[[BZYY i) j elevatorAngleAction: 0.084649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743036969.963299F (some fields omitted in printout)Affff&r@A[r@A_~? A9A}%"AA\vNA"AZAbAjArAzAAA]9@A,wXvsA+w@AZ6<AӲA&?A?A@C?AHp<*A]9?2A8׽:A@BA]9?JA8׽RA@Yؒ?9?yѲ 7<ٓH?V3{6?f? &pR?`#ˆ?H?)ؒ? I٘i)I9+w@YoG JI<J!JJJE&K]x> YL/_~?yթZA?E{7{76n9)SB[[?[o_~?[Bܩ[[[[BZYY i) BZYY i¸>) {B[[ ?[_~?[[[[[ZZZZBZYY i)  YI_~?yg/]A?EZ7SI7+w9B).BE[[?[#_~?[W[[[[ZZZZBZYY i) R=JJJE&Kcw> YT_~?y~^A?E77!9)B[[d?[_~?[π[[[[ZZZZBZYY iWy) vt\t1:@A:%osAH~@AǻA =AY!?A`w?A@SV?Aθ:*A9?2Aֽ:Abe<BA9?JAֽRAbe<٘i)I9H~@YG Jp;JJJJE&K YT_~?yl^AE7ŧ79B) BE[[?[<_~?[m[[[[BZYY i) N:@A (K1esA[#~@AyIAtZ=AC`?A?Ak?A߻*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9#~@YG J5B=JJJJE&K YT_~?y<[^AE77K9)B[[Ⱥ?[_~?[Z[[[[BZYY i) ")JJJE&Kw> YR_~?yxRC^A?E79)B[[?[&_~?[dQ[[[[BZYY if) oF[[[[BZYY i) ;IpG?iאf9 -@))-@-@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036977.123165 s, next control iter: 1743036977.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036977.523165 s.#J~,{a(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056296< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743036977.523296F (some fields omitted in printout)AHzu@A|G u@A`~? AAhm&"AA:pwNA"AZAbAjArAzAAAө,gSF:@A0?~QsA|@A[<AT*=A?A@VA -v?A$5*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9|@YG JJJJJE&K YI_~?y*8H]A'Eŧ7ŧ7v9)B[[f?[q_~?[4[[[[BZYY iW^) eW;IْG?i9 ܵ@))ܵ@ܵ@yNfϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036977.543165 s, next control iter: 1743036977.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10476, header.stamp.nsec: 00 temperature: 13.562498* salinity: 33.375599, density: 1025.000000* values[0]: 0.584607F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036977.943165 s.Yd#J~,F]|(AJ"J*J2J:JBJnJvJAq= #v@A v@A`~? AA &"AAowNA"AZAbAjArAzAAAԺ`-D:@Ag#.LsA|@A;AF=A ;?AA^s?A5*A9?2Acֽ:A{ =BA9?JAcֽRA{ =٘i)I9|@YrG JDJJJJE&K YF_~?yf/\A)E7A9B)BE[[b-?[_~?[u+[[[[BZYY i) ;I[G?i _8 )?@)))?@)?@yfҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036977.983165 s, next control iter: 1743036978.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036978.363165 s.%#J~,>(AAYv@A`Lv@A`~? AxA&"AA%nwNA"AZAbAjArAzAAAþi@:@AGsAَ{@A AO=AT?AA`m?A?*AR9?2Aֽ:A =BAR9?JAֽRA =Y?.?y9=d ٓHɿ?YlB? xɿ`ư?*04 a ?)? I٘i)I9{@YG JMB=Jg =JJJE&Kw> YA_~?y&\A?,E{7{7 9)"B[[[D?[M_~?[ "[[[[BZYY i) k;IsG?irSt; @))@@yѱӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036978.403165 s, next control iter: 1743036978.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10477&, header.stamp.nsec: 0&0 temperature: 13.562757&* salinity: 33.375607&, density: 1025.000000&* values[0]: 0.583960&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036978.783165 s.Y+#J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065610< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419987*J2J2 time: 1743036978.783284F (some fields omitted in printout):JBJnJvJA(\v@A{2Qv@A`~? ApAE&"AAkwNA"AZAbAjArAzAAAK[;:@At:BsAf{@Ad/AS=A?A`TAe?Aw*A=9?2A ׽:A(D=BA=9?JA ׽RA(D=٘i)I9{@YG JgC=JJJJE&K Ym;_~?y'&\A/E)7ŧ7֓9)&B[[h\?[#_~?[[[[[BZYY i) 8n;IcG?iғ5= I!@))I!@I!@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036978.803165 s, next control iter: 1743036979.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036979.203165 s.3#J~,͌(AAQv@Av@A|`~? AhA1&"AAhwNA"AZAbAjArAzAAAg`M4:@ALr=sAtz@A: aAq=A@?AǬA Z?A+*A9?2A׽:A}=BA9?JA׽RA}=٘i)I9tz@YoG JeJJJJE&K Y5_~?y[A1E7{79)+B[[Zu?[<_~?[M[[[[BZYY i) n/2;ISG?i'գ= "@))"@"@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036979.243165 s, next control iter: 1743036979.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743036979.623165 s.W9#J~,](AJ"J*J2J:JR?BJR?nJ5vJAGv@Av@A `~? A|`A&"AAdwNA"AZAbAjArAzAAA Lk+:@AJ׷(8sAy@A+A=A?AwAM?AR*A9?2ARֽ:A,=BA9?JARֽRA,=٘i)I9y@YG JJJJJE&K Y0_~?y X[A4E77j7k9B).BE[[F?[_~?[[[[[BZYY i) X:ICG?it< a[$@))a[$@a[$@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036979.643165 s, next control iter: 1743036980.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10478 , header.stamp.nsec: 0 0 temperature: 13.563012 * salinity: 33.375599 , density: 1025.000000 * values[0]: 0.583296 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036980.043165 s.@#J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743036980.043288F (some fields omitted in printout)A= ף0w@Aꐛ#w@AI `~? AzXA &"AAM`wNA"AZAbAjArAzAAAۆ;!:@A%m4sAYy@A#ǫAX=AU?A&8A<>?A-[*A9?2Aֽ:A&=BA9?JAֽRA&=٘i)I9Yy@YG J7B=JJJJE&K Yp*_~?yGZA7E7769B)4BE[[M?[F_~?[[[[[BZYY i) e:ID4G?i: %@))%@%@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036980.063165 s, next control iter: 1743036980.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036980.463165 s.WG#J~,(AJ"J*J2J:JBJnJvJAfffffw@A\Yw@Ai`~? A}PA &"AAZwNA"AZAbAjArAzAAAyy:@AjOv (/sA@x@A<A'=A?AA q,?A Y!_~?yZA?9Eb779)9B[[b?[9_~?[[[[[BZYY i) sdIm$G?iM< k'@))k'@k'@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036980.503165 s, next control iter: 1743036980.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10479, header.stamp.nsec: 00 temperature: 13.563287* salinity: 33.375599, density: 1025.000000* values[0]: 0.582597F (some fields omitted in printout)>!_~?)> rAdjusting time to match Gazebo time: 1743036980.883165 s.yM#J~,@8(AA(w@Aw@A`~? AHAT &"AATwNA"AZAbAjArAzAAA`$:@ADS6L*sA:x@A_<A=Alk?A'A ??A6*A9?2A*=ֽ:A/?=BA9?JA*=ֽRA/?=٘i)I9:x@YG JJJJJE&K Y_~?yz+ZA Y^~?y,ҨXA?GE779)OB[[]6?[nL_~?[ƨ[[[[BZYY iF) IF?iEd8 R/@))R/@R/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036982.583165 s, next control iter: 1743036982.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10481, header.stamp.nsec: 00 temperature: 13.384673* salinity: 33.391632, density: 1025.000000* values[0]: 0.705131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036982.983165 s.o#J~,쾍(AJ"J*J2J:JBJnJvJA\x@A˄_x@A<_~? A;!AU &"AA)wNA"AZAbAjArAzAAA/֭9@A̡~YOsAju@AIA=AY?A5ʿA`?A=*AH9?2A׽:A<BAH9?JA׽RA<٘i)I9u@YG JC=JJJJE&K Y^~?yʨMXAIEZ7Z79B)TB E[[M?[5@_~?[[[[[BZYY i) +IF?iʏ 8 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036983.003165 s, next control iter: 1743036983.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036983.403165 s.&v#J~,ٍ(AAQx@A.pyx@A_~? AA~ &"AAwNA"AZAbAjArAzAAA9@A.ݒ sAEu@AmA=A @A!̿Abi?Ah*A9?2Aֽ:A4<BA9?JAֽRA4<٘i)I9Eu@YGG JzJJJJE&K Y^~?yWALEj79)XB[[2@[T3_~?[R[[[[BZYY i) TٻIVF?i}Jc6 )2@)))2@)2@YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743036983.423165 s, next control iter: 1743036983.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10482", header.stamp.nsec: 0"0 temperature: 13.384901"* salinity: 33.391621", density: 1025.000000"* values[0]: 0.704111"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036983.823165 s.|#J~,-(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: -0.076167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743036983.823289F (some fields omitted in printout)AGzy@A ˟oy@A_~? AA&"AAwNA"AZAbAjArAzAAAm'~9@AhJpsAt@AQa;A;=A^@A`1ͿAC?Aa⊼*A9?2A;wֽ:Ah<BA9?JA;wֽRAh<٘i)I9t@YG JSJJJJE&K Y^~?y乨WAOE7777V9)[B[[E@[%_~?[Ь[[[[BZYY i) }ICF?i'f3 3@))3@3@yi曽׸YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036983.843165 s, next control iter: 1743036984.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036984.243165 s.#J~,`(AAףp=Jy@Ae1=y@A;_~? A, A&"AA}wNA"AZAbAjArAzAAAZWqe9@AN7g<sAC]t@A߯J<Agk=AS@AϿA` ?A!*A9?2AMֽ:An=BA9?JAMֽRAn=٘i)I9]t@YG JJJJJE&K Y{^~?y̱ Y^~?yVA@TEŧ77쬆9B)eBE[[&@[_~?[%[[[[BZYY i) ]I؊F?iˆ / 6@))6@6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036984.683165 s, next control iter: 1743036985.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743036985.083165 s.D#J~, SE(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743036985.083320F (some fields omitted in printout)A)\µy@A닄y@A_~? AAA&"AALvNA"AZAbAjArAzAAA51-9@A"rAwos@AF;AaNJ=AE@AѿA?A*AV9?2A%ֽ:A=BAV9?JA%ֽRA=٘i)I9os@Y)G JC=JJJJE&K Y^~?ygVAWE79B)jBE[[Z@[w^~?[[[[[BZYY i) *IC|F?iM- \L8@))\L8@\L8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036985.123165 s, next control iter: 1743036985.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743036985.503165 s.#J~,P4`(AJ"J*J2J:J3?BJ3?nJ<5vJARy@AS{y@Aį_~? AA.&"AAvNA"AZAbAjArAzAAAfWqi9@AJD/wrAr@A,01Aw=Av@A{ҿA ?Aů*Ac9?2Adֽ:A#=BAc9?JAdֽRA#=٘i)I9r@YG J^JJJJE&K YN^~?y(VAZE79)nB[[l@[q^~?[[[[[BZYY i) 6n:ImF?i+ 9@))9@9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036985.523165 s, next control iter: 1743036985.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10484, header.stamp.nsec: 00 temperature: 13.385356* salinity: 33.391647, density: 1025.000000* values[0]: 0.702134F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036985.923165 s.F#J~,{(AA{G!z@A<z@AK_~? A8A>e&"AAvNA"AZAbAjArAzAAAG9`[8@Ak3rAHr@A65Ah=A@AQ^ӿAb?A⋼*A9?2A 4׽:A=BA9?JA 4׽RA=٘i)I9r@YG JJJJJE&K Y^~?yUA\E777L9)qB[[l @[^~?[[[[[BZYY i) II_F?iz' ];@))];@];@KŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036985.943165 s, next control iter: 1743036986.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036986.343165 s.<#J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743036986.343269F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Wz@A+Iz@AT_~? AA&"AAvNA"AZAbAjArAzAAA8@A`{rA r@AW_^Az=AE @A`$=ԿA.?AE3*A9?2A+׽:A=BA9?JA+׽RA=٘i)I9 r@YRG JJJJJE&K Yڃ^~?yMqUA_E79B)wBE[[> @[^~?[R|[[[[BZYY i) ۀYIIRF?i|! <@))<@<@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036986.363165 s, next control iter: 1743036986.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10485&, header.stamp.nsec: 0&0 temperature: 13.385569&* salinity: 33.391651&, density: 1025.000000&* values[0]: 0.701141&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036986.763165 s.;#J~,0ذ(AǍz@Atz@A_~? AݩAd&"AAvNA"AZAbAjArAzAAAm8@An. rAIq@Ab.Aʔ=A @AտA?A*A9?2Amֽ:AY =BA9?JAmֽRAY =Y? @yȔ=[ٓH@`B;d`(-?R۫?`ᔲ`E?)? I٘i)I9q@YG JőB=Jha<JJJE&Kx> Ys^~?y UA @bE7)7ᵆ9){B[[{ @[^~?[t[[[[BZYY i) ׺hIDF?i {} k>@))k>@k>@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036986.803165 s, next control iter: 1743036987.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743036987.183165 s.˲#J~,Nˎ(AJ"J*J2J:JBJnJvJA(\z@Aꭁz@A_~? Av֩Aa&"AAGvNA"AZAbAjArAzAAA€8@AQtrAq@A j9At7=A @AmտA?AS*A9?2Aۉֽ:A[ =BA9?JAۉֽRA[ =٘i)I9q@YG JhC=JJJJE&K Yc^~?y|TAdEZ7Z79 B)BE[[@[^~?[9m[[[[BZYY i) wI7F?idwU `?@))`?@`?@ЪYFFF]l:Waiting for Gazebo time sync: latest Gz time: 1743036987.203165 s, next control iter: 1743036987.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036987.603165 s.:4#J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076167< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743036987.603290F (some fields omitted in printout)AQz@AvöEz@Av_~? A\ϩA&"AAvNA"AZAbAjArAzAAAKsa8@A!VrAՊp@A<A0=A@AֿA7?AK*A9?2A@ֽ:Ao=BA9?JA@ֽRAo=٘i)I9p@YfG J~JJJJE&K YdS^~?yuETAgEj7j7w9)B[[@[^~?[e[[[[BZYY igk) I*F?iq wA@))wA@wA@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036987.623165 s, next control iter: 1743036988.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10486 , header.stamp.nsec: 0 0 temperature: 13.385828 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.700113 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036988.023165 s.Z#J~,{(AJ"J*J2J:JBJnJvJAHz.{@Aa !{@Ai_~? AVȩA%&"AAtvNA"AZAbAjArAzAAAB~ލ:8@A rAo@A`<Av=A>Z@Al׿A(K?A}*AƳ9?2A!4ֽ:A%=BAƳ9?JA!4ֽRA%=٘i)I9o@YG JJJJJE&K Y;C^~?yknSAjEZ7Z7A9 B)BE[[ @[}^~?[^[[[[BZYY i) p/IF?ii dB@))dB@dB@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036988.063165 s, next control iter: 1743036988.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036988.443165 s.;#J~,O](AAq= c{@AkV{@A\_~? AdA^&"AAavNA"AZAbAjArAzAAABϪG8@A9˩rAno@A"P.<A =AЫ@AQgؿAA ?A*AK9?2A?kֽ:AQ=BAK9?JA?kֽRAQ=٘i)I9no@YG JFJJJJE&K Y3^~?y3g}SAlEb77 9)B[[[@[i^~?[W[[[[BZYY i) ʒIF?i2`| VD@))VD@VD@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036988.463165 s, next control iter: 1743036988.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10487, header.stamp.nsec: 00 temperature: 13.386076* salinity: 33.391689, density: 1025.000000* values[0]: 0.698969F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036988.863165 s.+#J~,>7(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743036988.863284F (some fields omitted in printout)J"J*J2J:JBJnJvJA{@A%{@AN_~? AA'5&"AALvNA"AZAbAjArAzAAABf7@A }rAn@A;A =A{@A`m8ٿA`?Ag*A89?2Aֽ:A=BA89?JAֽRA=Y@@y =;ٓHc`@ P-?S`? `V`??)@ I٘i)I9n@YcG JJy0<JJJE&K1x> Y ^~?y`SA@oE77׾9B)BE[[@[~U^~?[P[[[[BZYY i) FIF?i!]߅ F@))F@F@y;PQ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036988.883165 s, next control iter: 1743036989.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036989.283165 s.9R#J~,R(AA(\{@A)P{@A@_~? AųA7&"AA7vNA"AZAbAjArAzAAAeɛ7@ALd@rAnSn@AQAچ=A^@A zڿA ?Al짼*A9?2A׽:A=BA9?JA׽RA=٘i)I9Sn@Y G J JJJJE&K Y<^~?yYRArE779B)BE[[@[@^~?[;J[[[[BZYY i) ¡I^E?iXB 6G@))6G@6G@ܪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743036989.303165 s, next control iter: 1743036989.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10488., header.stamp.nsec: 0.0 temperature: 13.386341.* salinity: 33.391701., density: 1025.000000.* values[0]: 0.697825.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036989.703165 s.Ժ#J~,m(AJ"J*J2J:JBJnJvJAQ|@A;5{@A1_~? AA=&"AA!vNA"AZAbAjArAzAAA`=7@AlrAm@AqYAsh=A@@AڿA @?A<*A99?2A&/׽:AX=BA99?JA&/׽RAX=٘i)I9m@YG JB=JJJJE&K Y]~?y/S?RAtE)7ŧ7l†9)B[[@[o+^~?[C[[[[BZYY i) ?I!E?iPA +I@))+I@+I@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036989.723165 s, next control iter: 1743036990.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743036990.123165 s.7#J~,]⇏(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743036990.123267F (some fields omitted in printout)AG:|@A-|@A"_~? AA&"AA8 vNA"AZAbAjArAzAAAc7@AZhrA4m@AyBAz=A@A`nۿA.?A*A9?2Aֽ:As=BA9?JAֽRAs=٘i)I94m@Y^G JC=JJJJE&K Ye]~?yLQAwEb777Ć9B)BE[[-@[^~?[f=[[[[BZYY i) ɺIdE?iG MG))MGhJ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036990.143165 s, next control iter: 1743036990.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036990.543165 s.I#J~,â(AJ"J*J2J:J~2?BJ~2?nJ);5vJA= ףp|@A$c|@Aa_~? A A>&"AAuNA"AZAbAjArAzAAAO2H47@AY:srA˝l@A{A*w=AkA@A[ܿA i?A`Ƹ*AQ9?2Aֽ:A=BAQ9?JAֽRA=٘i)I9l@YG JJJJJE&K Y]~?yEkQAzE77Ɔ9)B[[c@[]~?[E7[[[[BZYY i) 6I@E?i<  F)) F2L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036990.563165 s, next control iter: 1743036990.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10489, header.stamp.nsec: 00 temperature: 13.386624* salinity: 33.391697, density: 1025.000000* values[0]: 0.696631F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036990.963165 s.~#J~, (AAffff|@A{ܷZ|@Ax_~? AA;&"AATuNA"AZAbAjArAzAAAX7@AhrAk@A;A@=A@AݿA@ f?A@¼*A|9?2A;<ֽ:A`0=BA|9?JA;<ֽRA`0=Y @و@y=D;ٓH& 1M?8~?6}@kSw?@?) @ I٘i)I9k@YG JJ<JJJ E&Kw> Y}]~?y?PA@|Eb77dž9B)BE[[=@[S]~?[F1[[[[BZYY i) IXE?i@8n ND))NDgM@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036991.003165 s, next control iter: 1743036991.363184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743036991.383165 s.#J~,<؏(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085166< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419949*J2J2 time: 1743036991.383281F (some fields omitted in printout):JBJnJvJA(|@A8G|@A'^~? A`A7&"AAuNA"AZAbAjArAzAAADdp6@A㺦rAYk@AN<AF=A@AݿA@?Afɼ*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9Yk@Y<G JżJJJJ E&K Y]~?y9PAE77{7Ɇ9B)BE[[@[n]~?[w+[[[[BZYY i) ƼIE?i1  C)) CO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036991.423165 s, next control iter: 1743036991.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10490", header.stamp.nsec: 0"0 temperature: 13.386918"* salinity: 33.391701", density: 1025.000000"* values[0]: 0.695387"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036991.803165 s.xA#J~,g(AA}@Ah}@Ao^~? A2A&"AAuNA"AZAbAjArAzAAA@ $/6@AQnrAۭj@AS<A=A@Aڍ޿A6?Aͼ*A&9?2A$ֽ:A=BA&9?JA$ֽRA=٘i)I9j@YG J˼JJJJE&K Y]~?y3PAEb77aˆ9)¯B[[!@[1]~?[%[[[[BZYY i) μIE?ig)ػ A))A!P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036991.843165 s, next control iter: 1743036992.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036992.223165 s.g$J~,H(AJ"J*J2J:JBJnJvJAzG}@A~:}@AP^~? A Ae)&"AASuNA"AZAbAjArAzAAAc)Fl6@A8W7?rAlj@A;A6=Ah@A ]F߿Ay?AYμ*A}9?2A{ֽ:A\=BA}9?JA{ֽRA\=٘i)I9j@YkG JzμJJJJE&K Y ]~?y-OAEŧ7b7,͆9B)˯BE[[W!@[]~?[k [[[[BZYY i) dռI E?iD˻  @)) @R@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036992.263165 s, next control iter: 1743036992.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743036992.643165 s.} $J~,$*)(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743036992.643290F (some fields omitted in printout)A ףp}}@A8dp}@A̿^~? A+A&"AAwuNA"AZAbAjArAzAAA}*76@AugrASi@A`]Aj^=Ah@A߿A`D&?Aͼ*A 9?2Aֽ:AIt=BA 9?JAֽRAIt=٘i)I9Si@YG JsμJJJJE&K Yp]~?y')OAE77Ά9)ЯB[[5"@[]~?[3[[[[BZYY i) ܼI>E?iķ  >)) >S@)YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10491, header.stamp.nsec: 00 temperature: 13.387227* salinity: 33.391731, density: 1025.000000* values[0]: 0.694023F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743036992.663165 s, next control iter: 1743036993.043183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743036993.063165 s.$J~, D(AJ"J*J2J:JBJnJvJA3333}@A5=(}@A^~? AR{AG&"AAG\uNA"AZAbAjArAzAAAocW6@A, rA1h@AB;A틳=Al@AWA?Aͼ*A9?2A^׽:Aط=BA9?JA^׽RAط=Y@ @y눳=;ٓH@ीꋳ@Lt? ^?`i 9h?)@ I٘i)I9h@Y G JͼJN <JJJE&K4x> Y5Z]~?y="NA @Eb7І9B)ׯBE[[D$@[s]~?[ [[[[BZYY i) IE?i ;~ F=))F=oU@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036993.103165 s, next control iter: 1743036993.463199 s, wait time: 0.360034 s rAdjusting time to match Gazebo time: 1743036993.483165 s.y_$J~,^(AA\}@Aw}@A^~? AuAb&"AA@uNA"AZAbAjArAzAAAiGh5@AQ6BrAg@A\A¿=Am @AAy?Ayм*A9?2A׽:Af=BA9?JA׽RAf=٘i)I9g@Y. G JμJJJJE&K YC]~?y8NAE7҆9B)ޯB޹E[[{%@[ []~?[>[[[[ZZ¸BZYY i¸=) /׼I}E?id ;));$V@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036993.523165 s, next control iter: 1743036993.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10492, header.stamp.nsec: 00 temperature: 13.387570* salinity: 33.391739, density: 1025.000000* values[0]: 0.692654F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036993.903165 s. $J~,y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743036993.903283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ~@Aѯ~@A^~? AoA9&"AA$uNA"AZAbAjArAzAAA> -Ӑ5@AhDrA-Hg@A A۵=AN!@AA 2"?AK ռ*A9?2Aطֽ:Al=BA9?JAطֽRAl=٘i)I9Hg@Y G JҼJJJJE&K Y-]~?yMAE7WԆ9 B)B۹E[[&@[;B]~?[ [[[[ZZBZYY i) ˼I՗E?il| 3:))3: X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036993.923165 s, next control iter: 1743036994.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036994.323165 s.v$$J~,%(AAGzT~@AGpG~@Au^~? A|jA^&"AA^uNA"AZAbAjArAzAAAn*W5@A1ârAf@A9:A׆=A"@A`MRA?AQ*Aċ9?2ACYֽ:A)S<BAċ9?JACYֽRA)S<٘i)I9f@YI G J,JJJJ E&K Y-]~?y#GMAE7"ֆ9)B[[i(@[:)]~?[[[[[ZZBZYY i) ѿIˑE?iྉ 8))8*Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036994.363165 s, next control iter: 1743036994.723179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10493*, header.stamp.nsec: 0*0 temperature: 13.387897** salinity: 33.391743*, density: 1025.000000** values[0]: 0.691252*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036994.743165 s.W+$J~,(AJ"J*J2J:JBJnJvJAףp=~@A$]3}~@Ab^~? AeA&"AARtNA"AZAbAjArAzAAAFex5@Ar ?|rA{e@A <AS=A4$@A6A?Ay*Aљ9?2Af*ֽ:Ac~<BAљ9?JAf*ֽRAc~<٘i)I9e@Y G JdJJJJ"E&K Y]~?y LAEj7SI7׆9"B)B׹E[[)@[]~?[[[[[ZZBZYY i) ̳I{E?iž5 } 7))7[@y =+ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036994.763165 s, next control iter: 1743036995.143178 s, wait time: 0.380013 s]~?)  rAdjusting time to match Gazebo time: 1743036995.163165 s.s}2$J~,qʐ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743036995.163272F (some fields omitted in printout)A~@AvQ~@AN^~? A_A0&"AAtNA"AZAbAjArAzAAA̹4@AasHrAd@AW<Aet=A%@ApA "?A,*A9?2A1ֽ:ARr<BA9?JA1ֽRARr G J)JJJJ%E&Kw> Y\~?y }LA%@E77ن9$B)BԹE[[]S+@[e\~?[[[[[ZZBZYY i) (IE?i'*k d5))d5Qz\@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036995.183165 s, next control iter: 1743036995.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743036995.583165 s.8$J~,S(AJ"J*J2J:J0?BJ0?nJS95vJA)\~@A~@A:^~? AZA&&"AAtNA"AZAbAjArAzAAA4@A!?*'rAd@A(<A;/=A&@A`?A5h?AѼ*AӪ9?2ALֽ:Ac;BAӪ9?JALֽRAc;٘i)I9d@Y G JJJJJ(E&K Y\~?y|+LAE7777ۆ9)B[[_,@[\~?[[[[[ZZBZYY i) UNI E?iugU +4))+4]@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036995.603165 s, next control iter: 1743036995.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10494, header.stamp.nsec: 00 temperature: 13.388294* salinity: 33.391754, density: 1025.000000* values[0]: 0.689528F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036996.003165 s.x @$J~,L4(AAR+@Ax@Am&^~? AUA&"AAtNA"AZAbAjArAzAAANU-'f4@AhrAkdc@A-79A<A (@A+A@?A[S*A9?2AQֽ:A'BA9?JAQֽRA'٘i)I9dc@Yd G J5JJJJ*E&K YŸ\~?yKAEb77L݆9&B) BѹE[[^;.@[\~?[[[[[ZZBZYY i) tI%E?ik": 2))2l_@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743036996.023165 s, next control iter: 1743036996.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036996.423165 s.uF$J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082832< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743036996.423288F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@Ag?T@A^~? APAY&"AAqtNA"AZAbAjArAzAAAyc]'4@A@!rAb@ApA <A&n)@A A@?AVv*A 9?2A09ֽ:A7 BA 9?JA09ֽRA7 ٘i)I9b@Y G J@B=JJJJ-E&K Y\~?y3KAEj7Z7߆9'B)BιE[[=/@[d\~?[[[[[ZZBZYY i) φI{E?ip :1)):1`@YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036996.443165 s, next control iter: 1743036996.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10495, header.stamp.nsec: 00 temperature: 13.388601* salinity: 33.391731, density: 1025.000000* values[0]: 0.688171F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036996.843165 s.L$J~,5(AAp= @A-@A]~? A"LA&"AAMRtNA"AZAbAjArAzAAAiIT03@Af=rAeb@AdjAA*@A`A&?AA"*As9?2A "ֽ:ApBAs9?JA "ֽRAp٘i)I9b@Y G J SC=JJJJ0E&K Y\~?y5KAE)7b79)B)B˹E[[S1@[9\~?[2[[[[ZZBZYY i)  wIuyE?i6y =/))=/x[b@R)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036996.863165 s, next control iter: 1743036997.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743036997.263165 s.T$J~,'P(AJ"J*J2J:JBJnJvJA@A¿@A[]~? AGA&"AA92tNA"AZAbAjArAzAAAW10/3@Aw+mrAWb@A)DAA,@AdA`^?AK.*Ap9?2A90ֽ:A<BAp9?JA90ֽRA YEo\~?yRKA ,@EZ7SI79*B)BȹE[[2@[s\~?[ [[[[ZZBZYY i-n=) neIkwE?i= 6N.))6N.c@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036997.303165 s, next control iter: 1743036997.663180 s, wait time: 0.360015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 104962, header.stamp.nsec: 020 temperature: 13.3887952* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6874752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036997.683165 s.lZ$J~,ck(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743036997.683315F (some fields omitted in printout)A(\@A@A]~? ACAk&"AAtNA"AZAbAjArAzAAANWe3@A)~rA[@b@AUmA AAU-@A@9A?AɌ*A9?2Ajֽ:A׼BA9?JAjֽRA׼٘i)I9@b@Y G J`JJJJ5E&K YU\~?ypKAE77j7w9,B)BǹE[[3@[X\~?[[[[[BZYY i,g=)  SIuE?iὉZ ,)),Ge@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036997.683165 s, next control iter: 1743036998.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743036998.103165 s.a$J~,(AJ"J*J2J:JBJnJvJAQ8@A;4,F+@A̻]~? A>A&"AAsNA"AZAbAjArAzAAAV?"3@AbT&u rArGb@Ad;A?8A>.@AA@?Ah;*A9?2A'ֽ:A.BA9?JA'ֽRA.鼙٘i)I9Gb@Y G J:JJJJ8E&K Yc<\~?yKAE77B9-B)BĹE[[@i5@[ >\~?[U[[[[BZYY i)  AIuE?i=) c+))c+f@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036998.123165 s, next control iter: 1743036998.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743036998.523165 s.g$J~,{(AAHzn@ACR a@A]~? A:A!&"AAAsNA"AZAbAjArAzAAA^+2@AlP9`~rAjb@AJR<As\A7/@A+A`?A;*A9?2Aֽ:ABA9?JAֽRA٘i)I9jb@Y G J;JJJJ:E&K Y"\~?yKAEb77 9.B)E[[6@[9#\~?[[[[[BZYY i) .ItE?iET ))))/h@y=Ք*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036998.543165 s, next control iter: 1743036998.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10497, header.stamp.nsec: 00 temperature: 13.388837* salinity: 33.391758, density: 1025.000000* values[0]: 0.687337F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036998.943165 s.Ydn$J~,F](AJ"J*J2J:J/?BJ/?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069044< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743036998.943317F (some fields omitted in printout)Aq= ף@A}zl˖@A]~? Az6Ae&"AAhsNA"AZAbAjArAzAAA ]2@AmrAb@AJ<A\zA=I1@A` iAj?A.<*A9?2APֽ:ABA9?JAPֽRA٘i)I9b@Y G Jm<JJJJ=E&K Y \~?y8KAE790B)E[["=8@[r\~?[p[[[[BZYY i) IuE?i`D=\9 X}())X}(]i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036998.963165 s, next control iter: 1743036999.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743036999.363165 s.u$J~,y>ב(AAـ@A)̀@A]x]~? A2A&"AA(sNA"AZAbAjArAzAAA!LjV2@ArAlb@AC;AAƎ2@AAI?Ae<*A9?2ACrֽ:A BA9?JACrֽRA Y؂$@2@yy;ٓH@m ֿ@?? ڟ-?vu?@l?)؂$@ I٘i)I9b@Y$ G J7G<JA߽JJJ@E&Kw> Y[~?y/ߧ$LA2@E{7{791B)BE[[9@[W[~?[C[[[[BZYY iKg=) h IvE?iߦ=tU:  ')) 'k@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743036999.383165 s, next control iter: 1743036999.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10498&, header.stamp.nsec: 0&0 temperature: 13.388778&* salinity: 33.391747&, density: 1025.000000&* values[0]: 0.687686&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743036999.783165 s.i{$J~, (AJ"J*J2J:J 0?BJ 0?nJ85vJA(\@A1`U@A`a]~? A.A&"AAhsNA"AZAbAjArAzAAA<uR2@A;EV~rA elevatorAngleAction: 0.056397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199332 time: 1743037000.203275F (some fields omitted in printout)AQE@A(@8@A%J]~? A.+AF &"AAEsNA"AZAbAjArAzAAAErJ1@AcUV |rA7c@AfIAAA5@AA`?Ac3<*A9?2Aս:AϞBA9?JAսRAϞ٘i)I9c@Y G J <C=JJJJEE&K Y[~?y٧LAEZ7SI7793B)BE[[w<@["[~?[ݧ[[[[BZYY i) ׻ܻIzE?i.>Y: N-$))N-$gm@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037000.223165 s, next control iter: 1743037000.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037000.623165 s.X$J~,a'(AJ"J*J2J:JBJnJvJAGz@A{m@A2]~? A'A_ &"AA'"sNA"AZAbAjArAzAAA[g)1@A4zrAdod@A[A9A_6@AFA`?A<*Ag9?2Aֽ:AbBAg9?JAֽRAbI٘i)I9od@Y G J<JJJJHE&K Ym[~?y֧9MAEb7794B)BE[[/=@[[~?[ۧ[[[[BZYY i) ƳI}E?iig>X; "))"`o@yFg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037000.643165 s, next control iter: 1743037001.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10499, header.stamp.nsec: 00 temperature: 13.388640* salinity: 33.391762, density: 1025.000000* values[0]: 0.688457F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037001.043165 s.$J~,B(AA= ף@AKǜ@A]~? A`$A &"AAqrNA"AZAbAjArAzAAAY+iY;1@A,#FwrAe@A AA7@AzA`?A<*AQ9?2A"Wֽ:AJ4 BAQ9?JA"WֽRAJ4 ٘i)I9e@Ya G JȰ<B=JJJJKE&K Y[~?y ӧMAE77795B) BE[[>?@[.[~?[ڧ[[[[BZYY isl=)  IE?i“>!=; Q!))Q!p@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037001.063165 s, next control iter: 1743037001.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037001.463165 s.Z$J~,](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: 0.4200122 time: 1743037001.463301F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AjjZف@A]~? A3!A!&"AAcrNA"AZAbAjArAzAAA(bY0@Ay"vrAÙe@A;AA9@AfA?AW<*A9?2Amֽ:A6BA9?JAmֽRA6Y+@ 9@yd;ٓH d@zϿƲ??@%Ľ`:?@b??)+@ I٘i)I9e@Y G Jf<C=JJJJME&Kx> Yi[~?yЧMA 9@E{7j797B) BE[[x@@[e[~?[P٧[[[[BZYY i) I4E?i1>ӺT; ))49r@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037001.483165 s, next control iter: 1743037001.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10500, header.stamp.nsec: 00 temperature: 13.388436* salinity: 33.391750, density: 1025.000000* values[0]: 0.689463F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037001.883165 s.y$J~,'x(AA(@Ac`@A\~? A-A5K!&"AArNA"AZAbAjArAzAAA\uũ0@A50trA+f@A3<A}A~f:@A A?A:D<*AX9?2Aֽ:ABAX9?JAֽRA٘i)I9+f@Y G J<JJJJPE&K Y2N[~?yΧdNAE77{7b99B)BE[[.B@[J[~?[Hا[[[[BZYY i) YDIDE?iU>q; r{))r{Cs@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037001.903165 s, next control iter: 1743037002.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037002.303165 s.T$J~,og(AJ"J*J2J:J0?BJ0?nJ995vJAQ@A$aD@A\~? AOA܄!&"AAUrNA"AZAbAjArAzAAAq[3`0@A0BprrArf@A=c<AA3;@A $A+5?A6<*A9?2Aֽ:ABA9?JAֽRA٘i)I9f@Yl G Je<JJJJSE&K Y2[~?y̧NAE77-9)B[[eC@[/[~?[qק[[[[BZYY i) fIE?i#>2 ; 0))0u@<*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743037002.323165 s, next control iter: 1743037002.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10501*, header.stamp.nsec: 0*0 temperature: 13.388222** salinity: 33.391766*, density: 1025.000000** values[0]: 0.690527*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037002.723165 s.$J~,H(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: 0.4200002 time: 1743037002.723281F (some fields omitted in printout)Az@Ag'z@A/\~? AA!&"AA\lrNA"AZAbAjArAzAAA-0@AprAIDg@AF<AtA/<@A g/A`??A<*AR9?2Aֽ:A4aBAR9?JAֽRA4a٘i)I9Dg@Y G JD<JJJJUE&K Y|[~?yQʧ3OA DE)7ŧ79:B)BE[[D@[[~?[֧[[[[BZYY i) z%IE?i>; ))wv@y?i=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037002.743165 s, next control iter: 1743037003.123182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037003.143165 s.J "J *J 2J :J 0?a/$J~BJ0?nJ}95vJ,5*ɒ(AA ףp@A+f@A\~? AA)!&"AAGrNA"AZAbAjArAzAAA /@A^Ύ8orA`g@A9Q+9A4XAA>@A VA@?At<*Aȼ9?2A\zֽ:AXBAȼ9?JA\zֽRAX٘i)I9g@Y G Je<JJJJXE&K Y!Z~?y#ȧOAE{7j79;B)BE[[@F@[ Z~?[Q֧[[[[BZYY i)  T|IE?iM ?; 1@))1@w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037003.163165 s, next control iter: 1743037003.543186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743037003.563165 s.$J~, (AA3333@A@)@A\~? AA"&"AA!rNA"AZAbAjArAzAAA|.@AQmrAXXh@AUAXߍAQ?@ATzA`?A<*A9?2A=ֽ:ABA9?JA=ֽRAY1@ю?@yݍٓHh@ÿ 3,? ?@ܓ?`ꂿ?)1@ I٘i)I9Xh@Yh G J7<Jf<JJJ[E&K x> Y0Z~?yƧOA?@E779=B)BE[[~G@[Z~?[֧[[[[BZYY i) q7:IE?i?q; 7))7~Fy@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037003.583165 s, next control iter: 1743037003.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10502, header.stamp.nsec: 00 temperature: 13.388022* salinity: 33.391747, density: 1025.000000* values[0]: 0.691500F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037003.983165 s.$J~,(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: 0.4199422 time: 1743037003.983275F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@Am@Ao\~? A`AlM"&"AAqNA"AZAbAjArAzAAA> h.@A?9u`lrAh@A YaAQA@@A|A@ 5?A<*A9?2A"7ֽ:AxBA9?JA"7ֽRAx٘i)I9h@Y G Jˢ<JJJJ]E&K YBZ~?yŧYPAE{7j7W9>B)BE[[H@[Z~?[է[[[[BZYY i) :IE?i?E/; r))rάz@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037004.003165 s, next control iter: 1743037004.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037004.403165 s.&$J~,(AAQ^@A-Q@AV\~? AHAw"&"AAqNA"AZAbAjArAzAAAh*I-@A=pkrA:fi@Avr4AψAB@AA\?A<*A9?2Akֽ:AcBA9?JAkֽRAc٘i)I9fi@Y G J<JJJJ`E&K  9YTZ~? 9y:ħPAE7777"9=B)BE[[v5J@[YZ~?[է[[[[BZYY i) );IԸE?i,?B;; l ))l I|@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037004.423165 s, next control iter: 1743037004.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10503", header.stamp.nsec: 0"0 temperature: 13.387839"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.692476"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037004.823165 s.$J~,)4(AJ"J*J2J:JF1?BJF1?nJ95vJAGz@AKTo@AR=\~? AY Ak"&"AAqNA"AZAbAjArAzAAA{6-@A7{]irA~i@A0!A𓆽AtC@A@pA~?A<*A9?2A ֽ:A*BA9?JA ֽRA*٘i)I9i@YZG J<JJJJcE&K YdZ~?y§QAEŧ779>B)BE[[K@[͎Z~?[3֧[[[[BZYY i)  f;IE?i;?; ))v}@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037004.863165 s, next control iter: 1743037005.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037005.243165 s.$J~,~O(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743037005.243332F (some fields omitted in printout)Aףp=ʃ@Ae2@A#\~? A A"&"AAaqNA"AZAbAjArAzAAA(:|,@Ag~hrA]j@A;AVՄAD@AA?A<*A9?2A ׽:A`BA9?JA ׽RA`𼙘٘i)I9]j@YG JW<JJJJeE&K YtpZ~?ywQAE7779)B[[AL@[|tZ~?[֧[[[[BZYY ic=) %;IE?iL?A< E))E~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037005.263165 s, next control iter: 1743037005.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037005.663165 s.$J~,qj(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10504, header.stamp.nsec: 00 temperature: 13.387661* salinity: 33.391750, density: 1025.000000* values[0]: 0.693393F (some fields omitted in printout)A@A@Ap \~? A A"&"AAbqNA"AZAbAjArAzAAA g,@A` grAj@A66[<A3A F@AA`v?A<*A9?2A$׽:A'BA9?JA$׽RA'Y 8@F@y.[[<ٓH + u@̕?`Xڧ?UI?@q?@f?X?) 8@ I٘i)I9j@YG Jm<JB<JJJhE&K3x> Y;TZ~?y6QAF@E)779?B)BE[['k@AXI<AeAlG@A h$A@G?A<*AF9?2A׽:A BAF9?JA׽RA 񼙘٘i)I9>k@Y,G Jv<JJJJkE&K Y8Z~?y'RAE777M9)BE[[8O@[?Z~?[ק[[[[BZYY i) ;IE?ib? < ))΀@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037006.123165 s, next control iter: 1743037006.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037006.503165 s.$J~,P4(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074409< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037006.503311F (some fields omitted in printout)ARk@Adz^@A'[~? A<A#&"AABqNA"AZAbAjArAzAAA/**@A#0frA9k@Aɜ;A9A*H@A`|7A [?A<*A9?2Aֽ̹:AZBA9?JAֽ̹RAZ٘i)I9k@YoG J<JJJJmE&K YZ~?ycRAEZ7Z7 9@B)BE[[P@[s%Z~?[ا[[[[BZYY i) *6;IE?i8p?< 1!))1!B@y&U=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037006.523165 s, next control iter: 1743037006.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10505, header.stamp.nsec: 00 temperature: 13.387546* salinity: 33.391735, density: 1025.000000* values[0]: 0.694190F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037006.923165 s.=$J~,(AA{G@Aٗl<@Ac[~? AAT5#&"AAFpNA"AZAbAjArAzAAAgG.*@AM{erAl@AAhA+HA@ HA ?.?A1<*AX9?2A jֽ:AtBAX9?JA jֽRAt٘i)I9l@YG J<JJJJpE&K YY~?yRAE777 9AB)BE[[:R@[ Z~?[٧[[[[BZYY i)  elevatorAngleAction: 0.074409< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037007.763305F (some fields omitted in printout)A @A!7@A[~? AYA?[#&"AApNA"AZAbAjArAzAAA^qR (@A\[ldrAm@AkYAAEA`.bA`6?A$O<*Aǿ9?2A+Uֽ:ABAǿ9?JA+UֽRAY>@Ey@ZٓHLU?E??D`?0?)>@ I٘i)I9m@YAG JU<B=J˻JJJvE&Kw> YY~?y SAEE7)7x9)ٯBE[[T@[0Y~?[ܧ[[[[BZYY i) &4 %J~,̚&(AAQx@AkFk@AU[~? A=Act#&"AAeQpNA"AZAbAjArAzAAA4a'@Ap֥crAm@AR?;AABA@rAe?An<*Aۻ9?2A$ֽ:AOBAۻ9?JA$ֽRAO٘i)I9m@YG JT<B=JJJJ{E&K YY~?yETAE777 9)ӯBE[[}W@[hY~?[ߧ[[[[BZYY i) GFF?i:?+jE< ]))]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037008.623165 s, next control iter: 1743037009.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10507 , header.stamp.nsec: 0 0 temperature: 13.387165 * salinity: 33.391747 , density: 1025.000000 * values[0]: 0.695868 F (some fields omitted in printout)BY~?)B rAdjusting time to match Gazebo time: 1743037009.023165 s.Z%J~,{A(AJ"J*J2J:J$2?BJ$2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074409< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037009.023301F (some fields omitted in printout)AHz@A$@A;[~? AA|#&"AA*pNA"AZAbAjArAzAAAc|'@AC؏crAfn@A8<AꎽAAANwA Q?Ao<*A9?2A,׽:ABA9?JA,׽RA٘i)I9fn@YG J<C=JJJJ~E&K YrY~?yTAE9)ϯB[[X@[qY~?[[[[[BZYY i+=) 6Uw(AJ"J*J2J:J\2?BJ\2?nJ;5vJA@AVG @A[~? AAց#&"AA0oNA"AZAbAjArAzAAAQsJ%@A)}crA Vo@A&x<A蓽A8>AxAʏAR<*A9?2Aֽ:A BA9?JAֽRA YE@?y擽y<ٓH g?h?ÿY? x? .?R?)E@ I٘i)I9Vo@YG J<JOJJJE&Kx> Ye:Y~?y]ç`UA?E777m9)ȯBzE[[rb[@[ [Y~?[[[[[BZYY i) ^t elevatorAngleAction: 0.083580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037010.283294F (some fields omitted in printout)A(\O@AشRB@AZ~? AA#&"AAƳoNA"AZAbAjArAzAAA~+0C%@AOcrAo@Aۨ%A%A|=A`tA`.bA`<*AD9?2AUֽ:ABAD9?JAUֽRA٘i)I9o@YG J<JJJJE&K YY~?yħUAE7789)ůBwE[[\@[BY~?[E[[[[BZYY i)  ΁ elevatorAngleAction: 0.083580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037011.543308F (some fields omitted in printout)A= ף@AT@AZ~? AA g#&"AA=oNA"AZAbAjArAzAAA[k#@A"ndrAssq@A$/AZfAr9A[AA/<*A-9?2A3^ֽ:ABA-9?JA3^ֽRA٘i)I9sq@YG J'<JJJJE&K YX~?yȧVAESI7879)BnE[[`@[X~?[[[[[BZYY i) 縉%J~,e(AAffff&@AV]@AZ~? AaAxX#&"AA|oNA"AZAbAjArAzAAA!"@AlxerA{r@AzAqAN8ANA@A4}<*AA9?2A`ֽ:AnNBAA9?JA`ֽRAnNYK@ւ8y^DٓH@}[?Cг?Pпv?]?`R^?)K@ I٘i)I9r@YMG Jͭ<B=JǐJJJE&K!x> YX~?y˧[WA8E77c!9)BkE[[a@[X~?[[[[[BZYY i) A`AWۯ<*A9?2A׽:ALBA9?JA׽RAL٘i)I9r@YG J6<C=JJJJE&K YAX~?y]ͧWAESI7SI7-#9)B[[c@[WX~?[[[[[BZYY i) ~ elevatorAngleAction: 0.083580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037012.803295F (some fields omitted in printout)A둇@A@ARZ~? AAy1#&"AAKnNA"AZAbAjArAzAAAX[!@AbfrAu-s@A<\<AzA5A6,A51A<*AL9?2A (׽:A#BAL9?JA (׽RA#٘i)I9-s@YG J1<JJJJE&K YxX~?yϧ6XAEZ7$9)BhE[[rVd@[tX~?['[[[[BZYY i) m^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ־<)*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10512, header.stamp.nsec: 00 temperature: 13.386211* salinity: 33.391689, density: 1025.000000* values[0]: 0.700836F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743037013.663165 s, next control iter: 1743037014.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037014.063165 s.`%J~,V (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.083580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037014.063282F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@AP)&@AZ~? A A+"&"AASnNA"AZAbAjArAzAAA9 {@A)kPvirAw u@A&鿻AAO 2A`3A*-ĿA$<*AZ9?2A1ֽ:ABAZ9?JA1ֽRAY~R@2yOKٓH ?;?zֿb`)2?ܵ?w@?)~R@ I٘i)I9 u@Y#G JU<JdJJJE&Kw> Y'X~?y7קYA2EX*9)B`E[[@h@[rX~?[][[[[BZYY i) u@AjaJAzA1A@AƿA`<*AjT:?2A:AOABAjT:?JARAOA٘i)I9u@YG J<JJJJE&K Y X~?yQڧYAE77",9)B]E[[l\i@[\X~?[[[[[BZYY i) @ elevatorAngleAction: 0.083580< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037015.323299F (some fields omitted in printout)AGzԈ@AnLj@A'Y~? AAo"&"AAmNA"AZAbAjArAzAAA4@AnƥlrAEw@A)vA(AK/AA<7ɿAo<*Ak:?2A*gŽ:A5BAk:?JA*gŽRA5٘i)I9w@YeG J<JJJJE&K YW~?yZAE7/9)BZE[[%k@[K2X~?[[[[[BZYY i?=) CBZYY i¸>6ͪ)  YW~?y^[A,E77{7M39)BTE[[lQn@[ X~?[[[[[ZZZZBZYY i) Y~? AA!&"AAm$mNA"AZAbAjArAzAAA8C@A9:gtrAz@AUAsA(AhAпA ]<*Aj:?2Aѽ:AݗhBAj:?JAѽRAݗh٘i)I9z@YG J`<JJJJE&K YYXW~?y?]A%Eb789)lBOE[[q@[W~?[#[[[[ZZZZBZYY i) ?W~?y^]A(E77x:92B)TBLE[[2s@[W~?[E([[[[ZZZZBZYY i) JJJE&Kz> Y&W~?y]AH&+Ej7SI7C<9)OBIE[[lt@[W~?[,[[[[ZZZZBZYY i) \91B)KBFE[[ȣu@[W~?[1[[[[ZZZZBZYY i) |5,Ɩ(AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069610< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037019.103301F (some fields omitted in printout)AQ@AFaE@ANX~? A,+A &"AAWlNA"AZAbAjArAzAAA-@AN |rA.}@Aϙ8A;AU#ADA$ԿAh$<*AR:?2Azeս:AY z<BAR:?JAzeսRAY z<٘i)I9.}@YG J[<JJJJE&K Y)V~?y!^A0EZ7SI7?9)HB[[v@[܂W~?[6[[[[ZZZZBZYY iߢ) ~g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079529< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037020.363314F (some fields omitted in printout)AY@AhL@AX~? A76A&"AA+(lNA"AZAbAjArAzAAAҺn| @A> pނrAk}@A&<AK4=AA}AKֿAJy*A-:?2ALֽ:Aa<BA-:?JALֽRAaJJJE&Kz> YV~?y+^A8Eŧ7b78E9)FB>E[[[tz@[zNW~?[E[[[[BZYY i,k) Nq-5vJA(\@AP@AX~? A/:As&"AAlNA"AZAbAjArAzAAAOT@T @A7zKrAF}@Am9;A+Z=AxeA6`A ׿A*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9F}@Y'G JJJJFJE&K YV~?y]A;E{7{7G9)GB[[{@[=W~?[J[[[[BZYY in) A&%&"AAGkNA"AZAbAjArAzAAAs4@A0G·rA}@A"Aey=A A A[ؿA:4*A:?2A"׽:A.=BA:?JA"׽RA.=٘i)I9}@YG JJJJJE&K YV~?y]A=Eb77H9)HB;E[[B|@[6-W~?[P[[[[BZYY i) _ ڏrAO{@AA=A#A`VA@sڿAq옼*A:?2A ׽:A=-=BA:?JA ׽RA=-=Yj@(yJ=xٓH@a?rk@}pͨr?)j@ I٘i)I9{@YFG JB=JЕ=JJJE&K,y> Y@V~?y-\A(FE{7{7.N9)QB5E[[3@[6V~?[G`[[[[BZYY i) M;Ii=@=< {龿)){龿|U@4ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037022.483165 s, next control iter: 1743037022.863187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10521, header.stamp.nsec: 00 temperature: 13.384867* salinity: 33.391590, density: 1025.000000* values[0]: 0.707945F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037022.883165 s.y%J~,@(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037022.883287F (some fields omitted in printout)A(@AW@AX~? A(PAT&"AA^kNA"AZAbAjArAzAAA f#?AjcrAAN{@A;A~=AAA@ۿA)*A:?2AOֽ:Aa=BA:?JAOֽRAa=٘i)I9N{@YG JҠC=JJJJE&K Yh+V~?y3l\AHEb7b7O9)VB3E[[ʀ@[8V~?[e[[[[BZYY i) ;Iir@@5U< ))@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037022.903165 s, next control iter: 1743037023.283178 s, wait time: 0.380013 sh+V~?)3 rAdjusting time to match Gazebo time: 1743037023.303165 s.S%J~,jgӗ(AJ"J*J2J:JBJnJvJAь@ALČ@AW~? ATAr&"AA>kNA"AZAbAjArAzAAA?ABnrA>z@A[/<A8=AxA ALMܿAڡ*A :?2Ahֽ:A=BA :?JAhֽRA=٘i)I9z@YG JJJJJE&K YV~?y9\AKEj7Z7Q9)ZB[[a@[V~?[k[[[[BZYY i) s;IiC@D< o1))o1@ܪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037023.323165 s, next control iter: 1743037023.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10522., header.stamp.nsec: 0.0 temperature: 13.385104.* salinity: 33.391556., density: 1025.000000.* values[0]: 0.707004.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037023.723165 s.%J~,H(AAz@Ad?@AW~? AYA"&"AAkNA"AZAbAjArAzAAA S ?AoघrA z@AA=<Aᴠ=ALA@I}A`ݿA[*A:?2Aֽ:AL=BA:?JAֽRAL=٘i)I9 z@Y<G JB=JJJJE&K YV~?y?[ANEŧ77S9)_B0E[[a@[tV~?[3q[[[[BZYY i) OZ7;IiF@< ٷ))ٷ\@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037023.743165 s, next control iter: 1743037024.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037024.143165 s.U/&J~,* (AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J8 propOmegaAction: 25.132812:J< rudderAngleAction: -0.261799BJnJ@ elevatorAngleAction: -0.066718vJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037024.143290F (some fields omitted in printout)A ףp=@A2d0@AW~? A^A&"AAjNA"AZAbAjArAzAAAH1?A{ٕrAiy@AZo;A =AA0A@6ݿAaú*Al:?2Aֽ:A YU~?yOLZASE77#W9)hB[[i"@[,V~?[|[[[[BZYY i) }|:IiL@9#= -))-dD@{ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037024.583165 s, next control iter: 1743037024.963181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10523, header.stamp.nsec: 00 temperature: 13.385373* salinity: 33.391548, density: 1025.000000* values[0]: 0.705917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037024.983165 s.&J~,>(AJ"J*J2J:J4?BJ4?nJ~=5vJA\@A`5ꛍ@AW~? AsiAB&"AA9jNA"AZAbAjArAzAAA V]?AFE$rALNx@AͤAHϜ=AEAA@LH߿A;*A4:?2A.׽:A)=BA4:?JA.׽RA)=٘i)I9Nx@Y G JJJJJE&K YU~?yRcZAVEŧ7b7X90B)mB*E[[@[ V~?[[[[[BZYY i) 0V8Ii\O@= oװ))oװٜ@תYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037025.003165 s, next control iter: 1743037025.383175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037025.403165 s.&&J~,Y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037025.403296F (some fields omitted in printout)AQލ@Aȭэ@AW~? AnAW~&"AAjNA"AZAbAjArAzAAA!{3?A3wrAw@AEDA=AA;A߿A *A:?2A |׽:A=BA:?JA |׽RA=٘i)I9w@YG JIJJJJE&K Y|U~?yYYAXEb77Z9)rB[[L@[NV~?[[[[[BZYY i) kaIi5R@v= ))n@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037025.423165 s, next control iter: 1743037025.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10524", header.stamp.nsec: 0"0 temperature: 13.385652"* salinity: 33.391544", density: 1025.000000"* values[0]: 0.704845"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037025.823165 s.&J~,6t(AJ"J*J2J:JBJnJvJAGz@An@AW~? AstA&"AAjNA"AZAbAjArAzAAAǡL?A UܨrA$w@A]Azr=AA`ADXAn*Am:?2AmE׽:An=BAm:?JAmE׽RAn=٘i)I9$w@YkG J JJJJE&K YߢU~?y'`YA[E777\9/B)vB'E[[ @[V~?[[[[[BZYY i) 3IipU@ə= 2))2@ѪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037025.843165 s, next control iter: 1743037026.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037026.243165 s.#&J~,(AAףp=J@A_D1=@A$vW~? A!zAd&"AAJljNA"AZAbAjArAzAAA3̾?A>6-gSrAhv@A$8A =Ag A A@׮A6*A:?2Aֽ:Al=BA:?JAֽRAl=٘i)I9v@YG JKJJJJE&K Y@U~?yf#YA^E)7)7N^9){B[[pt@[V~?[[[[[BZYY i) d 0Ii Y@ = 婿))婿k@ΪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037026.263165 s, next control iter: 1743037026.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037026.663165 s.*&J~,q(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743037026.663281F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10525, header.stamp.nsec: 00 temperature: 13.385911* salinity: 33.391533, density: 1025.000000* values[0]: 0.703816F (some fields omitted in printout)A@A"8r@AcW~? AA{5&"AAkPjNA"AZAbAjArAzAAAzZUAܯrAu@Atj<AK~=AN# A:AAJ*A:?2A\ֽ:A=BA:?JA\ֽRA=Yw@ y }=7<ٓH? V¨`5 kB?`~?)w@ I٘i)I9u@YG JٮJoUJJJE&Kx> YU~?ymXA `EZ7Z7`9)B$E[[ @[qyV~?[㚨[[[[BZYY i) mIiZ@ = #))#+@4˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037026.683165 s, next control iter: 1743037027.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037027.083165 s.D1&J~, SŘ(AA)\µ@A @A&RW~? AԅAW&"AA5jNA"AZAbAjArAzAAAj ӿAwrAmu@AnC<Aѐ=Ac A@߿AVA\*A/:?2Aֽ:AE>=BA/:?JAֽRAE>=٘i)I9mu@Y_G JJJJJE&K YoU~?yu]XAcE77a9)B"E[[+@[1nV~?[[[[[BZYY i)  Ii]@ = B))B&@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037027.103165 s, next control iter: 1743037027.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037027.503165 s.7&J~,74(AJ"J*J2J:JBJnJvJAR@A}ގ@A@W~? AًAO&"AAhjNA"AZAbAjArAzAAAˑelcA5/$rAtt@Aȷ<A+=A A ߿AA"*A:?2A4ֽ:AtI=BA:?JA4ֽRAtI=٘i)I9t@Y G JB=JJJJE&K Y#_U~?yL|WAfE77c9)B[[0@[XcV~?[T[[[[BZYY i) ,Ii_@+= ))R@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037027.543165 s, next control iter: 1743037027.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10526, header.stamp.nsec: 00 temperature: 13.386145* salinity: 33.391529, density: 1025.000000* values[0]: 0.702824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037027.923165 s.=>&J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037027.923303F (some fields omitted in printout)A{G!@AI?@A/W~? AA&"AAJjNA"AZAbAjArAzAAA0WA8{rAWt@A:A:Aċ=A[1AQ޿AA`*A:?2A*׽:AM<BA:?JA*׽RAM<٘i)I9Wt@YG JơC=JJJJE&K YNU~?yyWAhE77{7ye9)BE[[Ç@[XV~?[[[[[BZYY ig) oһIib@= C))C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037027.963165 s, next control iter: 1743037028.323182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743037028.343165 s.U~?y4WAkE777Cg9)B[[U@[NV~?[㳨[[[[BZYY i) 4Ii f@:= sa))sa~w@齪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037028.363165 s, next control iter: 1743037028.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10527*, header.stamp.nsec: 0*0 temperature: 13.386381** salinity: 33.391514*, density: 1025.000000** values[0]: 0.701880*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037028.763165 s.5K&J~,0(AǍ@A@AW~? AA0&"AAiNA"AZAbAjArAzAAA4躡ArA[s@A>AՈ=AjAZܿA A%W*AO:?2Ay׽:A<BAO:?JAy׽RA Yt0U~?yOVAnEZ7Z7i90B)B E[[@['EV~?[J[[[[BZYY i) Iig@L<= s))s @oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037028.803165 s, next control iter: 1743037029.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037029.183165 s.R&J~,^K(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037029.183277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A%>w@A*V~? AA~h&"AAiNA"AZAbAjArAzAAA9tQqA#H8|rATr@A,A !=A9A@ ܿAA]*A~ :?2AW׽:AJj<BA~ :?JAW׽RAJj<٘i)I9r@YG J䌼C=JJJJE&K Y"U~?y|VApE7777j9/B)BE[[x{@[;V~?[[[[[BZYY i) XIii@|= ə))əs@y5뚽ʼYFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743037029.203165 s, next control iter: 1743037029.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037029.603165 s.44Y&J~,f(AAQ@A_E@AV~? AA&"AAiNA"AZAbAjArAzAAAZxASͼzrA or@AuA9=AA UFۿA5&Aa*Au:?2AY׽:A$=BAu:?JAY׽RA$=٘i)I9or@YG JJJJJE&K YU~?y VAsE7l9)B[[ @[2V~?[.Ǩ[[[[BZYY i) 4&Iik@= ))/@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037029.643165 s, next control iter: 1743037030.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10528 , header.stamp.nsec: 0 0 temperature: 13.386575 * salinity: 33.391495 , density: 1025.000000 * values[0]: 0.701041 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037030.023165 s.Z`&J~,9|(AJ"J*J2J:Jw3?BJw3?nJ/<5vJAHz.@Ai !@AV~? A)A[i&"AA"iNA"AZAbAjArAzAAAUעYA{rA>q@A;Aċ=AyA ~ڿA.kA#*A:?2A!ֽ:A =BA:?JA!ֽRA =٘i)I9q@YCG JߏB=JJJJE&K YU~?yIUAvEŧ77nn9)BE[[c@[Z*V~?[ͨ[[[[BZYY i) n6Iin@ = 9))9^@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037030.063165 s, next control iter: 1743037030.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743037030.443165 s.7f&J~,>](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037030.443319F (some fields omitted in printout)Aq= c@AJV@AqV~? A⸩A &"AApiNA"AZAbAjArAzAAABAGrAyq@A"4<Aw=AhAٿA@AAf*A9?2Aֽ:A9=BA9?JAֽRA9=٘i)I9yq@YG J+C=JJJJE&K YT~?yhUAxE7779p90B)BE[[Q0@[<"V~?[(Ԩ[[[[BZYY i) EIiq@= ;));LR@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037030.483165 s, next control iter: 1743037030.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10529, header.stamp.nsec: 00 temperature: 13.386790* salinity: 33.391487, density: 1025.000000* values[0]: 0.700222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037030.863165 s.+m&J~,>(AJ"J*J2J:JA3?BJA3?nJ;5vJA@A-@AiV~? AAb&"AA5[iNA"AZAbAjArAzAAA"HLANrAp@AP;<A,=A6AcؿA@Al*A9?2Aֽ:A#=BA9?JAֽRA#=Y҅@y*=C;<ٓH0ٿ@bG?@>ţ48 ٿ^᱿i?t?)҅@ I٘i)I9p@YG J]J;JJJ E&KZx> YKT~?yUA{Eŧ7ŧ7r9/B)BE[[:‹@[oV~?[ڨ[[[[BZYY i) VUIis@= ))5@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037030.883165 s, next control iter: 1743037031.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037031.283165 s.7Rt&J~,ҙ(AA(\ϐ@A1P@AնV~? AƩA$&"AABFiNA"AZAbAjArAzAAAZ)A z~rAwzp@A;A=AA ؿA@/ARp*Aq9?2A}ֽ:A=BAq9?JA}ֽRA=٘i)I9zp@Y\G JJJJJ E&K YT~?yTA~Ej7Z7s9*B)B[[S@[V~?[Y[[[[BZYY i) tdIit@= h))hu@_ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037031.303165 s, next control iter: 1743037031.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10530., header.stamp.nsec: 0.0 temperature: 13.386996.* salinity: 33.391468., density: 1025.000000.* values[0]: 0.699367.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037031.703165 s.պz&J~, (AJ"J*J2J:J 3?BJ 3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075673< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037031.703288F (some fields omitted in printout)AQ@A@AV~? AͩAU&"AA1iNA"AZAbAjArAzAAAIgA1qCrAo@A4A=AAR<׿A mA*A9?2A9׽:AP?=BA9?JA9׽RAP?=٘i)I9o@YG JJJJJE&K YT~?y!ɨHTAE77u9)B[[@[ V~?[[[[[BZYY ip) tIiv@a= W$))W$@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037031.723165 s, next control iter: 1743037032.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037032.123165 s.:&J~,i(AAG:@AO-@AV~? AԩA&"AAqiNA"AZAbAjArAzAAAԱ AU#"rA7{o@AE"AL=A/AccֿA@VA *A9?2Are׽:A=BA9?JAre׽RA=I٘i)I9{o@YG JJJJJE&K Y.T~?y0ѨSAE777cw9)B)BE[[Nu@[lV~?[[[[[BZYY i) 㷁Ii2y@f|= G≿))G≿I@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037032.143165 s, next control iter: 1743037032.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037032.543165 s.I&J~,"(AJ"J*J2J:JBJnJvJA= ףp@A0kc@AV~? A۩AA&"AA iNA"AZAbAjArAzAAAALrAn@AqAA$=A͏AտA@,A⿘*A9?2ACY׽:A3 =BA9?JACY׽RA3 =٘i)I9n@YsG J旼JJJJE&K YοT~?y?٨SAE77{7.y9)B[[8@[8U~?[D[[[[BZYY i) bgIi|@H!= ))3'@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037032.583165 s, next control iter: 1743037032.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10531, header.stamp.nsec: 00 temperature: 13.387222* salinity: 33.391457, density: 1025.000000* values[0]: 0.698507F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037032.963165 s.{&J~,=(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037032.963293F (some fields omitted in printout)Affff@A( __@A+V~? AA&"AAwhNA"AZAbAjArAzAAAPQAXrAyn@A"A.\=ABA ԿA?AnW*A9?2A׽:A =BA9?JA׽RA =YTȅ@y[=zٓH ӿLt?@^`\ӿ@>ﲿ@F@~?)Tȅ@ I٘i)I9yn@Y$G JB=JU<JJJE&KGx> YT~?y SAE77z9)B[[@[\U~?[[[[[BZYY i) yIi}@!= _))_@y].ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037033.003165 s, next control iter: 1743037033.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037033.383165 s.ؕ&J~,8X(AJ"J*J2J:JBJnJvJA(ܑ@AEϑ@AyV~? AMA (&"AA hNA"AZAbAjArAzAAAFjAerAm@AN:A?Ν=AyA{ӿA@KA=}*Ag9?2Aֽ:Ah=BAg9?JAֽRAh=٘i)I9m@YG JC=JJJJE&K YqT~?yRAE7{7|9)BE[[]&@[U~?[[[[[BZYY i) YxIih~@"=  )) XH@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037033.403165 s, next control iter: 1743037033.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10532", header.stamp.nsec: 0"0 temperature: 13.387409"* salinity: 33.391464", density: 1025.000000"* values[0]: 0.697629"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037033.803165 s.xA&J~,gs(AA@Ajܛ@A.oV~? AA&"AAZhNA"AZAbAjArAzAAAx8MAIrAbm@A<AY)=A2AMҿA|A*A9?2Axֽ:APk=BA9?JAxֽRAPk=٘i)I9bm@YzG J8JJJJE&K YåT~?y`QRAEj7j7~9)BE[[i@[U~?[w [[[[BZYY i) Ii@#= ݀))݀dب@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037033.823165 s, next control iter: 1743037034.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037034.223165 s.g&J~,H(AJ"J*J2J:Jx2?BJx2?nJ#;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037034.223280F (some fields omitted in printout)AzG@A3:@AdV~? AA&"AAahNA"AZAbAjArAzAAA(p ArA>l@A.E<A:=A_A:ҿA`5A*A9?2Aokֽ:A?=BA9?JAokֽRA?=٘i)I9l@YG JJJJJE&K YT~?yQAE777Y9)¯B[[F@['U~?[8[[[[BZYY i) PIi'@Q%= >}))>}g@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037034.243165 s, next control iter: 1743037034.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037034.643165 s.qЩ&J~,)(AA ףp}@A&jip@A[V~? AAUw&"AA%hNA"AZAbAjArAzAAA-b Ay('}crA2l@A<A\=A׻A`}1ѿAAt*A9?2Aֽ:A4=BA9?JAֽRA4=٘i)I92l@YG JB=JJJJ"E&K YeT~?y"QAEj7Z7$9)ǯB[[Ր@[U~?[[[[[BZYY i) mIii@&= 5x))5x@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037034.663165 s, next control iter: 1743037035.043175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10533, header.stamp.nsec: 00 temperature: 13.387653* salinity: 33.391434, density: 1025.000000* values[0]: 0.696637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037035.063165 s.&J~,V Ě(AJ"J*J2J:JBJnJvJA3333@A=|(@AQV~? AA&"AAhNA"AZAbAjArAzAAA:z:0 A sA k@AY:A~=A A@;JпA'A*A9?2Abֽ:A=BA9?JAbֽRA=Y @>y~=:ٓH ʿJ? yt//ʿc)4+W??) @ I٘i)I9k@YbG JC=J4<JJJ$E&Kux> Y~T~?y QAE9(B)˯BE[[d@[U~?[[[[[BZYY i) qfIiĂ@a'= Ht))Ht@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037035.083165 s, next control iter: 1743037035.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037035.483165 s.w_&J~,ޚ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201102 time: 1743037035.483404F (some fields omitted in printout)A\@A,ے@A IV~? AAP&"AAhNA"AZAbAjArAzAAAAdK A!}sAj@AAE=AFXA@οA^.A-D*A9?2A4׽:A =BA9?JA4׽RA =٘i)I9j@YG JgJJJJ'E&K YT~?yVPAEŧ7b79)ЯBE[[;@[mU~?[$[[[[BZYY i) JIiN@'(= %o))%o6@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037035.503165 s, next control iter: 1743037035.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10534, header.stamp.nsec: 00 temperature: 13.387909* salinity: 33.391441, density: 1025.000000* values[0]: 0.695564F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037035.903165 s.Ƚ&J~,(AJ"J*J2J:JBJnJvJAQ@A&@A@V~? A_A׻&"AAhNA"AZAbAjArAzAAAh#jY AN sAWj@A@A{I=Aٯ޿A`̿A`TA}*A/9?2AE׽:Am=BA/9?JAE׽RAm=٘i)I9Wj@YG JJJJJ*E&K YT~?y,PAE79)կB[[o@[IU~?[h+[[[[BZYY i) żIi @)= Sk))Skj@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037035.923165 s, next control iter: 1743037036.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037036.323165 s.z&J~,6(AAGzT@A ˟oG@A8V~? AA%&"AAǂhNA"AZAbAjArAzAAAΙ A6\ sA i@AR(A=AܿA`˿AxAFƼ*A9?2A׽:A=BA9?JA׽RA=٘i)I9i@Y<G J¼JJJJ,E&K Y|T~?y%OAE77N9)گB[[-@[U~?[92[[[[BZYY i) c̼Ii@-*= f))f(4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037036.343165 s, next control iter: 1743037036.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10535., header.stamp.nsec: 0.0 temperature: 13.388151.* salinity: 33.391411., density: 1025.000000.* values[0]: 0.694457.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037036.743165 s.W&J~,q/(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084687< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037036.743301F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@Aa1}@A1V~? A&A &"AAYwhNA"AZAbAjArAzAAAo Ar%~sA i@A]Ai=AٿADɿAAmͼ*A)9?2Aֽ:As=BA)9?JAֽRAs=٘i)I9 i@Y G JHɼJJJJ/E&K YvT~?y%.IOAE)7b79)B[[@[-U~?[9[[[[BZYY i) eӼIi @ז+= jb))jb}¬@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037036.763165 s, next control iter: 1743037037.143176 s, wait time: 0.380011 svT~?)%. rAdjusting time to match Gazebo time: 1743037037.163165 s.u}&J~,qJ(AA@Af@A*V~? A.A< &"AAlhNA"AZAbAjArAzAAAURiAȭsA[h@A ;AZ=A׿AqǿAAԼ*A9?2Adֽ:AR =BA9?JAdֽRAR =YL@׿y=;;ٓHB`?5R -tu? N?)L@ I٘i)I9[h@Yj G JмJE<JJJ2E&Kx> YsT~?y6NA׿E{7Z7䌇9)BE[[Y/@[0U~?[?[[[[BZYY i) ڼIi@@+= 5]))5]TQ@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037037.183165 s, next control iter: 1743037037.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037037.583165 s.&J~,Se(AJ"J*J2J:JBJnJvJA)\@Aw@A$V~? Av6A^ &"AAbhNA"AZAbAjArAzAAAjsAɅIsAg@A87<Akڴ=A߅ԿAſA?A2ڼ*A9?2A:ֽ:AC=BA9?JA:ֽRAC=٘i)I9g@Y G J~׼JJJJ4E&K YpT~?y?WNAE7779)B[[@[U~?[F[[[[ZZ¸BZYY i¸=) UμIi@tV,= ~Y))~Y @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037037.603165 s, next control iter: 1743037037.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10536, header.stamp.nsec: 00 temperature: 13.388451* salinity: 33.391411, density: 1025.000000* values[0]: 0.693285F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037038.003165 s.~ &J~,e4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037038.003310F (some fields omitted in printout)AR+@A}@AV~? AU>AT &"AAYhNA"AZAbAjArAzAAA!DATAB$sAf@A7<AZ=AZѿAݾÿA A@cܼ*A9?2AHSֽ:Ax=BA9?JAHSֽRAx=٘i)I9f@Y G JۼB=JJJJ7E&K YmT~?y_HMAE77y9'B)BE[[L@[]U~?[M[[[[ZZBZYY i) ¼Ii6@-= e U))e Un@EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037038.023165 s, next control iter: 1743037038.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037038.423165 s.u&J~,(AJ"J*J2J:JP1?BJP1?nJ95vJA{Ga@AAϿA0A"Af*A9?2Aֽ:A*<BA9?JAֽRA*<٘i)I9!f@Y G JC=JJJJ:E&K YjT~?yQfMAE777D9(B)BE[[ڕ@[U~?[fT[[[[ZZBZYY i) 0նIi@" .= EP))EP@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037038.443165 s, next control iter: 1743037038.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10537", header.stamp.nsec: 0"0 temperature: 13.572215"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.569430"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037038.843165 s.&J~,(AAp= @A@A V~? A,NA &"AAIhNA"AZAbAjArAzAAA߿KϦ>Aʬ/-sAEe@ALeA=A̿A<A`A[*A9?2Aֽ:AH<BA9?JAֽRAH<٘i)I9Ee@Y G JJJJJ elevatorAngleAction: 0.083971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037039.263270F (some fields omitted in printout)J"J*J2J:JBJnJvJA̔@A/ÿ@AV~? A"VA &"AAChNA"AZAbAjArAzAAA`?DqA@C2sAud@A0A>>n=AiɿA%A`.Au*A9?2Aֽ:AQ<BA9?JAֽRAQ Y\gT~?ybLAɿE7ٕ9)B[[?cȿ[U~?[b[[[[ZZBZYY i) Ii@"L/= G))GGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037039.283165 s, next control iter: 1743037039.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10538., header.stamp.nsec: 0.0 temperature: 13.572656.* salinity: 33.374989., density: 1025.000000.* values[0]: 0.568420.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037039.683165 s.l&J~,V(AA(\@A,j@A7 V~? A^AY &"AA =hNA"AZAbAjArAzAAAA{;A>[~7sAc@AOASG*=AKǿA@\A@AǼ*A9?2Aֽ:Abؑ;BA9?JAֽRAbؑ;٘i)I9c@Y G J[ܼJJJJBE&K Y(gT~?yzkMLAE{7j79) B[[)ƿ[NU~?[h[[[[ZZBZYY i)  dIi-@X/= /CC))/CC/CCaoYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037039.683165 s, next control iter: 1743037040.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743037040.103165 s.'J~,̚(AJ"J*J2J:JBJnJvJAQ8@A%VF+@A V~? A!fA&"AA7hNA"AZAbAjArAzAAAckAąb))w>w>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037040.123165 s, next control iter: 1743037040.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037040.523165 s.'J~,{!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083971< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743037040.523280F (some fields omitted in printout)AHzn@AKa@A~V~? A)nA!&"AA3hNA"AZAbAjArAzAAAAHAsAb@A-X9A<Ao"¿A.A Y]A*A^9?2Ayֽ:A+!BA^9?JAyֽRA+!٘i)I9b@Y G JJJJJGE&K YfT~?y}KAE99)B[[ŷ[U~?[v[[[[ZZBZYY i) {Ii0@ 0= _:))_:_:JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037040.563165 s, next control iter: 1743037040.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10539, header.stamp.nsec: 00 temperature: 13.572984* salinity: 33.374977, density: 1025.000000* values[0]: 0.567604F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037040.943165 s.Ud'J~,5]<(AJ"J*J2J:JN?BJN?nJ]5vJAq= ף@Aʖ@AlV~? A4vA&"AA/hNA"AZAbAjArAzAAAZ9A˲1FsACb@A<AAAکA`gA4*A9?2Aֽ:A>큼BA9?JAֽRA>큼٘i)I9Cb@Y G JaJJJJJE&K YfT~?yꅩ]KAEb779)B[[[U~?[g}[[[[ZZBZYY i) eIi@)1= 5))55S)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037040.963165 s, next control iter: 1743037041.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037041.363165 s.'J~,>W(AAٕ@A̕@AV~? AC~A&"AA+-hNA"AZAbAjArAzAAAzgA>EKsAwb@AK7><AMA鼿A6AAoA̻*A9?2Aֽ:AᬮBA9?JAֽRAᬮY:В@<ٓH k0??EB? Pĕ?@?Ƈ?a?):В@ I٘i)I9b@Y G JJDJJJME&K(x> Y:iT~?y|KAE7777Ϟ9)B[[G[UU~?[9[[[[ZZBZYY iAr=) SIiڊ@d1= O1))O1O1)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037041.383165 s, next control iter: 1743037041.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10540&, header.stamp.nsec: 0&0 temperature: 13.573179&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.567120&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037041.783165 s.Y'J~,r(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: 0.059144< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743037041.783349F (some fields omitted in printout)A(\@AO7P@AV~? ATAvI&"AA3+hNA"AZAbAjArAzAAA1ALC PsAa@Ab <A3ARA8A tA3橺*Aߦ9?2ANֽ:Aa׼BAߦ9?JANֽRAa׼٘i)I9a@Y} G JhJJJJOE&K YkT~?y}KAE)7b79)BE[[[U~?[[[[[BZYY i9=) 9AIi@1= # -))# -# -B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037041.823165 s, next control iter: 1743037042.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037042.203165 s.#'J~, (AAQE@A8@AcV~? AfA&"AA*hNA"AZAbAjArAzAAABX AfQgTsAa@A`V:AK?Ax÷A@cxAwvA^;*A9?2Adֽ:AhBA9?JAdֽRAh񼙘٘i)I9a@Y G J:JJJJRE&K YnT~?yFKA DE{7j7d9)[[ո[ U~?[ԑ[[[[BZYY i) /Ii+@]#2= ())((*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037042.223165 s, next control iter: 1743037042.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037042.623165 s.W)'J~,]⧜(AJ"J*J2J:JBJnJvJAGz@AϤMm@AlV~? AxAI&"AA)hNA"AZAbAjArAzAAAU AYsA'b@ASAcA*9A@N?A@AvA <*A*9?2Ap!ֽ:ABA*9?JAp!ֽRA٘i)I9b@Y G JJ;JJJJUE&K YAqT~?yKAE777/9)B)BE[[u[U~?[[[[[BZYY i) )Ii@2= +$))+$+$y!=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037042.643165 s, next control iter: 1743037043.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10541 , header.stamp.nsec: 0 0 temperature: 13.573231 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.567034 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037043.043165 s.0'J~,œ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037043.043286F (some fields omitted in printout)A= ף@A\o@AV~? AAp&"AA*hNA"AZAbAjArAzAAAoAv#^sAsdb@ADFARA@A`(?A sAyI<*A9?2A ֽ:A BA9?JA ֽRA ٘i)I9db@Y G J)<JJJJWE&K YsT~?yٱKAE77{79*B)BE[[f[jU~?[W[[[[BZYY i) - Ii;@3= S))SS*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037043.063165 s, next control iter: 1743037043.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037043.463165 s.X7'J~,ݜ(AJ"J*J2J:J/?BJ/?nJ=5vJAffff@A|\ٖ@AV~? AA&"AAF+hNA"AZAbAjArAzAAAiީT AJ+csAIb@A*A#A A]?AfnAcv<*A9?2A0ֽ:A]BA9?JA0ֽRA]Y@yy0^+ٓHj?c?1hAP ? s?o?`_?)@ I٘i)I9b@Y G Jk_<J޽JJJZE&Kuw> YoyT~?y|ULAEj7Z7ħ9)B[[m/[U~?[[[[[BZYY i}Qj=) PIi@ $3= N))NN`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037043.483165 s, next control iter: 1743037043.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10542, header.stamp.nsec: 00 temperature: 13.573129* salinity: 33.374973, density: 1025.000000* values[0]: 0.567312F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037043.883165 s.y='J~,8(AA(@AD @AV~? AA5&"AAJ-hNA"AZAbAjArAzAAA!A5hsA0c@A?[A$5A`A*c?AfA@<*AΛ9?2Aֽ:ABAΛ9?JAֽRA٘i)I90c@YE G J<JJJJ]E&K Y~T~?y éLAEZ7SI79)B[[s[0U~?[¬[[[[BZYY i) 4bٻIi܋@43=  ))  P*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037043.903165 s, next control iter: 1743037044.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037044.303165 s.WD'J~,{g(AJ"J*J2J:JK?BJK?nJY5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057207< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037044.303284F (some fields omitted in printout)AQ@AMID@AV~? AAw&"AA0hNA"AZAbAjArAzAAAp5A/H1msAc@A±;AA4A@1?A\A(<*A9?2Aֽ:ARBA9?JAֽRAR٘i)I9c@Y G J<JJJJ_E&K YrT~?y˩MAE7)7Y9) B[[U[U~?[p[[[[BZYY i) sIi@2#3= r))rrm*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037044.323165 s, next control iter: 1743037044.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10543., header.stamp.nsec: 0.0 temperature: 13.572908.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.567807.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037044.723165 s. K'J~,RI.(AAz@A#Hz@A V~? AA&"AA3hNA"AZAbAjArAzAAAa?\AJwrsA3d@A 9<AAnA `?AMPA:9<*Al9?2Aֽ:AX BAl9?JAֽRAX ٘i)I93d@Y G J<JJJJbE&K YT~?ygԩoMAE77$9.B)E[[[sU~?[[[[[BZYY i) CIi:@}3= {)){{yԨj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037044.743165 s, next control iter: 1743037045.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037045.143165 s.W/R'J~, *I(AJ"J*J2J:JBJnJvJA ףp@Ac~nh@A V~? AƪA^&"AA.8hNA"AZAbAjArAzAAAA[wsAd@A%7<A#AkA`-?AAA}<*A29?2A2ֽ:A8~ BA29?JA2ֽRA8~ ٘i)I9d@Y9 G Jc<JJJJeE&K YuT~?y ݩMAE7777ﮇ9)B[[T[U~?[[[[[BZYY i =) +yIi@~4= { )){ { *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037045.183165 s, next control iter: 1743037045.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037045.563165 s.X'J~,_ d(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066424< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037045.563307F (some fields omitted in printout)A3333@AoG8-@AxV~? AΪA&"AAi=hNA"AZAbAjArAzAAA iA66p<|sAVe@A;AmA*ࢿAM?A x0A<*A 9?2Aֽ:AkBA 9?JAֽRAkYvQ@LyRmc;ٓH@]?@ ?G?cG?̈?@Wsu??)vQ@ I٘i)I9Ve@Y G J5<J?JJJgE&Kx> YT~?yu5NAEj79/B)BE[[[)U~?[Gǩ[[[[BZYY i) "=Ii?@3= -))--2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037045.603165 s, next control iter: 1743037045.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10544, header.stamp.nsec: 00 temperature: 13.572607* salinity: 33.374973, density: 1025.000000* values[0]: 0.568471F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037045.983165 s._'J~,~(AJ"J*J2J:JBJnJvJA\(@A*U@AV~? A֪A&&"AAnChNA"AZAbAjArAzAAAM8'/6AJ.sAe@AуcA%$AZA wV?AAW<*AƼ9?2Adֽ:A]RBAƼ9?JAdֽRA]R٘i)I9e@Y G Jų<JJJJjE&K YT~?yNAEŧ7b79)B[[褿[V~?[ͩ[[[[BZYY i) MIi@Y/3= o))oo&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037046.023165 s, next control iter: 1743037046.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037046.403165 s.'f'J~,Ι(AAQ^@ABQ@AV~? AުAo%"AA;JhNA"AZAbAjArAzAAAEA]G sA]f@A'A)AvADНA3?AA5~<*A9?2A?ֽ:A BA9?JA?ֽRA ٘i)I9f@YK G J<JJJJmE&K YQT~?yHOAE77O9)BE[[[VV~?[]ԩ[[[[BZYY i) #Ii@S3= ƨ))ƨƨ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037046.443165 s, next control iter: 1743037046.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10545", header.stamp.nsec: 0"0 temperature: 13.572355"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.569185"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037046.823165 s.l'J~,\(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066424< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037046.823353F (some fields omitted in printout)AGz@A ˟o@AV~? AA%"AAQhNA"AZAbAjArAzAAA@E,[xAbŊsAg@A3@AhrA7A`?A A뒯<*A79?2ARֽ:A<BA79?JARֽRA<٘i)I9g@Y G J<JJJJpE&K YT~?ypOAEŧ7b790B)B E[[{[V~?[ک[[[[BZYY i) 8Ii@ <3= n))nᄅny=f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037046.843165 s, next control iter: 1743037047.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037047.243165 s.s'J~,uϝ(AAףp=ʘ@A U1@A%V~? AlAV%"AA0ZhNA"AZAbAjArAzAAA.1AGsAg@A;A\AƐA@?AA<*Ap9?2A!ֽ:AWBAp9?JA!ֽRAW٘i)I9g@Y G JĬ<JJJJrE&K YT~?yOAE777䷇9)B[[QE[V~?[O[[[[BZYY i) L:IiS@w3= ))澩0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037047.263165 s, next control iter: 1743037047.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037047.663165 s.z'J~,q(AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10546, header.stamp.nsec: 00 temperature: 13.572030* salinity: 33.374989, density: 1025.000000* values[0]: 0.569898F (some fields omitted in printout)A@Aa@A+V~? ABA/%"AAYchNA"AZAbAjArAzAAA0 ()RAd[sA5h@AU:AAᕿA?AA0<*A;9?2AHֽ:ApBA;9?JAHֽRApYy@C啿y8:ٓH@?y? C(g ?=?`P̱?#Y?+?)y@ I٘i)I95h@YS G J<J<JJJuE&K)x> YT~?y99PA啿E79)B[[5[MV~?[[[[[BZYY i) R#:Ii@2= ޾))޾޾C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037047.683165 s, next control iter: 1743037048.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037048.083165 s.D'J~,S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066424< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037048.083292F (some fields omitted in printout)A)\5@AOZ(@A2V~? A A$%"AAKmhNA"AZAbAjArAzAAA%6 ARCsACh@A<<AAU5A`?A@A<*A9?2AM׽:ArBA9?JAM׽RAr٘i)I9h@Y G J<JJJJxE&K YT~?yVPAEj7{7z91B)B!E[[_ؙ[%V~?[[[[[BZYY i) H.;IiJ@K2= Aվ))AվAվ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037048.103165 s, next control iter: 1743037048.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037048.503165 s.'J~,D4 (AJ"J*J2J:JBJnJvJARk@Ac${^@A:V~? AAƌ%"AAxhNA"AZAbAjArAzAAA A ؝sAD7i@AE<A'AIA`?AsAP{<*A9?2A׽:AvBA9?JA׽RAv󼙘I٘i)I97i@Y G J<JJJJzE&K YT~?yrPAEb7b7D92B)B$E[[נ[-V~?[q[[[[BZYY i) k;Ii @1= c̾))c̾c̾>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037048.523165 s, next control iter: 1743037048.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10547, header.stamp.nsec: 00 temperature: 13.571750* salinity: 33.374981, density: 1025.000000* values[0]: 0.570555F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037048.923165 s.9'J~,;(AA{G@A elevatorAngleAction: 0.066424< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037049.343294F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= י@AT2ʙ@AVJV~? A&A_%"AAɏhNA"AZAbAjArAzAAA?"p ATJ6sAT,j@ASr:AEeAxA "?AS'Aё<*A9?2Afֽ:ABA9?JAfֽRA٘i)I9,j@YG Jo<JJJJE&K YT~?y/QAE7779)B[[o1[G>V~?[[[[[BZYY iN=)  ];Ii"@2= ))r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037049.363165 s, next control iter: 1743037049.743174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10548*, header.stamp.nsec: 0*0 temperature: 13.571490** salinity: 33.375004*, density: 1025.000000** values[0]: 0.571150*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037049.763165 s.6'J~,p(AA @A5@A2SV~? AA%"AA͜hNA"AZAbAjArAzAAAJi5 As٫sAj@AA2?AA`t?A`(AO<*A9?2Alֽ:A0QBA9?JAlֽRA0QY,՟@sވy.>PٓH??T@?&M?`İ?@x`*?),՟@ I٘i)I9j@YG J<JG<JJJE&K#x> YoT~?ye7RAވE‡93B)ޯB(E[[[aGV~?[3[[[[BZYY i) ;Ii\@1= >˱))>˱>˱ݶ*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037049.783165 s, next control iter: 1743037050.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037050.183165 s.ˢ'J~,Z(AJ"J*J2J:JBJnJvJA(\B@A~ƃ5@A\V~? AH$A<7%"AAhNA"AZAbAjArAzAAA\ AsssA k@AWCAǐA\AW?A`YA<*A9?2A`ֽ:AP*BA9?JA`ֽRAP*٘i)I9 k@YG J<JJJJE&K Y U~?y?lRAEŧ7ŧ7oć9)گB[[Ž[PV~?[\ [[[[BZYY i) I;IiƉ@Z0= n먾))n먾n먾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037050.203165 s, next control iter: 1743037050.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037050.603165 s.<4'J~,Ú(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037050.603286F (some fields omitted in printout)AQx@A~qJk@AcfV~? A+A%"AAhNA"AZAbAjArAzAAA:A sAZk@A"AÅAA9?A`A‹<*AE9?2Aˆֽ:ABAE9?JAˆֽRA٘i)I9k@YbG Jm<B=JJJJE&K YU~?yFRAE7{7:Ƈ94B)ׯB+E[[[ZV~?[z[[[[BZYY i) U~?)>F rAdjusting time to match Gazebo time: 1743037051.023165 s.Z'J~,{(AJ"J*J2J:JBJnJvJAHz@Ao@ApV~? A-3A%"AAVhNA"AZAbAjArAzAAAX;A톊sA2 l@AZ.AkAuA?ArAY<*AX9?2Amֽ:ABAX9?JAmֽRA٘i)I9 l@YG J<C=JJJJE&K Y.&U~?yN SAEj7j7ȇ9)ԯB[[P[dV~?[[[[[BZYY i) ;))>;>;v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037051.463165 s, next control iter: 1743037051.843187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10550, header.stamp.nsec: 00 temperature: 13.570948* salinity: 33.375000, density: 1025.000000* values[0]: 0.572352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037051.863165 s.+'J~,>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037051.863279F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A  @A؆V~? AAA%"AAhNA"AZAbAjArAzAAAr6SaA_ewsAl@A:<ADvAxwA?Ai Ag<*A9?2A*׽:AzBA9?JA*׽RAzYd@*wyslV;<ٓH~?U?q?J -?@)(?K?\??)d@ I٘i)I9l@Y2G J<J\JJJE&K?x> YCU~?y]SAwE77ˇ9)ίB[[ޅ[,zV~?[%[[[[BZYY i) X77 elevatorAngleAction: 0.075345< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037053.123285F (some fields omitted in printout)AGẛ@Aխ@AV~? A,WADP%"AAiNA"AZAbAjArAzAAA0EB9A`xsAMn@A0A]A hA ]?A \A<*A 9?2Auֽ:Ae BA 9?JAuֽRAe ٘i)I9Mn@Y G J<C=JJJJE&K YsU~?yMsTA E{7Z7Ї98B)ƯB6E[[^~[V~?[ 7[[[[BZYY i Ҭ=) 1eAAA]A t?A`AXٞ<*A;9?2AYֽ:ABA;9?JAYֽRAYX@]yS??ٓH?b? ţMw? \9?ò?A҇h?)X@ I٘i)I9So@YG J<J`JJJE&Kx> Y6U~?yBUA]EZ7ԇ99B)B9E[[su[gV~?[iB[[[[BZYY i) / elevatorAngleAction: 0.084385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037054.383321F (some fields omitted in printout)A(\@AWO@AjV~? AkAz%"AAZ\iNA"AZAbAjArAzAAAԕAsAo@A5ԻAژAXA?A`AŸ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9o@YG J@<JJJJE&K YU~?yVAE7777Zև9)B[[p[8V~?[H[[[[BZYY i) Ɖ elevatorAngleAction: 0.084385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037055.643284F (some fields omitted in printout)A ףp@A2d@A=W~? AAt4%"AA6iNA"AZAbAjArAzAAAnW7ALSK6sAzqq@AxB<AQAHA/'?A`Av<*AT9?2A[׽:A BAT9?JA[׽RA ٘i)I9qq@YG J<JJJJE&K YiU~?yDWAEb7ۇ9 YU~?y*WACE77{7݇9)BCE[[_[V~?[][[[[BZYY i) A?A Z/Aܺ<*A9?2Azֽ:ABA9?JAzֽRA٘i)I9r@YG Je<B=JJJJE&K Y,V~?yA#XAEŧ7b7O߇9)B[[Z[)W~?[b[[[[BZYY i) UL elevatorAngleAction: 0.084385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743037056.903330F (some fields omitted in printout)AQ@Al\@A1W~? AA%"AAiNA"AZAbAjArAzAAAYfAsAB6s@AA5AV9A\?AA<*Ac9?2A1ֽ:ABAc9?JA1ֽRA٘i)I96s@YG Jͼ<C=JJJJE&K YV~?yWXA!Eb779=B)BFE[[V[W~?["h[[[[BZYY i) Zm[[[[BZYY i)  elevatorAngleAction: 0.084385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037058.163300F (some fields omitted in printout)A@@A-!2@AfW~? AA!]%"AA6jNA"AZAbAjArAzAAAl 첱Ay+rsA/u@AjAAݐ)A=?A A<*AY9?2A=ֽ:AGBAY9?JA=ֽRAGY"ܬ@3)y+xٓH@$??8 ;?`? ?`?)"ܬ@ I٘i)I9/u@Y:G J<J&JJJJE&K"x> Y[V~?y뿪YA))Eŧ77z9@B)BME[[ϒH[CW~?[3w[[[[BZYY i) ^=<AƲAA`?A<A@i<*A%9?2A> ׽:A2BA%9?JA> ׽RA2٘i)I9v@Y G J<JJJJE&K Y V~?yʪZA/Ej7Z79)B[[?[dW~?[ր[[[[BZYY i) # elevatorAngleAction: 0.084385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037059.423286F (some fields omitted in printout)A{G@AUt<Ԟ@AW~? A{A%"AAyjNA"AZAbAjArAzAAA/t?A;n\ tA2w@Ai-<AKԳAA ??A <߿A<*AA9?2Aֽ:ACsBAA9?JAֽRACs٘i)I92w@YtG J<JJJJE&K YKV~?y%ЪK[A1Eb7b79BB)BUE[[7;[tW~?[[[[[BZYY i.=) _1?A` tAjw@A~;AAAe?A߿AF<*A9?2AAֽ:AYBA9?JAAֽRAY٘i)I9w@YG J<JJJJE&K YV~?yժ[A4E79CB)BXE[[?s6[}W~?[,[[[[ZZZZ¸>BZYY i¸>A) d YmV~?y9ڪ;\A|7ESI7SI7o9)~B[[1[}W~?[[[[[ZZZZBZYY i) X))@>@>yί*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037061.123165 s, next control iter: 1743037061.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037061.523165 s.W(J~,{a(AAHz@A+J @AX~? AEϫA[%"AA@kNA"AZAbAjArAzAAAȁ X?ALE]tA{@A=A]*uAVA@l?A`ܿA-<*A9?2AWRֽ:A,oBA9?JAWRֽRA,o٘i)I9{@YG JL=JJJJE&K YW~?y?]A?Eŧ7b79)lBaE[[CB$[yW~?[[[[[ZZZZBZYY i) 1))`6>`6>C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037061.543165 s, next control iter: 1743037061.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10560, header.stamp.nsec: 00 temperature: 13.567348* salinity: 33.375107, density: 1025.000000* values[0]: 0.579977F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037061.943165 s.Zd^(J~,J]|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J*J@ elevatorAngleAction: -0.0826442J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.419998nJvJ2 time: 1743037061.943304F (some fields omitted in printout)Aq= #@A1@AnX~? A ԫA±%"AA>kNA"AZAbAjArAzAAAfa'@A<)tA;{@A*f;A0AoA?AoXۿAW<*A9?2Agֽ:A-;BA9?JAgֽRA-;٘i)I9{@YHG J<JJJJE&K Y+W~?y#^ABE779)fB[[ë[W~?[埪[[[[ZZZZBZYY i) ~%))`%>`%>~u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037061.963165 s, next control iter: 1743037062.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037062.363165 s.e(J~,>(AAY@A 5L@A+X~? AثAU%"AA^kNA"AZAbAjArAzAAA06+@A9CTtAVw|@A3<AּAA@O?AxڿA-ݤ<*Ac9?2Av\ֽ:A ;BAc9?JAv\ֽRA ;Y[@lypռ_3<ٓHܬ?EY?Y`p[ܿ?>|\?澚?w?@?)[@ I٘i)I9w|@YG JT<B=J>JJJE&Kv> Y\EW~?yG^ADEj7Z7e9FB)cBeE[[#[0W~?[[[[[ZZZZBZYY i@⌽) Џ))7>7>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037062.383165 s, next control iter: 1743037062.763181 s, wait time: 0.380016 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10561*, header.stamp.nsec: 0*0 temperature: 13.566892** salinity: 33.375099*, density: 1025.000000** values[0]: 0.580967*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037062.783165 s.Uk(J~,(AJ"J*J2J:JBJnJvJA(\@AP@A7AX~? A1ݫAD%"AA kNA"AZAbAjArAzAAA5@AяP!tA|@AMT<A6AA@?A`[ٿAuy<*A\9?2A Mֽ:Az<BA\9?JA MֽRAz<٘i)I9|@YG J<C=JJJJE&K Y^W~?yk^AGE)7b7/9GB)_BhE[[[[X~?[[[[[ZZZZBZYY i) ~)):J>:J>O`)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037062.803165 s, next control iter: 1743037063.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037063.203165 s.s(J~,͡(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037063.203296F (some fields omitted in printout)AQŠ@AH@AWX~? AAu%"AAkNA"AZAbAjArAzAAA;lG@ACƆ#tA N}@AC <A;A8>־A@?A ؿA'<*A9?2AXֽ:Ay<BA9?JAXֽRAy<٘i)I9N}@Y+G JAV<JJJJE&K YxW~?y^AJEŧ79)]BkE[[[X~?[ѫ[[[[ZZZZBZYY i N) rTv))P\>P\>.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037063.223165 s, next control iter: 1743037063.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037063.623165 s.\y(J~,q(AJ"J*J2J:J?BJ?nJ5vJAG@Aؘ@A/mX~? AAUQ%"AA8kNA"AZAbAjArAzAAAI|+`@A@ِ&tA}@AuuAޝ<Ad˾A?A`,ؿAm;*AG9?2Aӂֽ:Ad<BAG9?JAӂֽRAd<٘i)I9}@YNG J<JJJJE&K YxW~?y^ALE9HB)[BnE[[@ [h)X~?[[[[[ZZZZBZYY i) a))yթYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037063.663165 s, next control iter: 1743037064.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10562 , header.stamp.nsec: 0 0 temperature: 13.566563 * salinity: 33.375130 , density: 1025.000000 * values[0]: 0.581602 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037064.043165 s.(J~,(AA= ף0@Asd#@AX~? AA%"AAkNA"AZAbAjArAzAAA\/+N @Aj[!)tA\}@A Aq=A0AAdX?A0Y׿A:*A9?2Aֽ:Ae<BA9?JAֽRAe<٘i)I9}@Y_G J;JJJJE&K Y֪W~?y{^AOEb779)[[{[=X~?[O[[[[BZYY i) M))>>y򙢽/YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037064.063165 s, next control iter: 1743037064.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037064.463165 s.Z(J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037064.463305F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A ]Y@ACX~? AAU%"AAlNA"AZAbAjArAzAAAll @Afy+tA}@AxcFAE.=AJ¶A`[?A`ֿAz *A9?2A8ֽ:Al<BA9?JA8ֽRAl9B=J['>JJJE&Kw>  9YZW~? 9y^ARE)7ŧ7[9)qE[[[PX~?[ݶ[[[[BZYY i~_i) "<))`$>`$>)nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037064.503165 s, next control iter: 1743037064.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10563, header.stamp.nsec: 00 temperature: 13.566365* salinity: 33.375160, density: 1025.000000* values[0]: 0.581853F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037064.883165 s.y(J~,+8(AA(@Ar@A0X~? AAe%"AA'lNA"AZAbAjArAzAAAFEL@A~-tA}@ArA^V=AjA?A`ĬտA˻*A9?2Aֽ:A7<BA9?JAֽRA7<٘i)I9}@YPG JC=JJJJE&K YW~?yb^ATEb77%9)\BtE[[ [dX~?[S[[[[BZYY i) E+))h>h>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037064.923165 s, next control iter: 1743037065.283176 s, wait time: 0.360011 sW~?) rAdjusting time to match Gazebo time: 1743037065.303165 s.V(J~,wgS(AJ"J*J2J:JBJnJvJAѡ@AYjġ@A[X~? ALA%"AAJlNA"AZAbAjArAzAAAvԣƁ@A xW0tA&P}@AsAv=A?A`>?A@JԿAL2*A9?2AMֽ:A~=BA9?JAMֽRA~=٘i)I9P}@Y-G J JJJJE&K YVW~?y '^AWE7{79IB)^BwE[[%e[yX~?[[[[[BZYY i) Pf))>>QYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037065.323165 s, next control iter: 1743037065.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10564*, header.stamp.nsec: 0*0 temperature: 13.566338** salinity: 33.375156*, density: 1025.000000** values[0]: 0.581824*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037065.723165 s.(J~,Hn(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037065.723294F (some fields omitted in printout)Az@Av@AX~? AAN%"AAmlNA"AZAbAjArAzAAA͏@A21},2tA/|@A;A\=A<#A8?A ӿAi*A9?2AZֽ:AS# =BA9?JAZֽRAS# =٘i)I9|@YG JLJJJJE&K YX~?y ]AZE779)aBzE[[][X~?[[[[[BZYY i)  ))Y>Y>⹪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037065.743165 s, next control iter: 1743037066.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037066.143165 s.X/(J~,*(AJ"J*J2J:JBJnJvJA ףp=@Ad0@AaX~? A.A%"AAnlNA"AZAbAjArAzAAA{[v@AQA:4tA̎|@AJ<AZO=A荾A bk?AӿAiK*A9?2A2ս:A =BA9?JA2սRA =٘i)I9|@YG JJJJJE&K YV/X~?y]A\E{7{79)dB[[[X~?[Ī[[[[BZYY i) ^M;IiTL@Y= }>))}>}>y鮇NƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037066.163165 s, next control iter: 1743037066.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037066.563165 s.(J~,R (AA3333s@A.'f@A8Y~? AfAR%"AAalNA"AZAbAjArAzAAA"L9)@A16tA_|@A0<A_=A6oA/?A`%@ҿAP*A9?2Aq!ֽ:A=BA9?JAq!ֽRA=YPܹ@y$=0<ٓH???@|? (п?n̲?h?)Pܹ@ I٘i)I9|@YlG J쒼J=JJJE&Kw> YJX~?y#M]A_Ej7j7P 9KB)jB~E[[uVپ[hX~?[Ǫ[[[[BZYY i) ;IiH@XX= Aɸ>))Aɸ>Aɸ>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037066.583165 s, next control iter: 1743037066.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10565, header.stamp.nsec: 00 temperature: 13.566406* salinity: 33.375153, density: 1025.000000* values[0]: 0.581470F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037066.983165 s.J "J *J 2J :J ?BJ ?nJ 5vJ (J~,쾢(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037066.983285F (some fields omitted in printout)A\@A͍離@AD'Y~? AwA%"AAlNA"AZAbAjArAzAAA i@A-8tA{@A4f;A=AxqA`?A\ѿAh4*A9?2ABzֽ:A;=BA9?JABzֽRA;=٘i)I9{@YG J(JJJJE&K YeX~?y^\AbE7777 9)oBE[[Ͼ[X~?[ʪ[[[[BZYY i) D;Ii"E@T< $>))$>$>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037067.003165 s, next control iter: 1743037067.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037067.403165 s.&(J~,٢(AAQޢ@A Ѣ@A?Y~? AaA%"AA=lNA"AZAbAjArAzAAAMN&@AK19tA7{@AôA=A-[A?AOvпA4*A9?2ACֽ:A\ =BA9?JACֽRA\ =٘i)I9{@YG JJJJJE&K YLX~?y\AdE7 9)sBE[[ƾ[X~?[̪[[[[BZYY i) RE;IiB@gx< >))>>תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037067.443165 s, next control iter: 1743037067.803180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10566, header.stamp.nsec: 00 temperature: 13.566528* salinity: 33.375183, density: 1025.000000* values[0]: 0.580921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037067.823165 s.(J~,6(AJ"J*J2J:JBJnJvJAGz@An@AWY~? A#A%"AA#mNA"AZAbAjArAzAAAA`$O@A_7;tAasz@A&>A=AQFA:"?A<ϿANJ*A9?2Aֽ:Aũ =BA9?JAֽRAũ =٘i)I9sz@YnG JJJJJE&K YX~?y\AgE77j79)xBE[[A[X~?[Ϫ[[[[BZYY i) o;Ii~?@s< u>))u>u>٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037067.843165 s, next control iter: 1743037068.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037068.243165 s.(J~,\(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743037068.243269F (some fields omitted in printout)Aףp=J@AU2=@ApY~? A An%"AAFHmNA"AZAbAjArAzAAAy@Av=tAy@Ao>A2=A1AI?AMͿAi"*A9?2Atֽ:AG =BA9?JAtֽRAG =٘i)I9y@YG JUJJJJE&K YX~?y[AjEŧ7b7{9LB)}BE[[y[ Y~?[Ҫ[[[[BZYY i) p03;IiC=@gA< =>))=>=>٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037068.263165 s, next control iter: 1743037068.643174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037068.663165 s.(J~,q*(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10567, header.stamp.nsec: 00 temperature: 13.566689* salinity: 33.375195, density: 1025.000000* values[0]: 0.580352F (some fields omitted in printout)A@Amr@AVY~? A/ A!=%"AAmmNA"AZAbAjArAzAAA[p@A0'ԛ>tAMy@ApAi=AkAn?A~˿A*AL9?2Aֽ:AQ=BAL9?JAֽRAQ=Y@y]i=m?ٓH??? ÿC?y`6Ɩv?)@ I٘i)I9My@YG JJ3<JJJE&Kx> YX~?yhO[AlE7)7E9)BE[[9[r#Y~?[Ԫ[[[[BZYY i) z:IiC9@#< >))>>تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037068.683165 s, next control iter: 1743037069.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037069.083165 s.D(J~,RE(AA)\µ@Azܷ@AEY~? AzA%"AAYmNA"AZAbAjArAzAAA@A}\@tA9x@A~[d;Aoӛ=A K A j?AɿA7*A9?2ATֽ:A̚=BA9?JATֽRA̚=٘i)I9x@Y_G JJJJJE&K YX~?yZAoE77779)B[[à[9Y~?[֪[[[[BZYY i) eHm:Ii5@< 1\>))1\>1\>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037069.103165 s, next control iter: 1743037069.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037069.503165 s.(J~,P4`(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037069.503277F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A#fyޣ@AYY~? AA]%"AA[PY~?[٪[[[[BZYY i) @Iiq2@g< Y>))Y>Y>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037069.523165 s, next control iter: 1743037069.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10568, header.stamp.nsec: 00 temperature: 13.566845* salinity: 33.375206, density: 1025.000000* values[0]: 0.579730F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037069.923165 s.:(J~,{(AA{G!@ArJ@@AY~? AA%"AAVmNA"AZAbAjArAzAAAʿjg6@APN9BtAۂw@ASG<A^=A:A`?A@ƿAyɳ*A?9?2A=ֽ:A.=BA?9?JA=ֽRA.=٘i)I9w@YG JֵB=JJJJE&K Y'Y~?yu ZAtE{79)BE[[[fY~?[۪[[[[BZYY i) VrIi/@<  :?)) :? :?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037069.943165 s, next control iter: 1743037070.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037070.343165 s.<(J~,(AJ"J*J2J:JT?BJT?nJ5vJAp= W@AKI@AY~? AhAߕ%"AAnNA"AZAbAjArAzAAA: pi@A6*@CtAv@Afj;A=A A?A@)'ĿAwF*A#9?2A=ֽ:A"=BA#9?JA=ֽRA"=٘i)I9v@YJG JLC=JJJJE&K YgCY~?y!YAwE77p9)BE[[[}Y~?[ݪ[[[[BZYY i) LIi3-@< L?))L?L?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037070.363165 s, next control iter: 1743037070.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10569*, header.stamp.nsec: 0*0 temperature: 13.567014** salinity: 33.375217*, density: 1025.000000** values[0]: 0.579106*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037070.763165 s.6(J~,ذ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037070.763292F (some fields omitted in printout)Ǎ@Ae@A[Z~? AAs%"AA ,nNA"AZAbAjArAzAAAp@A<[qDtAh_v@A#A?ː=A= VA?A@iD¿A*A9?2Aֽ:AdK<BA9?JAֽRAdKٓHS??:?Z?@Fb aX?)_@ I٘i)I9_v@YG JJPpJJJ E&Kx> Y_Y~?yE"GYAVzEj7j7;9)BE[[u[^Y~?[ު[[[[BZYY i) 5Ii)@W< r ?))45r ?r ?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037070.783165 s, next control iter: 1743037071.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037071.183165 s.(J~,gˣ(AJ"J*J2J:JBJnJvJA(\¤@A<@A Z~? AAT%"AARnNA"AZAbAjArAzAAA m9j @ARuEtAu@A?A:=A?xA?A^A.*A9?2A ׽:A?<BA9?JA ׽RA?<٘i)I9u@YG JpJJJJ E&K Y{Y~?y"XA}E)7ŧ79)BE[[a[kY~?[[[[[BZYY i) YsIi:%@8~< ?)) ??ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037071.203165 s, next control iter: 1743037071.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037071.603165 s.>4(J~,̚(AAQ@AAF@A:Z~? AAF9%"AAynNA"AZAbAjArAzAAAu!@A\FtAUu@AMAV=A5A63?A=ἿA *A9?2A ֽ:A,C<BA9?JA ֽRA,C<٘i)I9Uu@YQG JJJJJE&K YY~?y1#XAEŧ7b79SB)BE[[#N[Y~?[[[[[BZYY i) 2Ii!@&< j?))j?j?5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037071.623165 s, next control iter: 1743037072.003184 s, wait time: 0.380019 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10570 , header.stamp.nsec: 0 0 temperature: 13.567152 * salinity: 33.375229 , density: 1025.000000 * values[0]: 0.578533 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037072.023165 s.Z)J~,|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037072.023301F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AL1!@ATTZ~? A A %"AAnNA"AZAbAjArAzAAA)h!@AiFFGtAFt@A0A\=Aa <A`D?A.AՕ*A79?2AHս:A4q<BA79?JAHսRA4q<٘i)I9t@YG JÖJJJJE&K Y9Y~?y##XAE77j7!9)BE[[+;[=Y~?[[[[[BZYY i) ۶Ii@R< D?))D?D?Yz&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037072.063165 s, next control iter: 1743037072.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037072.443165 s.3)J~,-](AAq= c@ADV@A&nZ~? AA_ %"AAnNA"AZAbAjArAzAAA<>"@A5GtAYt@AyKAۈ=A=<A@S?A@xAЕ*A!9?2Avս:A.<BA!9?JAvսRA.<٘i)I9Yt@YG JJJJJE&K YnY~?y$WAE777e#9RB)BE[[K'[Y~?[[[[[BZYY i) ջIiB@< %?))%?%?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037072.483165 s, next control iter: 1743037072.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10571, header.stamp.nsec: 00 temperature: 13.567251* salinity: 33.375240, density: 1025.000000* values[0]: 0.578036F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037072.863165 s.+ )J~,>7(AJ"J*J2J:JBJnJvJA@A&@AZ~? AA%"AAnNA"AZAbAjArAzAAAG" r"@A<3HtAs@A<A=ABD=A`d`?A8A蓼*A9?2Aս:A$<BA9?JAսRA$ YY~?y#gWAeF=Eŧ7ŧ70%9)B[[U[ Z~?[[[[[BZYY i) vIi@z< p#?))}p#?p#?1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037072.903165 s, next control iter: 1743037073.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037073.283165 s.2R)J~,R(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248012@ elevatorAngleAction: -0.075172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037073.283278F (some fields omitted in printout)A(\ϥ@A DO¥@AZ~? AA%"AAoNA"AZAbAjArAzAAApx#@ADR:HtA'as@AJ<A6LJ=A%=Aj?A`A՜*An9?2Aս:AT:=BAn9?JAսRAT:=٘i)I9as@Y G J0C=JJJJE&K YZ~?yC# WAE77&9)BE[[[T!Z~?[[[[[BZYY i) 1 Ii@fv< x(?)) x(?x(?y>ܙYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037073.303165 s, next control iter: 1743037073.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 105722, header.stamp.nsec: 020 temperature: 13.5673712* salinity: 33.3752562, density: 1025.0000002* values[0]: 0.5775482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037073.703165 s.պ)J~, m(AJ"J*J2J:J?BJ?nJ5vJAQ@A| @AZ~? AA%"AAb=oNA"AZAbAjArAzAAA <($@AWHtAr@Af)<A?=Ah=A-t?A.AF+*A9?2A3Խ:AQ=BA9?JA3ԽRAQ=٘i)I9r@YG JcB=JJJJE&K Y%Z~?y"VAE)7ŧ7(9)BE[[&ڽ[\9Z~?[[[[[BZYY i) +qIi@< ֽ-?))ֽ-?ֽ-?ǻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037073.723165 s, next control iter: 1743037074.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037074.123165 s.9!)J~,e⇤(AAG:@Ak^-@AZ~? AyAK%"AAdoNA"AZAbAjArAzAAAA6ֳ$@AO(ItA)or@A<;AI=A6=A y?AiA팼*A9?2AKRս:A{F=BA9?JAKRսRA{F=٘i)I9or@YG JC=JJJJE&K YMAZ~?yi"UVAE77{7*9)BE[['[QZ~?[[[[[BZYY i) (Iib @< 2?))2?2?YHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037074.143165 s, next control iter: 1743037074.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037074.543165 s.J "J *J 2J :J ?BJ ?nJ 5vJ I()J~,â(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037074.543330F (some fields omitted in printout)A= ףp@A($c@AZ~? AA%"AA2oNA"AZAbAjArAzAAAX=Q%@Ah,GItAq@A}ƻA=AKY>A _|?A`~A~*A9?2Ahս:A=BA9?JAhսRA=٘i)I9q@YEG JJJJJ!E&K Y]Z~?y!UAE77[,9QB)BE[[愋[iZ~?[/[[[[BZYY i) А8Ii @5< >7?))>7?>7?&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037074.563165 s, next control iter: 1743037074.943193 s, wait time: 0.380028 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10573, header.stamp.nsec: 00 temperature: 13.567490* salinity: 33.375267, density: 1025.000000* values[0]: 0.577065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037074.963165 s.y.)J~,(AAffff@A8>[@A [~? AAW%"AAoNA"AZAbAjArAzAAA0:v%@AN7LItAq@AAA=A>A |?As?A*Ap9?2A1ֽ:A|=BAp9?JA1ֽRA|=Y@ê>y= ~AٓH??ÿ)??@?]k?o@ ?)@ I٘i)I9q@YG J:J[;JJJ$E&Kcu> YuyZ~?y UA>E7ŧ7%.9)ůBE[[H[Z~?[[[[[BZYY i) GIiB@ګ<  AUz?A`-?A(*A9?2ANֽ:A`=BA9?JANֽRA`=٘i)I9q@YG J׋JJJJ&E&K YdZ~?y^=UAE7{7/9PB)ȯBE[[-[{Z~?[[[[[BZYY i) jWIi>@< nvA?)) nvA?nvA?9ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037075.403165 s, next control iter: 1743037075.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10574&, header.stamp.nsec: 0&0 temperature: 13.567573&* salinity: 33.375286&, density: 1025.000000&* values[0]: 0.576606&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037075.803165 s.}A<)J~,g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037075.803280F (some fields omitted in printout)A@A~u@A>[~? AFA8%"AApNA"AZAbAjArAzAAA=Z+'@A"/ ItAp@AAő=AAB>A8w?Aޡ?A*AA9?2AԽ:AXx=BAA9?JAԽRAXx=٘i)I9p@YmG JϐJJJJ)E&K YTZ~?yTAE{719)˯BE[['[ Z~?[[[[[BZYY iU) MfIiD?< oF?))oF?oF?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037075.823165 s, next control iter: 1743037076.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037076.223165 s.gC)J~,H(AJ"J*J2J:J?BJ?nJ5vJAzG@AL:@AX[~? AAn%"AA)pNA"AZAbAjArAzAAA{>V'@A _yHtA p@A‡;A =AU>Aep?A,?Aj*A9?2AԽ:Aw =BA9?JAԽRAw =٘i)I9p@Y G J䗼JJJJ,E&K YAZ~?yTAE7739)ϯB[[QG<[Z~?[[[[[BZYY i) DvIi?< pK?))pK?pK?˪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037076.243165 s, next control iter: 1743037076.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037076.643165 s.I)J~,Z*)(AA ףp}@AjN^dp@Aq[~? A3A%"AAMQpNA"AZAbAjArAzAAA xf(@A%gaHtAo@As4<A<=Aj>Af?AMG?A*A9?2AԽ:A=BA9?JAԽRA=٘i)I9o@YG JJJJJ.E&K Y0Z~?yq!TAE{7j7P59OB)ӯBE[[).<[Z~?[[[[[BZYY i) قIiP?p< LyP?))LyP?LyP?ΪYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10575, header.stamp.nsec: 00 temperature: 13.567664* salinity: 33.375294, density: 1025.000000* values[0]: 0.576111]:F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743037076.663165 s, next control iter: 1743037077.043194 s, wait time: 0.380029 s rAdjusting time to match Gazebo time: 1743037077.063165 s.P)J~,c D(AJ"J*J2J:J|?BJ|?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037077.063300F (some fields omitted in printout)A3333@Aq&@A[~? AlA%%"AAxpNA"AZAbAjArAzAAA%F!)@A|GtA o@A0F<Ac=A~>A@Z?Ah?AT*A9?2A3ս:A=BA9?JA3սRA=Y<0>yߘ=F<ٓH ?@ϿC??c?M{?eň?@?)< I٘i)I9 o@Y|G JnJb<JJJ1E&K u> Y[~?yDSA>E79)ׯBE[[=F=['Z~?[[[[[BZYY i) fIiT?B< sU?))$zsU?sU?y91ҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037077.083165 s, next control iter: 1743037077.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037077.483165 s.w_W)J~,^(AA\@A'ۧ@A[~? A|A%"AA֟pNA"AZAbAjArAzAAAc9)@AEUGtA$n@A>;A=A>A`#L?Aʷ?A*A9?2AYս:Aw=BA9?JAYսRAw=٘i)I9n@Y(G J#JJJJ4E&K Y[~?ySSAE7789NB)گBùE[[B=[[~?[0[[[[BZYY i) }Ii,?wx< :xZ?)) :xZ?:xZ?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037077.503165 s, next control iter: 1743037077.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10576, header.stamp.nsec: 00 temperature: 13.567810* salinity: 33.375286, density: 1025.000000* values[0]: 0.575579F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037077.903165 s.])J~,y(AJ"J*J2J:JY?BJY?nJ5vJAQ@AAS@A[~? AaA%"AApNA"AZAbAjArAzAAA93C<*@AkFtAm@AEWAS=Am>A`:A )?Af?A*A!9?2AvNս:Au=BA!9?JAvNսRAu=٘i)I9im@Y~G J4JJJJ9E&K YV[~?yRAE{<9MB)BɹE[[c=[G[~?[[[[[BZYY i) IiZ?< Pd?))Pd?Pd?ުY;,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037078.343165 s, next control iter: 1743037078.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10577*, header.stamp.nsec: 0*0 temperature: 13.567948** salinity: 33.375324*, density: 1025.000000** values[0]: 0.575016*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037078.743165 s.Wk)J~,u(AJ"J*J2J:JBJnJvJAףp=@A.4}@A[~? AAF%"AAqNA"AZAbAjArAzAAAO`!s+@A;EtAAl@A_JAPE=Ae>A3?A`t?Aj*A.9?2Aս:A!=BA.9?JAսRA!=٘i)I9l@Y'G JJJJJ9)B̹E[[>[`[~?[[[[[BZYY i) םIi? < i?))i?i?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037078.763165 s, next control iter: 1743037079.143177 s, wait time: 0.380012 s.q[~?). rAdjusting time to match Gazebo time: 1743037079.163165 s.~}r)J~,qʥ(AA@Aj@Ab \~? AAc%"AA;qNA"AZAbAjArAzAAA+bN,@A> DtAEl@A A$y=Aڙ>A?Ab?AJ*AF9?2Aս:A)=BAF9?JAսRA)=YV>>>yw=r\ ٓH?տ@=?h? ?m}? <@?)V> I٘i)I9El@YG JְJ<JJJ>E&K u> Y[~?y QA>>Eb77@9JB)B˹E[[U>[y[~?[[[[[BZYY i) Ii?rz< n?))>zn?n?|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037079.183165 s, next control iter: 1743037079.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743037079.583165 s.x)J~,S(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244377@ elevatorAngleAction: -0.084148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743037079.583327F (some fields omitted in printout)A)\@AR@A%\~? A]A8%"AAHbqNA"AZAbAjArAzAAA50g,@ABtA k@A,:-A@V=A>A [?AT6?A*A9?2Akս:A=BA9?JAkսRA=٘i)I9k@YnG JXJJJJAE&K Y[~?y =QAE777A9)BιE[[K+>[u[~?[[[[[BZYY i) MIis?o< s?)) s?s?qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037079.603165 s, next control iter: 1743037079.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10578, header.stamp.nsec: 00 temperature: 13.568089* salinity: 33.375332, density: 1025.000000* values[0]: 0.574437F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037080.003165 s.x )J~,L4(AAR+@Aog_y@A?\~? AvA%"AAqNA"AZAbAjArAzAAA<A-@AlGAtAk@A<A=Ax>Aw?A ?AWǼ*At9?2ASԽ:A Z=BAt9?JASԽRA Z=٘i)I9k@Y G J¼JJJJDE&K Y[~?yPAE)7b7C9IB)BѹE[[?>[n[~?[3[[[[BZYY i) Ii?f<  y?)) y? y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037080.023165 s, next control iter: 1743037080.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037080.423165 s.u)J~,(AJ"J*J2J:JBJnJvJA{Ga@A_(`;T@ADX\~? AgA.%"AAqNA"AZAbAjArAzAAA_o*j-@Am>@tA\j@AsJ<Ay=Aw>AG?A y?AXͼ*A*9?2A?Խ:A<=BA*9?JA?ԽRA<=I٘i)I9\j@YG J]ʼJJJJGE&K Y[~?y[PAEŧ7ŧ7pE9HB)BԹE[[ՈT>[x[~?[[[[[BZYY i) 9żIi?t)^< 2~?))2~?2~?"Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037080.463165 s, next control iter: 1743037080.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10579, header.stamp.nsec: 00 temperature: 13.568274* salinity: 33.375347, density: 1025.000000* values[0]: 0.573770F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037080.843165 s.݌)J~,5(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743037080.843294F (some fields omitted in printout)Ap= @A@ALq\~? A0A%"AAqNA"AZAbAjArAzAAA'p6r.@A3<$U7?tAĮi@Ar"<A=Ar>A@1?Aɨ?Aϼ*A09?2A}Խ:A{#=BA09?JA}ԽRA{#=٘i)I9i@Y9G JμJJJJIE&K Y[~?y{OAE77;G9GB)B׹E[[Xi>[[~?[ߪ[[[[BZYY i) \VͼIi?aV< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037080.863165 s, next control iter: 1743037081.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037081.263165 s.)J~,#P(AJ"J*J2J:J?BJ?nJ5vJA̩@A+P@A/\~? A A:$%"AAqNA"AZAbAjArAzAAAV5 /@Ax=tAh@A?;Av=A<>A>a?A`x?ADϼ*A9?2AZzս:ACN=BA9?JAZzսRACN=YMm>a>yX=7;ٓH?ۿ@ ;???C? H0@b?@&?)Mm> I٘i)I9h@Y G J@мJq0<JJJLE&Kt> Y\~?ysOA>EI9)B[[}>[@[~?[ ު[[[[BZYY i) AԼIiܞ?WK< E?))A:?AJ?AW%ϼ*A9?2A&ֽ:A-=BA9?JA&ֽRA-=٘i)I9Qh@Yd G JϼJJJJOE&K YN)\~?yNA DEJ9FB)BڹE[[W>[\~?[ܪ[[[[BZYY i) ۼIi?@< ݆?)) ݆?݆?zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037081.683165 s, next control iter: 1743037082.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037082.103165 s.)J~,К(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084148< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037082.103303F (some fields omitted in printout)AQ8@ASF+@Av\~? AA%"AAErNA"AZAbAjArAzAAA94u0@AnQ:tA g@ABCA$=A>A?A?AIϼ*A9?2AQԽ:A3=BA9?JAQԽRA3=٘i)I9g@Y G JnϼJJJJQE&K YB\~?yNAEb77L9) BݹE[[ ͓>['\~?[٪[[[[ZZ¸BZYY i¸6=) ϼIiT?u7< 0{?))0{?0{?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037082.123165 s, next control iter: 1743037082.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037082.523165 s.)J~,{(AAHzn@Ada@A\~? AAR%"AAjrNA"AZAbAjArAzAAA9c0@Aԕ&8tAyf@A;5Ar\=A?A?A@?AҼ*A9?2A ս:A*=BA9?JA սRA*=٘i)I9f@Y G JѼJJJJTE&K Y\\~?y* NAEfN9EB) BE[[S>[@\~?[gת[[[[ZZBZYY i) üIiۈ?*-/< ?))??Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037082.543165 s, next control iter: 1743037082.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10581, header.stamp.nsec: 00 temperature: 13.568673* salinity: 33.375381, density: 1025.000000* values[0]: 0.572309F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037082.943165 s.Wd)J~,>](AJ"J*J2J:JBJnJvJAq= ף@Aϖ@A\~? AA%"AArNA"AZAbAjArAzAAAY((0@AŇa 7tA.f@A[ӏAެ=AJ?AU?AF?A;*A9?2A+ս:At<BA9?JA+սRAt<٘i)I9.f@Y G J-B=JJJJWE&K Y~u\~?yUMAE771P9AB)BE[[[>[Y\~?[Ԫ[[[[ZZBZYY i) ƷIiB?(< Ž?))Ž?Ž?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037082.963165 s, next control iter: 1743037083.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037083.363165 s.)J~,y>צ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037083.363273F (some fields omitted in printout)A٪@AD̪@A]~? AAx0%"AA8rNA"AZAbAjArAzAAAx_0@A"A!5tAfSe@A;AK=A ?A`$?A?A*Aj9?2AIս:AXj<BAj9?JAIսRAXj. ?y陖=Qj;ٓH@I0? ;T??|D?n?β@r??)"> I٘i)I9Se@Y G JC=J7JJJYE&K&u> Y\~?y0MA ?E7{7Q9)B[[h>[q\~?[&Ҫ[[[[ZZBZYY i) v%Iit?< !b?))T){!b?!b?y=ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037083.383165 s, next control iter: 1743037083.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10582&, header.stamp.nsec: 0&0 temperature: 13.568907&* salinity: 33.375397&, density: 1025.000000&* values[0]: 0.571492&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037083.783165 s.U)J~,(AJ"J*J2J:JBJnJvJA(\@A*Q@A]~? AdAn%"AAkrNA"AZAbAjArAzAAA Ո=1@AR!3tA5}d@A/<A(p=A?A0Y?A`?A|*A9?2A@ս:A:lj<BA9?JA@սRA:lj<٘i)I9}d@Y G JJJJJ\E&K Y\~?yLAE77S9@B)BE[[7>[Z\~?[FϪ[[[[ZZBZYY i) uIiRd? < ;?)) ;?;?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037083.803165 s, next control iter: 1743037084.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037084.203165 s.)J~, (AAQE@A|+8@AR3]~? AA@%"AALrNA"AZAbAjArAzAAAJN_*V1@Aj- 1tAۻc@A&C4<A+=A9?A&?A9f?Aм*A:?2AAXԽ:A6W;BA:?JAAXԽRA6W;٘i)I9c@Y G J6JJJJ_E&K Y\~?yfLAE7U9?B)!BE[[>[Ţ\~?[8̪[[[[ZZBZYY i) -┼IiU?G< Y?))Y?Y?qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037084.223165 s, next control iter: 1743037084.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037084.623165 s.W)J~,]'(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037084.623292F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Am@AJ]~? AbA%"AAsNA"AZAbAjArAzAAA|&o1@ARb@.tAc@A;A˺<AX?A?Ah:?A*A:?2AԽ:A= BA:?JAԽRA= ٘i)I9c@Y7 G JJJJFJaE&K Y\~?y۪LAE777[W9>B)%BE[[Wa>['\~?[Ȫ[[[[ZZBZYY i) 0@Ii!I?)< C`?))C`?C`?Y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037084.643165 s, next control iter: 1743037085.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10583 , header.stamp.nsec: 0 0 temperature: 13.569190 * salinity: 33.375393 , density: 1025.000000 * values[0]: 0.570583 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037085.043165 s.¨)J~,B(AA= ף@AU@Aa]~? AA;%"AACsNA"AZAbAjArAzAAAVp&2@AJ ,tA?b@A!tAs;A!?Aͽ?A?AIv*A:?2ARԽ:AC"BA:?JARԽRAC"٘i)I9b@Y G JJJJJdE&K Y\~?yHתKAESI7SI7&Y9:B)[[,>[r\~?[Ū[[[[ZZBZYY i) "={Ii4>?"v; ?))??BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037085.083165 s, next control iter: 1743037085.443187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743037085.463165 s.Y)J~,](AJ"J*J2J:JBJnJvJAffff@Ao^٫@Ax]~? AAv%"AAesNA"AZAbAjArAzAAA}W2@AOǚ9*tA Db@A3AuA&?A%?A?Ar3*AF:?2AJ)ս:AщBAF:?JAJ)սRAщY,>&?ys@3ٓHs?dRd?t?n?`g΀?y ;?),> I٘i)I9Db@Y G JQB=J YL]~?yѪKA&?Eb77Z99B)'BE[[O>[X\~?[ª[[[[ZZBZYY iL{=) thIi,?; A?))}A?A? )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037085.503165 s, next control iter: 1743037085.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10584, header.stamp.nsec: 00 temperature: 13.569323* salinity: 33.375423, density: 1025.000000* values[0]: 0.570017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037085.883165 s.y)J~,Ix(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.247179> elevatorAngleAction: 0.061299< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037085.883280F (some fields omitted in printout)A(@Aod@AB]~? AA%"AApsNA"AZAbAjArAzAAA_2@AD 'tAb@AzPA9긼A++?AI?A?AƝ*A9?2Anս:A_BA9?JAnսRA_٘i)I9b@Y G JC=JJJJiE&K Y]~?y̪KAEZ7Z7\95B)%BE[[>[/]~?[J[[[[ZZBZYY iΓ=) UIi?; t?)) t?t??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037085.903165 s, next control iter: 1743037086.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037086.303165 s.U)J~,sg(AJ"J*J2J:JBJnJvJAQ@ArD@A]~? AA!%"AAsNA"AZAbAjArAzAAAC^2@AA?%tAIa@AυAA0?A` ?A`P?A8t9*A%:?2APԽ:AXԼBA%:?JAPԽRAXԼ٘i)I9a@Y G J=&JJJJlE&K YU1]~?y<ǪKAE77^94B)$BE[[ >[]~?[_[[[[BZYY i) (BIi?; -?))-?-?e>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037086.323165 s, next control iter: 1743037086.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10585., header.stamp.nsec: 0.0 temperature: 13.569304.* salinity: 33.375420., density: 1025.000000.* values[0]: 0.569839.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037086.723165 s.)J~,H(AAz@AQz@A]~? A]߫As%"AA elevatorAngleAction: 0.072171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743037087.143288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@Ak d@A]~? AګA%"AAsNA"AZAbAjArAzAAANpd3@AxptA1b@AV<A]An;?A N?A`"?A);*A9?2Aս:AНBA9?JAսRAН٘i)I91b@Y G JV;JJJJrE&K Y_^]~?yKAE777b93B)"BE[[I ?[J]~?[[[[[BZYY i) jIi>o; Ĭ?))Ĭ?Ĭ?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037087.163165 s, next control iter: 1743037087.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037087.563165 s.)J~,R (AA3333@A(@A]~? Aa֫A] %"AA[tNA"AZAbAjArAzAAA3@A8%tAmb@AG<A{AC@?A`D?A`?AF.<*A9?2Aս:A0BA9?JAսRA0Yd?G}@?yƮ{gG<ٓHT?`}?`Z?@Qp?? ?)d? I٘i)I9mb@Y G J<JJJJtE&Ku> Ys]~?y)LA}@?E{7{7c92B)BE[[C?[a]~?[[[[[BZYY i,i=)  Iio>z; f?))of?f?X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037087.583165 s, next control iter: 1743037087.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10586, header.stamp.nsec: 00 temperature: 13.569133* salinity: 33.375435, density: 1025.000000* values[0]: 0.570018F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037087.983165 s.)J~,(AJ"J*J2J:JBJnJvJA\(@AB@A8]~? AѫAz%"AA.tNA"AZAbAjArAzAAA]j3@AvrHtAb@A6<AAE?A ?A`o?Ab<*A9?2A_ֽ:A BA9?JA_ֽRA ٘i)I9b@Y G JF<JJJJwE&K Y]~?y~LAE)7ŧ7e9)B[[&<?[w]~?[[[[[BZYY i) |Ii>B_; &?)) &?&?л*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037088.023165 s, next control iter: 1743037088.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037088.403165 s.&*J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056927< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037088.403282F (some fields omitted in printout)AQ^@AլQ@A^~? A̫Am%"AANtNA"AZAbAjArAzAAA͞%4@AOd,1VtAw+c@Aly:AΓAJ?Ab?Av?As<*AY9?2ApԽ:ABAY9?JApԽRA٘i)I9+c@YB G JS}<JJJJzE&K YL]~?yzLAE{g9.B)BE[[2?[{]~?[>[[[[BZYY i) ۻIi>~=; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037088.423165 s, next control iter: 1743037088.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10587, header.stamp.nsec: 00 temperature: 13.568882* salinity: 33.375446, density: 1025.000000* values[0]: 0.570467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037088.823165 s. *J~,%4(AJ"J*J2J:JBJnJvJAGz@A!o@A%^~? AǫA6%"AA$ntNA"AZAbAjArAzAAA_q}0d4@AHOtAc@AAkOAO?AOm?A0?Aw<*A:?2AVԽ:A-1BA:?JAVԽRA-1٘i)I9c@Y G J<JJJJ|E&K Y]~?yu'MAE77Fi9-B)BE[[W ?[]~?[J[[[[BZYY i?=) *Iix>(; ?))??yi=*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037088.843165 s, next control iter: 1743037089.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037089.243165 s.*J~,uO(AAףp=ʭ@ACr2@A9^~? A«A%"AA"tNA"AZAbAjArAzAAAoף4@A(-o5tA8d@AGA<AT?Au"?A ?AF<*A :?2Aս:ABA :?JAսRA٘i)I98d@Y G J<JJJJE&K Y]~?yq{MAEj7j7k9) B[[%?[-]~?[([[[[BZYY i) IifQ>N; ‷?))‷?‷?yАi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037089.263165 s, next control iter: 1743037089.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037089.663165 s.*J~,qj(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066163< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037089.663318F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10588, header.stamp.nsec: 00 temperature: 13.568562* salinity: 33.375462, density: 1025.000000* values[0]: 0.571159F (some fields omitted in printout)A@A<@AM^~? AA%"AAtNA"AZAbAjArAzAAA 7B4@Ad^tA&d@Ag*AAvZ?A?AC?Agu<*A:?2Aս:AVLBA:?JAսRAVLY6"?OZ?y.+ٓH@?I ?@?`Kשf~?U?)6"? I٘i)I9d@YA G J<JJJJE&Ku> Y']~?yЗMAOZ?E7S7l9,B)BE[[~+?[]~?[픪[[[[BZYY i) .|IiY>`}: F?))GF?F?y~ψ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037089.683165 s, next control iter: 1743037090.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037090.083165 s.D!*J~, S(AA)\5@A$A(@Aa^~? AJAc%"AAtNA"AZAbAjArAzAAA 5@A@ tA?de@A/OAAx_?A?A@\?A~<*A :?2A)ֽ:A BA :?JA)ֽRA ٘i)I9de@Y G J<JJJJE&K Y]~?y/MNAE{7j7n9)B[[1?[I]~?[[[[[BZYY i)  @IiJ=uX: ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037090.103165 s, next control iter: 1743037090.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037090.503165 s.'*J~,H4(AJ"J*J2J:JBJnJvJARk@A#fy^@At^~? AղA%"AAtNA"AZAbAjArAzAAAkģS5@ArstA~e@AP;A8Ad?A!0?A ?AG<*A:?2Aս:AgBA:?JAսRAg٘i)I9e@Y G J~<JJJJE&K YL]~?yNAE77{7qp9(B)BE[[86?[]~?[艪[[[[BZYY i) Iit=`Ҫ9 ?))??*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037090.523165 s, next control iter: 1743037090.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10589, header.stamp.nsec: 00 temperature: 13.568151* salinity: 33.375458, density: 1025.000000* values[0]: 0.571948F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037090.923165 s.<.*J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066163< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743037090.923339F (some fields omitted in printout)A{G@A=>@A^~? ABA8%"AAuNA"AZAbAjArAzAAA >i?5@AD1 tAf@A?<ADANj?A?Ac?A!<*A:?2A,,ֽ:AیBA:?JA,,ֽRAی٘i)I9f@YO G Jܬ<B=JJJJE&K Y^~?y샪OAE77 Y2^~?yvOA elevatorAngleAction: 0.066163< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419996J2 time: 1743037092.183278F (some fields omitted in printout)"J*J2J:JBJnJvJA(\B@Ar5@A ^~? A֛A%"AA]WuNA"AZAbAjArAzAAAȲ26@A?isA"5h@AuAGABby?A@&?A>`?A <*A:?2A&ֽ:A5BA:?JA&ֽRA5٘i)I95h@YS G J<C=JJJJE&K YC^~?ynOPAE7777w9"B)B E[[lM?[L^~?[q[[[[BZYY i) =:Id I?iV%Ӻ $?))$?$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037092.203165 s, next control iter: 1743037092.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037092.603165 s.;4I*J~,&(AAQx@AӟHk@Ai^~? AΕA%"AAruNA"AZAbAjArAzAAA<}f6@A%pk޺sA`h@A/AXA{~?A?A`?AR<*A:?2A(ֽ:AcQBA:?JA(ֽRAcQ٘i)I9h@Y G JN<JJJJE&K YsS^~?ygPAEb77fy9!B)ۯB E[[(S?[X`^~?[vk[[[[BZYY i) );II?i`Ue l?))l?l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037092.623165 s, next control iter: 1743037093.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10591 , header.stamp.nsec: 0 0 temperature: 13.567431 * salinity: 33.375500 , density: 1025.000000 * values[0]: 0.573428 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037093.023165 s.ZP*J~,|A(AJ"J*J2J:JBJnJvJAHz@A @Ad^~? AA]t%"AAuNA"AZAbAjArAzAAAR,6@AҩsAOi@AXEALݍA[؁?AB?AX?A<*A_:?2AXֽ:A6BA_:?JAXֽRA6٘i)I9Oi@Y G J<JJJJE&K Yc^~?y`QAE71{9)֯B[[+X?[os^~?[d[[[[BZYY i) Ff;II?i}f" ?))??c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037093.043165 s, next control iter: 1743037093.423183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037093.443165 s. elevatorAngleAction: 0.066163< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037093.443279F (some fields omitted in printout)Aq= @A{p֯@A^~? AmA'%"AAuNA"AZAbAjArAzAAA7T{l6@A |@,sAi@A}ArAk?A@A?AN?A "<*A:?2A ֽ:ABA:?JA ֽRA٘i)I9i@YRG J<JJJJE&K Yt^~?ybY{QA E77{7|9 B)ѯBE[[^?[!^~?[^[[[[BZYY i) ڑ;ICI?i6iP7 V?))V?V?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037093.463165 s, next control iter: 1743037093.843180 s, wait time: 0.380015 st^~?)bYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10592, header.stamp.nsec: 00 temperature: 13.567084* salinity: 33.375523, density: 1025.000000* values[0]: 0.574141F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037093.863165 s.+]*J~,>w(AJ"J*J2J:J?BJ?nJ5vJA@A Y^~?yQQA.? E~9)ͯB[[yd?[4^~?[JW[[[[BZYY iМ=) ;IH?i] nL?))nL?nL?+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037093.883165 s, next control iter: 1743037094.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037094.283165 s.7Rd*J~,(AA(\O@AQB@A_~? A|A%"AAuNA"AZAbAjArAzAAA&6-7@A: \sAvj@A<AFA?A?A?A㭏<*A:?2AP׽:ADBA:?JAP׽RAD򼙘٘i)I9j@YG J=<JJJJE&K Y^~?y J3RAE9B)ůBE[[Ej?[^~?[GP[[[[BZYY i) Y;IAH?i Ǿ~ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037094.323165 s, next control iter: 1743037094.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10593., header.stamp.nsec: 0.0 temperature: 13.566762.* salinity: 33.375538., density: 1025.000000.* values[0]: 0.574809.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037094.703165 s.Ժj*J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037094.703276F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ax!x@A+ _~? AvAc%"AAuNA"AZAbAjArAzAAAhR P[7@Av`&_]sAIKk@A/K<AXAy?A r5?A`.?AWP<*A:?2AX׽:ABA:?JAX׽RA٘i)I9Kk@Y4G J5<B=JJJJE&K Yٝ^~?y`BRAE77\9B)BE[[5p?[9^~?[I[[[[BZYY i)  ;IMH?iSݾ ?))??*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743037094.723165 s, next control iter: 1743037095.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037095.123165 s.7q*J~,]ǩ(AAGẰ@A,խ@A /_~? ApoAl%"AAvNA"AZAbAjArAzAAAV7@AxBIOsAk@AR<A@AT?A`k?A _s?AL؈<*At :?2A|+׽:AzBAt :?JA|+׽RAz٘i)I9k@YzG J<C=JJJJE&K Y^~?y:RAE7{7&9)B[[u?[^~?[A[[[[BZYY i)  elevatorAngleAction: 0.076570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037095.963302F (some fields omitted in printout)Affff&@AÙ_@AuK_~? AaA>%"AA0vNA"AZAbAjArAzAAAɨD7@AxsAl@AA A(?A=?A?AT<*A=:?2AEֽ:ABA=:?JAEֽRAY]p?;?y$.ٓH`ۜ?N`>?@?`D*`? 䛀?)]p? I٘i)I9l@Y G J<B=J2JJJE&K{x> Y^~?y*SA;?E7779B)BE[[ڀ?[,^~?[2[[[[BZYY i) &)8@A "sAt#m@AJA(A?A@?A5?A5<*A9?2Aֽ:AxBA9?JAֽRAxI٘i)I9#m@YSG J<<C=JJJJE&K YO^~?y"TAE{7j79B)BE[[̃?[o^~?[*[[[[BZYY i) 5 elevatorAngleAction: 0.076570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037097.223281F (some fields omitted in printout)J"J*J2J:JBJnJvJAzDZ@A4𣺱@Ar_~? ALA#%"AAjmvNA"AZAbAjArAzAAAIWU8@AG;sAn@A(+AUA ?AxU?A3?A<*A~9?2A׽:Ae BA~9?JA׽RAe ٘i)I9n@YG Jו<JJJJE&K Y^~?yTA#E77j79)B[[?[z_~?[[[[[BZYY i)  uTAM%"AAKvNA"AZAbAjArAzAAA*M8@A|[tsAo@AA<AAe?A ?A?A<*A9?2ASm׽:A BA9?JASm׽RA YO Y^~?yTUAH?(E77{79)B[[ﲏ?[23_~?[ [[[[BZYY i) s elevatorAngleAction: 0.076570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037098.483288F (some fields omitted in printout)A\h@A[@A_~? A:7A'%"AAvNA"AZAbAjArAzAAA138@AisAzo@A6<ASA?Aҽ?A R?A|7<*A19?2AH׽:A BA19?JAH׽RA ٘i)I9o@YG Jk<JJJJE&K Y_~?yUA+Eŧ7b7|9)B[[?[?_~?[l[[[[BZYY i) i' elevatorAngleAction: 0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037099.743292F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @A&2@Ai_~? A A[%"AAXvNA"AZAbAjArAzAAATcw9@A; !csA=q@A5AA#?A?A?A6<*A`9?2Atֽ:AlBA`9?JAtֽRAl٘i)I9=q@YG J<JJJJE&K Yz_~?yWA3E77ܗ9)B[[Ǽ?[a_~?[[[[[BZYY i) X YU#_~?y0ة~WAQ?6Eb779)}B[[?[k_~?[ߩ[[[[BZYY i) c۱<*A9?2Auֽ:ABA9?JAuֽRA٘i)I9er@YG Jo<JJJJE&K Y0)_~?yϩWA8Ej7j7q9 B)vBE[[ơ?[t_~?[ש[[[[BZYY i) צ elevatorAngleAction: 0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037101.003284F (some fields omitted in printout)AR@AsV{@A_~? A AE%"AA]vNA"AZAbAjArAzAAA/]l9@AnYusAmr@A^;AA?AR?A@Y?AA<*A9?2AB׽:A1BA9?JAB׽RA1٘i)I9r@YG J<JJJJE&K Y /_~?yƩUXA;E77<9)qB[[Ѥ?[}_~?[Ω[[[[BZYY i) LG J<JJJJE&K Y4_~?y\XA>E77{79B)kBE[[ ߧ?[Å_~?[ ũ[[[[BZYY i) H?i@$ 6@))6@6@6*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037101.863165 s, next control iter: 1743037102.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037102.263165 s.J "J *J 2J :J n?*J~BJn?nJ5,0ؐ(AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037102.263286F (some fields omitted in printout)AL@A;?@AV_~? AAJY%"AAvwNA"AZAbAjArAzAAA-Bp99@AR&?sAyt@A/<ASAOq?A A?A@?AU<*A9?2Aֽ:ABA9?JAֽRAY=N?Z?y*RS<ٓH$D? fpDL`?`/?N?ŀ?g?)=N? I٘i)I9t@YG J-<JzJJJE&KDx> Y=_~?yYAZ?CEj7Z79B)_BE[[a?[ԓ_~?[IJ[[[[BZYY i) } elevatorAngleAction: 0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743037103.523344F (some fields omitted in printout)A= ף@A@A_~? AڪA,%"AA9wNA"AZAbAjArAzAAA7y;;9@AS#sAv@A(JA҅A'?A ?AA ?Aa<*A9?2A?ֽ:A BA9?JA?ֽRA ٘i)I9v@Y7G J<B=JJJJE&K YF_~?yÒZAKEŧ7b79)OB[[1?[_~?[Ֆ[[[[BZYY i) S(AAY@A2L@A3_~? AJ˪A[&"AAGwNA"AZAbAjArAzAAAFt 9@ARzsAA1x@A-AWlA]?A Cػ?A@3?A @<*A٠9?2A ֽ:ABA٠9?JA ֽRAY+W?yc?y?l _ٓHvu?[d?Gv? '?D{`?)+W? I٘i)I91x@YG J<JTJJJE&KLx> YI_~?y;[Ac?PESI7SI79)BB[[Z?[_~?[[[[[ZZZZ¸>BZYY i¸>") v YG_~?yGU^Ar?^E79) B[[!?[v_~?[QT[[[[ZZZZBZYY ioQ) wA?AXr?A`u?AY<*A?9?2ABֽ:As<BA?9?JABֽRAs<٘i)I9F}@Y'G J)<JJJJE&K Y_B_~?yC^AcEZ7Z79)B[[+?["_~?[!A[[[[ZZZZBZYY i) JJJE&Kv> YW7_~?y)^Ah?kE7777|9B)BE[[y?[_~?[u$[[[[BZYY ik) IM(AJ"J*J2J:JBJnJvJA\@A@x@A`~? ArA[&"AA\wNA"AZAbAjArAzAAAӯ*:@Av=DsA}@AE<A3=A?A@Af?A]wa*Aj9?2A0ֽ:A| <BAj9?JA0ֽRA| <٘i)I9}@YG J֋B=JJJJE&K Y1_~?y ^AnEb7b7G9)[[?[v_~?[[[[[BZYY i/) ;P |m%@))|m%@|m%@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037110.283165 s, next control iter: 1743037110.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037110.663165 s.j+J~,q(AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10609, header.stamp.nsec: 00 temperature: 13.562491* salinity: 33.375591, density: 1025.000000* values[0]: 0.584673F (some fields omitted in printout)A@Akr@A_~? ARA\ &"AAGLwNA"AZAbAjArAzAAA M9@A_kq0sAq|@A?A%=AM?A NA-?A*A9?2Aֽ:AI =BA9?JAֽRAI =Yc?Fp?y$#=_+@ٓHҿ ^.? ҿO?`(?)c? I٘i)I9|@YG JlB=J=JJJE&Kx> Y_~?y~]Ap?yEb77rƈ9)B[[!?[߀_~?[^[[[[BZYY il) *;I4F?iRnUR *&@))*&@*&@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037110.683165 s, next control iter: 1743037111.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037111.083165 s.Eq+J~,&Sŭ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057848< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743037111.083284F (some fields omitted in printout)A)\µ@A, @A_~? AJA* &"AA.FwNA"AZAbAjArAzAAA6|9@AwdY+sAea|@AmAc-=A1?AJAa?Az*A/9?2A"ֽ:Am=BA/9?JA"ֽRAm=٘i)I9a|@YG JC=JJJJ E&K Yc_~?y[]A{Ej7Z7=Ȉ9)B[[NB?['x_~?["[[[[BZYY i) ;I{F?i褿S 1(@))1(@1(@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037111.103165 s, next control iter: 1743037111.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037111.503165 s.w+J~,H4(AJ"J*J2J:JBJnJvJAR@A?n|޸@A_~? ABAU &"AAL?wNA"AZAbAjArAzAAAs9@Av0&sA{@ADA=A?A`d¿A?Aa*Ad9?2Azֽ:A=BAd9?JAzֽRA=٘i)I9{@YLG JJJJJ E&K Y _~?y\A~Eb77ʈ9B)!BE[[c?[n_~?[[[[[BZYY i) -;I˾F?iq|R *@))*@*@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037111.543165 s, next control iter: 1743037111.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10610, header.stamp.nsec: 00 temperature: 13.562712* salinity: 33.375599, density: 1025.000000* values[0]: 0.584137F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037111.923165 s.A~+J~,(AA{G!@A>@Ae_~? A:A_ &"AA7wNA"AZAbAjArAzAAA=O9@A}!sAN{@A;A~&=A-?AC>ĿA?A*A9?2Ad;ֽ:Am=BA9?JAd;ֽRAm=٘i)I9N{@YG J}JJJJE&K Y^~?yB\AEˈ9)&B[[?[d_~?[٨[[[[BZYY i) ~;IHF?i\P B+@))B+@B+@ymPتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037111.943165 s, next control iter: 1743037112.323187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743037112.343165 s.<+J~,(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057848< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743037112.343287F (some fields omitted in printout)Ap= W@AKiI@A_~? A 3A &"AA0/wNA"AZAbAjArAzAAAʔ9@At-sA]z@A=<Au=Aü?A@ƿA?A=䷼*AB9?2AD.ֽ:A8 =BAB9?JAD.ֽRA8 =٘i)I9z@YG J_JJJJE&K Y]^~?yܨ8\AE7{7͈9)+B[[?[Y_~?[Ш[[[[BZYY i) yk;I F?i`GM 4*-@))4*-@4*-@yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037112.383165 s, next control iter: 1743037112.743179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10611*, header.stamp.nsec: 0*0 temperature: 13.383883** salinity: 33.391594*, density: 1025.000000** values[0]: 0.708626*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037112.763165 s.6+J~,0(AǍ@At]@A._~? A5+AJ &"AA%wNA"AZAbAjArAzAAA3T9@A4fsA8z@A>$<Ao=AB\?A_ǿA@d?A@*A9?2A[ֽ:Ai=BA9?JA[ֽRAi=Yh?u?ys=$<ٓH"ؿ v@8@'_?`ؿܴ?*;?p?)h? II٘i)I9z@Y9G JJ;<JJJE&Kw> YT^~?yԨ[Au?E7gψ9B)1B E[[?[3N_~?[Ǩ[[[[BZYY i) R/;IF?i"@N L.@))L.@L.@2ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037112.803165 s, next control iter: 1743037113.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037113.183165 s.J "J *J 2J :J @5?BJ @5?nJ >5vJ ˒+J~,kK(AA(\¹@Au׃@AM_~? Ak#A+ &"AAwNA"AZAbAjArAzAAA7’9@AN)sAZy@AmO;A`=A?A ɿA?AL*A69?2Aϫֽ:A=BA69?JAϫֽRA=٘i)I9y@YG JJJJJE&K YK^~?y̨j[AE{7{72ш9)6B E[[?[A_~?[+[[[[BZYY i蠈) %:ImyF?i٠BM ?0@))?0@?0@KϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037113.203165 s, next control iter: 1743037113.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037113.603165 s.94+J~,f(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037113.603285F (some fields omitted in printout)AQ@AzF@A_~? AA &"AA-wNA"AZAbAjArAzAAAjW|9@AMsAEx@AEA*=A@A˿Ap?A]5*A9?2A9ֽ:A<BA9?JA9ֽRA<٘i)I9x@YG JJJJJE&K YB^~?yĨ[AE77҈9):B[[d@[5_~?[s[[[[BZYY i) 'Z:IFhF?iA/L F1@))F1@F1@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037113.643165 s, next control iter: 1743037114.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10612 , header.stamp.nsec: 0 0 temperature: 13.384170 * salinity: 33.391602 , density: 1025.000000 * values[0]: 0.707375 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037114.023165 s.Z+J~, |(AJ"J*J2J:JBJnJvJAHz.@Ae!@A_~? AAWZ&"AAwNA"AZAbAjArAzAAAb_d9@AUu{8 sA6dx@A6AU<=A'0@A>ͿA@J?A*A9?2A#׽:Aˢ<BA9?JA#׽RAˢ<٘i)I9dx@Y-G JJJJJE&K Y:^~?ypZAE77Ԉ9B)@BE[[@['_~?[ۭ[[[[BZYY i) xβIaWF?i%%I JY3@))JY3@JY3@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037114.043165 s, next control iter: 1743037114.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037114.443165 s.;æ+J~,O](AAq= c@Aj-V@A_~? AU A,&"AAGvNA"AZAbAjArAzAAA%J9@AsA{w@Af5A)=Aa}@AOϿAy#?A8*A9?2A3׽:A<BA9?JA3׽RA<٘i)I9w@YG JΜJJJJ E&K Y1^~?yU3ZAE77{7ֈ9)DB[[@[V_~?[d[[[[BZYY i) &ЃIFF?iD 4@))4@4@yǝӿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037114.483165 s, next control iter: 1743037114.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10613, header.stamp.nsec: 00 temperature: 13.384455* salinity: 33.391609, density: 1025.000000* values[0]: 0.706201F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037114.863165 s.++J~,>(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: -0.066713< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743037114.863333F (some fields omitted in printout)A@A>@A_~? AA&"AA/vNA"AZAbAjArAzAAA/9@A~QsA`w@AA=A;@AпA?A򀖼*AO9?2Aֽ:A7<BAO9?JAֽRA7 Y^~?yYA@Eŧ7b7]؈9B)IBE[[@[x _~?[[[[[BZYY i) IT6F?iPD p6@))p6@p6@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037114.883165 s, next control iter: 1743037115.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037115.283165 s.I%F?i\7C 7@))7@7@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037115.303165 s, next control iter: 1743037115.683180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106142, header.stamp.nsec: 020 temperature: 13.3846742* salinity: 33.3916592, density: 1025.0000002* values[0]: 0.7051242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037115.703165 s.׺+J~,(AJ"J*J2J:JBJnJvJAQ@A;5@Ab_~? AAE&"AAvNA"AZAbAjArAzAAA[&W8@AHrAfv@A~&<A=AN@AOҿA'?Ac*A9?2Afֽ:A><BA9?JAfֽRA><٘i)I9fv@YG J:C=JJJJ(E&K YN^~?y. YAEŧ7b7ۈ9)RB[[@[^~?[[[[[BZYY i) <Av=A'@A/ӿAo?A*Ah9?2Atֽ:Au<BAh9?JAtֽRAu<٘i)I9u@YG JJJJJ+E&K Y^~?yxXAE77݈9B)XBE[[TN @[)^~?[[[[[BZYY i) &HIF?i"T< |;@))|;@|;@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037116.143165 s, next control iter: 1743037116.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037116.543165 s.J I+J~"J*J,"(A2J:Ja4?BJa4?nJ$=5vJA= ףp@A c@A&_~? AA&"AA^vNA"AZAbAjArAzAAA:=8@Ag\rAuu@AfH;AC=A @A`ԿA Yk^~?yXAB @E77{7R9 B)aBE[[d @[ ^~?[#u[[[[BZYY i) ۻIQE?i5 +(>@))+(>@+(>@vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037116.983165 s, next control iter: 1743037117.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037117.383165 s.+J~,DX(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076327< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J*J dt: 0.4199812J2 time: 1743037117.383290:JF (some fields omitted in printout)BJnJvJA(ܻ@A(>ϻ@Az_~? AةA&"AA vNA"AZAbAjArAzAAA`7Wn8@A,NrAft@AɋA~=A @A տA?A}{*A9?2A%׽:AUH<BA9?JA%׽RAUH<٘i)I9t@YG J+JJJJ3E&K Y[^~?yCWAEŧ7b79)eB[[@[^~?[m[[[[BZYY i) |MICE?i Y@3 ?@))?@?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037117.403165 s, next control iter: 1743037117.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10616", header.stamp.nsec: 0"0 temperature: 13.385159"* salinity: 33.391678", density: 1025.000000"* values[0]: 0.703131"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037117.803165 s.A+J~,gs(AA@A@An_~? AeѩAt&"AA{vNA"AZAbAjArAzAAA&DoI8@ArerA-t@AAAC8=AR @AֿA@/?A +x*A9?2A.&׽:A<BA9?JA.&׽RA<٘i)I9-t@YG JxB=JJJJ6E&K YK^~?yxdWAE77{79 B)jBE[[x@[^~?[.f[[[[BZYY i) 'd IE?ip/ ;A@));A@;A@y<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037117.823165 s, next control iter: 1743037118.203187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743037118.223165 s.J "J *J 2J :J 3?BJ 3?nJ <5vJ g+J~,H(AAzG@Ag':@Aa_~? AZʩA&"AAhvNA"AZAbAjArAzAAA\|"8@AWHGrA!s@A A=A 4@Au׿A`W?Ai}*A9?2A%ֽ:A<BA9?JA%ֽRA<٘i)I9s@Y]G JyC=JJJJ8E&K Y;^~?yp WAE9)mB[[@[)~^~?[^[[[[BZYY i) I7E?iQ* {B@)){B@{B@ᷪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037118.243165 s, next control iter: 1743037118.623182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037118.643165 s.~+J~,(*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037118.643320F (some fields omitted in printout)A ףp}@Adp@AT_~? AdéAڇ&"AA1UvNA"AZAbAjArAzAAA07@A'rAXs@AbAOr=Ax@AFؿA`?A *A9?2Aֽ:An=BA9?JAֽRAn=٘i)I9Xs@YG JEJJJJ;E&K Y+^~?yiVAE7)7}9B)sBE[[C@[@j^~?[W[[[[BZYY i) p,IsE?i # ND@))ND@ND@YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10617, header.stamp.nsec: 00 temperature: 13.385353* salinity: 33.391659, density: 1025.000000* values[0]: 0.702237FF (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743037118.663165 s, next control iter: 1743037119.043184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743037119.063165 s.+J~,_ į(AJ"J*J2J:J3?BJ3?nJ<5vJA3333@A)9'@A G_~? AA&"AA@vNA"AZAbAjArAzAAA R@7@A>q+rAPr@A;A=^=A@A-ٿA`?A*A 9?2Aiֽ:Aܰ=BA 9?JAiֽRAܰ=Yy@@y3]=i;ٓH) W ءF??5h(B??)y@ I٘i)I9r@YG JJH<<JJJ>E&Kx> YU^~?ybXVA@Eb7b7H9)vB[[@[U^~?[P[[[[BZYY i) Sxۼ@A8_~? AA}&"AA+vNA"AZAbAjArAzAAA/1a{7@A (AAGzT@AqG@Aj_~? AnA.&"AAuNA"AZAbAjArAzAAA[vL7@AIrAuq@A30;AW =A@AsۿA ?Au"*Av9?2Aֽ:Aء =BAv9?JAֽRAء =٘i)I9uq@YG JJJJJFE&K YJ]~?yN?UAE7779B)BE[[1@[z^~?[M=[[[[BZYY i) AjIJyE?iOff G))GjJ@IʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037120.343165 s, next control iter: 1743037120.723178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10619., header.stamp.nsec: 0.0 temperature: 13.385818.* salinity: 33.391689., density: 1025.000000.* values[0]: 0.700301.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037120.743165 s.W ,J~,y/(AJ"J*J2J:JF3?BJF3?nJ;5vJAףp=@A$P2}@A _~? A졩A@&"AAuNA"AZAbAjArAzAAAq57@A>rAp@AJAX=A@A:ܿAw?A*A$9?2A׽:A =BA$9?JA׽RA =٘i)I9p@YG JJJJJIE&K Y]~?y HTAE77r9B)BE[[ @[Q]~?[ 7[[[[BZYY i.() 5zImE?iZ /F))/FK@qͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037120.763165 s, next control iter: 1743037121.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037121.163165 s.{},J~,qJ(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: 0.4199742 time: 1743037121.163288F (some fields omitted in printout)A@A@A(^~? AAf&"AA%uNA"AZAbAjArAzAAAk+6@A Y]~?yA|TAJ@ DE77{7=9]~?)A)B[[@[]~?[1[[[[BZYY i) 8IbE?iU -D))-DsM@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037121.203165 s, next control iter: 1743037121.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037121.583165 s.,J~,Se(AJ"J*J2J:J"3?BJ"3?nJ;5vJA)\@ADв@A^~? A6A&"AAظuNA"AZAbAjArAzAAAUfݼ6@A{L@ؼrAo@A#0ATD=A@AXݿA)?A*A9?2A ׽:A8 =BA9?JA ׽RA8 =٘i)I9o@Y G JJJJJNE&K Y]~?y;TAEŧ7b79B)BE[[%@[y]~?[:+[[[[BZYY i) >IVE?i)O (C))(CN@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037121.603165 s, next control iter: 1743037121.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10620, header.stamp.nsec: 00 temperature: 13.386059* salinity: 33.391705, density: 1025.000000* values[0]: 0.699246F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037122.003165 s.z ,J~,U4(AAR+@A"rz@A9^~? AA&"AAuNA"AZAbAjArAzAAAaT6@Ae]rApo@A)<A z=A#@Au޿Aw?Ac*Aĭ9?2Aֽ:Apn=BAĭ9?JAֽRApn=٘i)I9po@YG JJB=JJJJQE&K Y]~?y5SAE779)B[[(@[]~?[%[[[[BZYY i) ГI9LE?iQFf kA))kAJzP@ySvتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037122.023165 s, next control iter: 1743037122.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037122.423165 s.u&,J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085526J< massPositionAction: 0.000000"J*J4 buoyancyAction: 0.0005002J dt: 0.419983:JBJ2 time: 1743037122.423289F (some fields omitted in printout)nJvJA{Ga@A~]~?y/KSAEZ7Z79B)BE[[`$!@[J]~?[ [[[[BZYY i) bI%BE?i|;5 "@))"@Q@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037122.443165 s, next control iter: 1743037122.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10621", header.stamp.nsec: 0"0 temperature: 13.386325"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.698162"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037122.843165 s.,,J~,(AAp= @A9@A^~? AA|&"AABluNA"AZAbAjArAzAAAȔ!6@Ap@yrARn@A]D-<A=A@+?@`~:?`Ѵ@3?`P?)@ I٘i)I9m@YG JJ <JJJYE&K x> YS]~?yA$uRA@E7729)B[[$$@[q]~?[[[[[BZYY i) RI/E?i(l׻ !=))!=0T@/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037123.283165 s, next control iter: 1743037123.663177 s, wait time: 0.380012 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 106226, header.stamp.nsec: 060 temperature: 13.3865956* salinity: 33.3917316, density: 1025.0000006* values[0]: 0.6970016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037123.683165 s.l:,J~,R(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: 0.4199902 time: 1743037123.683269F (some fields omitted in printout)A(\@ACn@A^~? ANwAgb&"AA?6uNA"AZAbAjArAzAAAV5@AvꖪrAm@A ;AQ=A @A@5A@u?Avw*A9?2A%ֽ:A=BA9?JA%ֽRA=٘i)I9m@YPG J JJJJ[E&K Y<=]~?yRAEb779B)B޹E[[%@[Y]~?[[[[[BZYY i) &I'E?ir ^ͻ ;));}V@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037123.683165 s, next control iter: 1743037124.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743037124.103165 s.A,J~,(AJ"J*J2J:JBJnJvJAQ8@AzF+@A^~? AqA&"AA_uNA"AZAbAjArAzAAATW{5@AuYu%rAl@AA=AEk!@A1A6?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@YG JgJJJJ^E&K Y&]~?yvQAE7779B)B۹E[[#'@[@]~?[' [[[[BZYY i) IE?i]w #:))#:W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037124.123165 s, next control iter: 1743037124.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037124.523165 s.G,J~,{!(AAHzn@A#=a@Ao^~? A$lA>&"AAtNA"AZAbAjArAzAAAxB5@A*ƣrAk@A`AW=A"@AYHA`V?A9*A9?2A׽:A>=BA9?JA׽RA>=٘i)I9k@YG JJJJJaE&K  9Y]~? 9y%QAE79)B[[z(@[&]~?[[[[[BZYY i) lIE?iS v ߤ8))ߤ8zY@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037124.543165 s, next control iter: 1743037124.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10623, header.stamp.nsec: 00 temperature: 13.386878* salinity: 33.391724, density: 1025.000000* values[0]: 0.695742F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037124.943165 s.XdN,J~,B]<(AJ"J*J2J:J2?BJ2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037124.943294F (some fields omitted in printout)Aq= ף@Ak˖@A[^~? AfA&"AAtNA"AZAbAjArAzAAA] `5@A[Q\{rA=k@A`AA|f=A$@A`A?AXü*Au9?2A5 ׽:AH7=BAu9?JA5 ׽RAH7=٘i)I9=k@Y,G JJJJJcE&K Y_\~?yPAE7]9 B)ƯB׹E[[,*@[v ]~?[`[[[[BZYY i) ǼIE?i{) '7))'7Z@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037124.983165 s, next control iter: 1743037125.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037125.363165 s.U,J~,}>W(AAٿ@A]2̿@AH^~? AxaA&"AAltNA"AZAbAjArAzAAALm?4@AbACrAwj@A)A=A[%@A`<AG?Aɼ*AU9?2A`ֽ:A=BAU9?JA`ֽRA=Y J@.P%@y=>ٓH` ?%? Hw?) J@ I٘i)I9j@YG JƼB=J_<JJJfE&Kx> Yr\~?y =PAP%@E7(9$B)ϯBԹE[[i{+@[\~?[@[[[[BZYY i) ϼI E?i&꾉Hە 5))5s\@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037125.403165 s, next control iter: 1743037125.763176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10624*, header.stamp.nsec: 0*0 temperature: 13.387180** salinity: 33.391708*, density: 1025.000000** values[0]: 0.694440*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037125.783165 s.Y[,J~,r(AJ"J*J2J:J1?BJ1?nJi:5vJA(\@AJP@A4^~? AR\Aw&"AAatNA"AZAbAjArAzAAAr🕏4@A(rA i@A"AHG=AO&@A5A?AeѼ*A9?2A mֽ:Am=BA9?JA mֽRAm=٘i)I9i@Y^G J8ͼC=JJJJiE&K Y\~?yXOAE7ŧ79&B)֯BѹE[[,@[\~?[S[[[[BZYY i) 7ּIE?i׾i 14))14]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037125.823165 s, next control iter: 1743037126.183179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037126.203165 s.c,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: 0.4199942 time: 1743037126.203290F (some fields omitted in printout)AQE@A8@A^~? ALWA-&"AAՆtNA"AZAbAjArAzAAA9+Q4@A_U rA8i@A,<A=A'@AA`?AHؼ*A!9?2Aa#ֽ:A=BA!9?JAa#ֽRA=٘i)I98i@Y G JԼJJJJlE&K Y\~?yNOAE7779)ܯB[[&f.@[\~?[[[[[BZYY i) vkݼID?ie̋w 2))2'h_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037126.243165 s, next control iter: 1743037126.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037126.623165 s.Xi,J~,a⧱(AJ"J*J2J:JBJnJvJAGz@A;sm@A ^~? AgRA <&"AAgtNA"AZAbAjArAzAAAFXM4@AhrAh@AoB<ASf=A&)@A A ?A ܼ*A9?2A@ֽ:Ac=BA9?JA@ֽRAc=٘i)I9h@Y G JڼJJJJnE&K Y\~?yNAE77 9'B)BιE[["/@[D\~?[[[[[ZZ¸BZYY i¸r=) JjѼID?i; V R>1))R>1c`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037126.663165 s, next control iter: 1743037127.023177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10625, header.stamp.nsec: 00 temperature: 13.387544* salinity: 33.391743, density: 1025.000000* values[0]: 0.693079F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037127.043165 s.p,J~,±(AA= ף@Ac@A!]~? AMA&"AAGHtNA"AZAbAjArAzAAA|3i3@A-HD(rAg@Av=<AѶ=Aw*@AA@H?AѸݼ*A&9?2AHDֽ:ALm=BA&9?JAHDֽRALm=٘i)I9g@Y G JzݼJJJJqE&K Yǂ\~?y]^NAE777S 9)B)B˹E[[oG1@[\~?[[[[[ZZBZYY i) gżIaD?iC/ Z/))Z/[Yb@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037127.083165 s, next control iter: 1743037127.443176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037127.463165 s._w,J~, ݱ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037127.463290F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A[@A]~? AIAT&"AAJ(tNA"AZAbAjArAzAAA93@A 6UrAf@A ;Ajծ=A+@A@UA{?Ap*A9?2A.ֽ:A/ <BA9?JA.ֽRA/ Yui\~?y{MA+@Ej7Z79*B)BȹE[[2@[Ap\~?[[[[[ZZBZYY i) rI"D?izq O.))O.c@jYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037127.503165 s, next control iter: 1743037127.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10626, header.stamp.nsec: 00 temperature: 13.387872* salinity: 33.391743, density: 1025.000000* values[0]: 0.691637F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037127.883165 s.y},J~,<(AA(@AU@AJ]~? ADAsO&"AAtNA"AZAbAjArAzAAAWQ3@AތrAMf@A"hջAW=A1(-@AAȮ?A*Aƛ9?2Aֽ:AN<BAƛ9?JAֽRAN<٘i)I9f@Y G JUJJJJvE&K Y$P\~?ysMAE{7{79,B)BǹE[[*4@[qU\~?[[[[[ZZBZYY i) }IoD?iH`| x,))x,=Fe@y>\=1ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037127.903165 s, next control iter: 1743037128.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037128.303165 s.Z,J~,g(AJ"J*J2J:JBJnJvJAQ@Ak&D@Ao]~? A+@A&"AAsNA"AZAbAjArAzAAA!{ 3@A rAKe@A9DAt=Az.@A@A?A=*A9?2Aֽ:ALZ<BA9?JAֽRALZ<٘i)I9Ke@Y G JJJJJyE&K Y6\~?yLAEŧ7ŧ79-B)BĹE[[@5@[:\~?[[[[[ZZBZYY i) IcD?iiú c+))c+f@cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037128.323165 s, next control iter: 1743037128.703179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10627., header.stamp.nsec: 0.0 temperature: 13.388247.* salinity: 33.391727., density: 1025.000000.* values[0]: 0.689961.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037128.723165 s. ,J~,H.(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037128.723277F (some fields omitted in printout)Az@Ap`rz@AJ]~? A;A&"AAsNA"AZAbAjArAzAAAB(\p2@AA5]rAnd@A~;Ak0=AX/@A`A?Au̼*A9?2A*ֽ:A;BA9?JA*ֽRA;I٘i)I9d@Y G JCJJJJ|E&K Y\~?yLAE777}9.B) BE[[7@[\~?[w[[[[ZZBZYY i) `ID?i.w ))))0h@mxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037128.763165 s, next control iter: 1743037129.123189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743037129.143165 s.X/,J~,*I(AJ"J*J2J:Jp0?BJp0?nJ95vJA ףp@Ad@A߈]~? A7AJ&"AAsNA"AZAbAjArAzAAA2>x2@A=GrAc@AA4<A1@A`^[A>?A(*A29?2Aֽ:AIBA29?JAֽRAI٘i)I9c@Y G JJJJJ~E&K Y0\~?yLAE77H90B)BE[[l8@[\~?[$[[[[ZZBZYY i) ID?i&ϩ |())|(i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037129.163165 s, next control iter: 1743037129.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037129.563165 s.,J~,F d(AA3333@A:*@A0r]~? A3A&"AAsNA"AZAbAjArAzAAAhŰC2@Az{rAlc@A`;Apy<AX2@AAi?A8*A@9?2Aֽ:A/BA@9?JAֽRA/YS$@=Y2@y4y<u`;ٓH' =ֿ U=?\@z?O@l??)S$@ I٘i)I9lc@Yi G JB=J9JJJE&Kvx> Y[~?yLAY2@E791B)BE[[>9@[[~?[[[[[ZZBZYY i==) ID?iR;r8  ')) '0k@IlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037129.583165 s, next control iter: 1743037129.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10628, header.stamp.nsec: 00 temperature: 13.388590* salinity: 33.391743, density: 1025.000000* values[0]: 0.688579F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037129.983165 s.,J~,~(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037129.983302F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A@A?[]~? A*0Ao&"AA)_sNA"AZAbAjArAzAAADt!1@AOa+rA c@A"<AӻA93@A@A?A%=*Aԣ9?2Aֽ:AjyBAԣ9?JAֽRAjy٘i)I9 c@Y- G JkC=JJJJE&K Y[~?yݧKAE793B)BE[[E;@[A[~?[ߧ[[[[ZZBZYY i =) kISD?iA==R?9 %))%l@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037130.003165 s, next control iter: 1743037130.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037130.403165 s.&,J~,͙(AAQ^@AuQ@AD]~? A,A- &"AA66@A,?A ?AD*AԚ9?2Ayֽ:AʼBAԚ9?JAyֽRAʼ٘i)I9b@Y G JWJJJJE&K Y[~?yקKAEs94B)BE[[(>@[ȗ[~?[ۧ[[[[BZYY i) MDID?i>: ش"))ش"jo@y4r=5*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743037130.843165 s, next control iter: 1743037131.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037131.243165 s.,J~,~ϲ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037131.243286F (some fields omitted in printout)Aףp=@A=`2@A]~? A%Aܵ &"AA=rNA"AZAbAjArAzAAA`)1@A,.xrAb@A"Aq4A7@A qA`?Aa;*A9?2A7ֽ:A?BA9?JA7ֽRA?켙٘i)I9b@Y G JQ:JJJJE&K Yq[~?yԧKAEb7>95B) BE[[x?@[|[~?[Qڧ[[[[BZYY i) j0ID?iN`>; E!))E!p@r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037131.263165 s, next control iter: 1743037131.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037131.663165 s.,J~,q(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10630, header.stamp.nsec: 00 temperature: 13.388876* salinity: 33.391758, density: 1025.000000* values[0]: 0.687516F (some fields omitted in printout)A@A^@A\~? A{"A &"AA@rNA"AZAbAjArAzAAAX+ɺ0@A@vrA^b@AX_AZA8@A@A$?A;*Ax9?2Aֽ:A>BAx9?JAֽRA>٘i)I9b@Y G J;JJJJE&K Yd[~?yѧKAE77 97B)E[[`@@[a[~?[$٧[[[[BZYY i) 5ID?i>>; u))u@Gr@u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037131.683165 s, next control iter: 1743037132.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037132.083165 s.D,J~,S(AA)\5@A7(@A \~? AoA3!&"AArNA"AZAbAjArAzAAAZ}—0@ABtrAc@ADAX#zA:@AaA`C?A^8<*AU9?2Aֽ:A~ BAU9?JAֽRA~ ٘i)I9c@Y7 G J<JJJJE&K YYJ[~?y}ΧKAE7777!99B)E[[c6B@[G[~?[(ا[[[[BZYY i)  ID?ik>aur;  elevatorAngleAction: 0.075234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743037132.503259F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@Az^@A\~? AAJm!&"AAUrNA"AZAbAjArAzAAAA\3N0@Aܤ0srANpc@AAAf;@A$A^?Af<*A#9?2AU:ֽ:ABA#9?JAU:ֽRA٘i)I9pc@Yl G JSN<JJJJE&K Y/[~?yl˧KAE7{7#9:B)BE[[C@[,[~?[[ק[[[[BZYY i) I(E?ic>P^; C))Cru@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037132.523165 s, next control iter: 1743037132.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10631, header.stamp.nsec: 00 temperature: 13.388818* salinity: 33.391762, density: 1025.000000* values[0]: 0.687819F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037132.923165 s.8,J~,;(AA{G@A;@AV\~? AAy!&"AAocrNA"AZAbAjArAzAAAzn0@A*qrAc@A绗AXA<@A$A?A9<*A9?2A&ֽ:Ao{BA9?JA&ֽRAo{٘i)I9c@Y G J>x<JJJJE&K Y@[~?y[ȧKAE{7j7h%9)B[[ D@[>[~?[֧[[[[BZYY i) L>ûI E?ii ?=; ))Ձv@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037132.943165 s, next control iter: 1743037133.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037133.343165 s.<,J~,U(AJ"J*J2J:JBJnJvJAp= @A@A\~? A5A!&"AAC>rNA"AZAbAjArAzAAAlr/@AorANd@A<AA>@ALA ?A}<*A9?2A2ֽ:A݋BA9?JA2ֽRA݋٘i)I9Nd@Y G JȌ<B=JJJJE&K YZ~?yIŧKA E77773'9;B)BE[[G6F@[DZ~?[J֧[[[[BZYY i\Э=) ÛIE?i%?G; ":))":w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037133.363165 s, next control iter: 1743037133.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10632*, header.stamp.nsec: 0*0 temperature: 13.388692** salinity: 33.391773*, density: 1025.000000** values[0]: 0.688543*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037133.763165 s.<,J~,4p(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037133.763290F (some fields omitted in printout)A @Aû\@A\~? AA "&"AArNA"AZAbAjArAzAAAa*.@AQ4tnrAXd@Aa?<An8A g?@ApAzD?Aw<*A9?2Aֽ:AfBA9?JAֽRAfYQ1@W?@y5"?<ٓH@ _>ÿĘ?%M?T,;?+a??@q?)Q1@ I٘i)I9d@YC G JX<C=JDYJJJE&Kv> YZ~?yçKAW?@ Eb77(9B)BE[[H@[Z~?[է[[[[BZYY i>=) @I-(E?i;?i; q))q6z@g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037134.223165 s, next control iter: 1743037134.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037134.603165 s.84,J~,(AAQx@AjIGk@AP\~? AeAb"&"AAEqNA"AZAbAjArAzAAA΍C-@A HkrA3e@AF:ANA?A@AAŜ?A=<*A9?2Aceֽ:A{BA9?JAceֽRA{٘i)I9e@Y G JF<JJJJE&K YZ~?yKLAE77,9?B)BE[[CJ@[@Z~?[է[[[[BZYY i) I3E?iI?/< O))Of|@ycP=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037134.643165 s, next control iter: 1743037135.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10633 , header.stamp.nsec: 0 0 temperature: 13.388490 * salinity: 33.391750 , density: 1025.000000 * values[0]: 0.689493 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037135.023165 s.Z,J~, |(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037135.023300F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A+j0 @A7\~? ApA"&"AA+qNA"AZAbAjArAzAAA/``-@A jrA֠f@AһAA6C@A@fA|?Ad<*A9?2AAֽ:ABA9?JAAֽRA٘i)I9f@Y] G J<B=JJJJE&K YZ~?yHMAE^.9@B) BE[[K@[Z~?[6֧[[[[BZYY i) I>E?iX? < #))#s}@yr=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037135.043165 s, next control iter: 1743037135.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037135.443165 s.=,J~,W]ܳ(AZ~?)Aq= @AA@A\\~? A AU"&"AA߀qNA"AZAbAjArAzAAAN7z,@A|irANg@Ah:APA|D@AA`?AV<*Aė9?2Au ֽ:AOBAė9?JAu ֽRAO٘i)I9Ng@Y G J1<C=JJJJE&K Y3oZ~?yMAE{7{7(09AB)BE[[L@[sZ~?[֧[[[[BZYY i) oIBKE?i j?g< K))K3~@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037135.463165 s, next control iter: 1743037135.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10634, header.stamp.nsec: 00 temperature: 13.388275* salinity: 33.391727, density: 1025.000000* values[0]: 0.690664F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037135.863165 s.+,J~,>(AJ"J*J2J:J0?BJ0?nJf95vJA@Aɍ @A\~? A A "&"AAdZqNA"AZAbAjArAzAAA nk+@A3|hrATg@A)AcAE@A0A"?A~<*A9?2Aq5ֽ:A}BA9?JAq5ֽRA}Y~7@E@ya6)ٓH@U?b? +`[ƴ? " ?)~7@ I٘i)I9g@Y0 G J<JqJJJE&Kw> YSZ~?y1%NAE@Ej719)B[[QAN@[YZ~?[2ק[[[[BZYY i) 90:IfXE?iwt?Lu< ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037135.883165 s, next control iter: 1743037136.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037136.283165 s. elevatorAngleAction: 0.064400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037136.283306F (some fields omitted in printout)A(\O@A5UB@AZ[~? A A"&"AA3qNA"AZAbAjArAzAAAfQtE+@ArdgrAh@A0pyAgEA"G@A bA`50?A<*A9?2A<ֽ:A BA9?JA<ֽRA ٘i)I9h@Y G J:<B=JJJJE&K Y6Z~?yNAE7ŧ739BB)BE[[gO@[j?Z~?[ק[[[[BZYY i) P :I3fE?iJ? 6$< ))ɀ@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037136.303165 s, next control iter: 1743037136.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10635., header.stamp.nsec: 0.0 temperature: 13.388014.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.691929.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037136.703165 s.պ -J~, -(AJ"J*J2J:JBJnJvJAQ@AfBx@A[~? A5A #&"AA qNA"AZAbAjArAzAAA>D*@A)}BfrA5Ki@Az;AםAzH@A-0Aɒ?A <*A9?2Aֽ:ABA9?JAֽRA٘i)I9Ki@Y G JC<JJJJE&K YZ~?yNOAE)759CB)BE[[^P@[%Z~?[ا[[[[BZYY i) ";ItE?i9?i-< .)).x@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037136.723165 s, next control iter: 1743037137.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037137.123165 s.:-J~,iG(AAG@Aխ@A[~? AA5##&"AApNA"AZAbAjArAzAAAs *@A8pfrAi@AG1<A|ALPHA]BA¸?A_<*AL9?2A<ֽ:ABAL9?JA<ֽRA٘i)I9i@Y[G Jg<C=JJJJE&K YwY~?y޼tOA"E777S79DB)BE[[u6R@[ Z~?[٧[[[[BZYY i) \;IE?i?7< ) ))) F'@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037137.143165 s, next control iter: 1743037137.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037137.543165 s.I-J~,b(AJ"J*J2J:JH1?BJH1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037137.543278F (some fields omitted in printout)A= ף@A@A'[~? AA68#&"AApNA"AZAbAjArAzAAAd?Yq)@AG9zerAf}j@A8<AbAGAQAl?A<*Af9?2AMֽ:ATBAf9?JAMֽRAT٘i)I9}j@YG JE<JJJJE&K YGY~?ymOA$E{799EB)BE[[3S@[Y~?[$ۧ[[[[BZYY i)  ;IkE?i?-$B< Cu ))Cu 9Ղ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037137.563165 s, next control iter: 1743037137.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10636, header.stamp.nsec: 00 temperature: 13.387783* salinity: 33.391735, density: 1025.000000* values[0]: 0.693088F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037137.963165 s.~-J~, }(AAffff&@A^I\@AH[~? A?A J#&"AAɗpNA"AZAbAjArAzAAAAy(@A#drAak@A ׾;AvAEA^A,?Aa<*A9?2A$ֽ:ARBA9?JA$ֽRARYV>@EyԏR;ٓHrF?? Up?.?w?-?)V>@ I٘i)I9k@YG J<J=<JJJE&K x> YY~?yἧFPAE'E777:9FB)BE[[T@[Y~?[ܧ[[[[BZYY irx=) v;IKE?i?'H<  )) ₃@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037138.003165 s, next control iter: 1743037138.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037138.383165 s.%-J~,D(AJ"J*J2J:JBJnJvJA(\@AO@A\j[~? AAX#&"AAppNA"AZAbAjArAzAAA3YK7(@AU0drA4k@AcR.AAUxDAiA̪?A0<*A9?2Apֽ:AKhBA9?JApֽRAKh٘i)I9k@YeG J<JJJJE&K YY~?yUPA*Ej7Z7<9)BE[[!V@[Y~?[ާ[[[[BZYY i) +;I϶E?i?P< g ))g '0@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037138.403165 s, next control iter: 1743037138.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10637", header.stamp.nsec: 0"0 temperature: 13.387589"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.694146"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037138.803165 s.wA,-J~,{g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037138.803286F (some fields omitted in printout)A@ABބ@AfP[~? AA,d#&"AA:IpNA"AZAbAjArAzAAA(ĕ'@A;DdrA%l@AA!A2CA pA>?Ax<*A}9?2AJֽ:AӻBA}9?JAJֽRAӻ٘i)I9%l@YG J<JJJJE&K YY~?yɽ QA,Eŧ77~>9CB)BE[[qnW@[Y~?[ߧ[[[[BZYY i) .;IE?i?τY< Mm))Mm4ل@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037138.823165 s, next control iter: 1743037139.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037139.223165 s.g3-J~,Hδ(AJ"J*J2J:JBJnJvJAz@AUס@Aj6[~? AA|l#&"AA!pNA"AZAbAjArAzAAA/K&@AN"drAl@A>AXA AAuA )J?A <*A9?2ATֽ:A\BA9?JATֽRA\٘i)I9l@Y G J<JJJJE&K YvqY~?y=kQA/E{7j7I@9)ݯB[[X@[ύY~?[[[[[BZYY i) 3~@y][=d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037139.263165 s, next control iter: 1743037139.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037139.643165 s.x9-J~,*(AA ףp@A0e@Ah[~? AAq#&"AAwoNA"AZAbAjArAzAAAG^&@A0%crAY*m@A jAk숽A@A9xA?A<*Aغ9?2Aֽ:AKBAغ9?JAֽRAK٘i)I9*m@YXG J<JJJJE&K YBUY~?yQA2E77B9)گB}E[[Z@[[uY~?[[[[[BZYY i)  elevatorAngleAction: 0.075913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037140.063293F (some fields omitted in printout)A33333@A5C(&@Ae[~? AAzs#&"AA oNA"AZAbAjArAzAAAX;|%@A_ccrA+m@A(73:Ay?A >?ABxA}A+d<*A9?2Aֽ:ABA9?JAֽRAYD@>?yw?`3:ٓH@?B?3ÿ@ß@&W?$?fF??)D@ I٘i)I9m@YG J0<JT<JJJE&K'x> YU9Y~?y )RA>?4ES77C9)֯BzE[[J[@[\Y~?[[[[[BZYY i) F" elevatorAngleAction: 0.075913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037141.323303F (some fields omitted in printout)AGz@An@AqZ~? AAe#&"AA\oNA"AZAbAjArAzAAASS0#@AdrAo@A՘<A]AM;AhA@A,ُ<*A09?2A)ֽ:A^BA09?JA)ֽRA^٘i)I9o@YzG JR<JJJJE&K YX~?yħ=SAI9)̯BqE[[ _@[Y~?[[[[[BZYY i) P YUX~?yǧSA8BEj7Z7L9)įBkE[[+a@[X~?[[[[[BZYY i) \co elevatorAngleAction: 0.075913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037142.583290F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A_h@AfZ~? AA@;#&"AAnNA"AZAbAjArAzAAAY("@AЂg frAap@A}=A=RA}7A`DCAԩA<*A9?2A9ֽ:A{ BA9?JA9ֽRA{ ٘i)I9p@YeG JQ<JJJJE&K YX~?yɧ_TADE{7{7N9)B[[ b@[ X~?[[[[[BZYY i=) ~ elevatorAngleAction: 0.084821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743037143.843277F (some fields omitted in printout)Ap= @AJ m @AZ~? A A9"&"AA?rnNA"AZAbAjArAzAAAog> @A:86khrA#r@A;AhA3A@A¿A<*Aȟ9?2AVֽ:ABAȟ9?JAVֽRA٘i)I9#r@Y_G Jǡ<JJJJE&K YAX~?yЧUALE7S9)BcE[[ef@[X~?[S[[[[BZYY i) V4 Y&X~?yӧUA82OE7U9)B`E/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #63q/?^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037144.283165 s, next control iter: 1743037144.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106432, header.stamp.nsec: 020 temperature: 13.3864592* salinity: 33.3916852, density: 1025.0000002* values[0]: 0.6999282F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037144.683165 s.l-J~,c+(AA(\@A̘u@AY~? AMA"&"AA %nNA"AZAbAjArAzAAA0U>@A)ҀjrA7s@A[2<A졽A0AA yſA><*A9?2Aֽ:ABA9?JAֽRA٘i)I97s@YG J<JJJJE&K Y! X~?y֧]VAREZ7Z7W9)B]E[[*i@[,`X~?[u[[[[BZYY i) c( elevatorAngleAction: 0.084821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201032 time: 1743037145.103382F (some fields omitted in printout)AQ@AG@AY~? AJAЏ"&"AAmNA"AZAbAjArAzAAA]@A,krAs@A^;ADA/A@ AomȿA<*A_[:?2A;_½:A3BA_[:?JA;_½RA3٘i)I9s@Y_G J\<B=JJJJE&K YW~?y٧VATEb77^Y9)B[[hj@[JX~?[1 [[[[BZYY i) (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743037146.363280F (some fields omitted in printout)AY@AۉL@AY~? AA?"&"AAmNA"AZAbAjArAzAAA?3MT@Aҋ$orAdu@AAAA-A@rA2̿Av<*Aj:?2Aǽ:AABAj:?JAǽRAAYW@w-y渭AٓH@ ?? ۿ@ aә?r?0#`?)W@ I٘i)I9u@YG Jl<JސJJJE&KE> Y8W~?yXA-]EZ7Z7^9CB)BTE[[n@[ X~?[ [[[[BZYY i)  elevatorAngleAction: 0.084821< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037147.623291F (some fields omitted in printout)AG@Ay@A8Y~? AA,|!&"AAmNA"AZAbAjArAzAAAL@A5ΥtrAw@Aק<A8AU#)A`pAoпA2m<*AO:?2A;н:A/ABAO:?JA;нRA/A٘i)I9w@YG J<JJJJE&K YVW~?ynYAeE77d9)BNE[[q@[W~?["[[[[BZYY i) ܿ))?>ܿK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037147.643165 s, next control iter: 1743037148.023182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10646, header.stamp.nsec: 00 temperature: 13.385725* salinity: 33.391640, density: 1025.000000* values[0]: 0.703530F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037148.043165 s.-J~,(AA= ף0@A˛#@A_ Y~? A!AD!&"AAlNA"AZAbAjArAzAAA9 @Ai8nvrA[x@A6=<AxA'AJA 'oѿA<*AE:?2ANҽ:ABAE:?JANҽRA٘i)I9[x@Y(G JW<B=JJJJE&K Y=W~?yYAgE77{7e9)BLE[[r@[W~?[I'[[[[ZZZZ¸>BZYY i¸>) 8Y~? A$Ax !&"AA:lNA"AZAbAjArAzAAA%׀@AMxrA y@A+<AصAy&AxA@QKҿA3<*A:<:?2AEӽ:AWBA:<:?JAEӽRAWY)]@k&yֵ<ٓHqXjv?@A?@` `p Ec?`2?ނ?a?))]@ I٘i)I9 y@YG J<C=JJJJE&Kw> Y$W~?y]ZA&jE777g9BB)zBIE[[%t@[W~?[+[[[[ZZZZBZYY i) 0BQ|rAz@AbǻAAR#AGA@HӿA:=*AF:?2AdԽ:AgBAF:?JAdԽRAg٘i)I9z@YG J}=JJJJE&K YqV~?yQ[AoEŧ7b7Ik9)lB[[v@[[W~?[R5[[[[ZZZZBZYY i) xJJJE&Kz> YcV~?yoh\AwE7{7p9)YB=E[[z@[7SW~?[ D[[[[ZZZZBZYY iѵ) K-:?2A@_ֽ:A%n <BAD>:?JA@_ֽRA%n <٘i)I9s}@YBG J<JJJJ E&K YV~?y\AzEŧ77tr9)UB>E[[=P{@[fBW~?[EI[[[[ZZZZBZYY i) pwA"&"AAvkNA"AZAbAjArAzAAA v@AzrA{}@Ay;<A=;ASA@+Ad2ؿAG<*A8:?2A?pֽ:A0:<BA8:?JA?pֽRA0:<٘i)I9}@YxG JS<JJJJ E&K YV~?y\A}E{7{7?t9)RB;E[[|@[1W~?[{N[[[[ZZZZBZYY i)  c(AJ"J*J2J:JBJnJvJAGz@A[n@AmOX~? ABA&"AAkNA"AZAbAjArAzAAADy@Ai~rAO~@A <<A?<AA@AvٿAeɥ;*A+-:?2Aֽ:A䚯<BA+-:?JAֽRA䚯<٘i)I9~@YG J;JJJJE&K YhiV~?yL\AE777 v9@B)PB8E[[}@[!W~?[S[[[[ZZZZBZYY i) ՃNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037151.843165 s, next control iter: 1743037152.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037152.243165 s..J~,y(AAףp=J@AQ/4=@A|9X~? AGA0}&"AAkNA"AZAbAjArAzAAATx@A)ǝ%)rAj~@Ax;A$=AZA'A`ٿAY]:*Ag!:?2Aֽ:A<BAg!:?JAֽRA<٘i)I9~@YG JwR;B=JJJJE&K YRV~?y#\AE77{7w90B)@B[[~@[]W~?[Y[[[[BZYY i) 95vJ,q*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037152.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10651, header.stamp.nsec: 00 temperature: 13.384530* salinity: 33.391586, density: 1025.000000* values[0]: 0.709465F (some fields omitted in printout)A@A7r@A#X~? AKA&&"AAvkNA"AZAbAjArAzAAA#Ik@AAirA~@A[7Ar4=A-aAcA˟ڿAC*A;:?2A׽:Ax<BA;:?JA׽RAxJJJE&Ky> Y=V~?y)\AcE{7j7y9)?B5E[[X@[W~?[^[[[[BZYY ik) )5vJAR@A{@AwW~? AUAxq&"AAN5kNA"AZAbAjArAzAAA o=2?AgrA!}@Af8AC|=A{A)A@H/ܿA)1*A:?2AN׽:A P=BA:?JAN׽RA P=٘i)I9}@YkG J( JJJJE&K Y\V~?y5=\AEj7Z74}90B)CB3E[[1@[KV~?[i[[[[BZYY i) 5vJAp= W@AI@A`W~? A^A&"AAjNA"AZAbAjArAzAAA4?A's мrA|@A,:AN=AZ.A@<A@ݿAi*A9?2Aֽ:Ap=BA9?JAֽRAp=٘i)I9|@YG J7}JJJJ E&K YU~?yzA[AE7ɀ9/B)HB,E[[[Z@[FV~?[u[[[[BZYY i) ;IiR@= N))NV|@^ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037154.363165 s, next control iter: 1743037154.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10653*, header.stamp.nsec: 0*0 temperature: 13.384726** salinity: 33.391556*, density: 1025.000000** values[0]: 0.708864*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037154.763165 s.4+.J~,ذ(AǍ@A Tƿ@ARW~? AdAtN&"AAjNA"AZAbAjArAzAAAZڎbr?A8ErAz|@A<Aż=AA A h޿A*A9?2A]ֽ:A=BA9?JA]ֽRA=Y:q@y<=<ٓHC#?`Ӭf6Lé 2`??):q@ I٘i)I9z|@YG JȔJ=JJJ"E&KNx> YU~?yH][AEj7j79)KB[[@[V~?[z[[[[BZYY i) W˭;IiT@= ))@NӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037154.803165 s, next control iter: 1743037155.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037155.183165 s.2.J~,o˸(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037155.183291F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A,σ@AW~? AhiA&"AAjNA"AZAbAjArAzAAAW9?Ans&yrA{@A?<Avŝ=AAࣞA ߿AQޫ*A9?2A\ֽ:AZ=BA9?JA\ֽRAZ=٘i)I9{@YVG JrJJJJ%E&K Y^U~?yNZAE77_9)OB)E[[Z@[V~?[[[[[BZYY i) ;IiV@ = ))U@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037155.223165 s, next control iter: 1743037155.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037155.603165 s.849.J~,(AAQ@A]E@AAW~? AnA&"AA jNA"AZAbAjArAzAAAGKH?A,mz?lrAQ\{@A <AK֟=ALA6LAm߿A˲*A9?2Aqֽ:A=BA9?JAqֽRA=٘i)I9\{@YG J֯JJJJ(E&K YU~?yCUZAE7)90B)UB*E[[i@[¡V~?[[[[[BZYY i) Hb;IiY@lW = U))Ud:@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037155.623165 s, next control iter: 1743037156.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10654 , header.stamp.nsec: 0 0 temperature: 13.384941 * salinity: 33.391533 , density: 1025.000000 * values[0]: 0.707978 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037156.023165 s.Z@.J~, |(AJ"J*J2J:JBJnJvJAHz.@A!@ABW~? A[tAS&"AA~jNA"AZAbAjArAzAAA}X vQ?AͨrAz@AR:Ajn=AAqAUEA3մ*A9?2AZ׽:AtA=BA9?JAZ׽RAtA=٘i)I9z@YG JeJJJJ*E&K YU~?y['ZAEj7j79/B)YB'E[[@[dV~?[[[[[BZYY i) ɗ&;Ii\@_ = ))͝@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037156.043165 s, next control iter: 1743037156.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037156.443165 s.;F.J~,O](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037156.443298F (some fields omitted in printout)Aq= c@AqYV@AoW~? AzA+&"AAobjNA"AZAbAjArAzAAAnA#?A;@rA,z@AlA=A A AAN*A:?2A#_׽:AFj =BA:?JA#_׽RAFj =٘i)I9,z@YCG JJJJJ-E&K YAU~?ytbYAE{7{79)]B$E[[>>@[nV~?[[[[[BZYY i) }:Iis`@_= ))9`@9ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037156.463165 s, next control iter: 1743037156.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10655, header.stamp.nsec: 00 temperature: 13.385205* salinity: 33.391544, density: 1025.000000* values[0]: 0.706899F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037156.863165 s.+M.J~,>7(AJ"J*J2J:JBJnJvJA@ATގ@Ac]W~? AA8&"AAyFjNA"AZAbAjArAzAAAFr ƿA'RƯrAZy@AP=A-=AH A@\HAeA}*A&:?2Ao׽:AX]=BA&:?JAo׽RAX]=YQw@CW yt=+=ٓH@u?L@Zڱu׳@?)Qw@ I٘i)I9y@YG J,J;JJJ0E&Kx> Y|U~?yiUYAW Ej79)bB[[х@[}V~?[[[[[BZYY i) 9:Ii8b@= o))o@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037156.883165 s, next control iter: 1743037157.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037157.283165 s.5RT.J~,R(AA(\@AB]P@AKW~? AA&"AA+jNA"AZAbAjArAzAAA)ؿA1^rAwx@AAI=A A`߿AoHA*Af:?2AH׽:A=BAf:?JAH׽RA=٘i)I9x@YG JJJJJ2E&K Y\lU~?ypXAET9)gB"E[[ e@[jrV~?[[[[[BZYY i)  TIi^d@-(= K#))K#@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037157.303165 s, next control iter: 1743037157.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106562, header.stamp.nsec: 020 temperature: 13.3854382* salinity: 33.3915182, density: 1025.0000002* values[0]: 0.7058862F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037157.703165 s.غZ.J~,m(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037157.703283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A&@A :W~? AAR&"AAIjNA"AZAbAjArAzAAA$AIrA/gx@A;A<=Aʷ A (߿AA*A:?2A׽:AC=BA:?JA׽RAC=٘i)I9gx@Y/G JB=JJJJ5E&K Y[U~?ywXAEŧ7b79)lB[[@[}gV~?[ꤨ[[[[BZYY i) CIif@= gأ))gأ@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037157.723165 s, next control iter: 1743037158.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037158.123165 s.Ga.J~,⇹(AAG:@A-@A(W~? AƑA&"AAiNA"AZAbAjArAzAAAHtdABg6ºrAKw@A4;A*˘=A&tA^q޿A@A=ش*A:?2Aֽ:Ah,=BA:?JAֽRAh,=٘i)I9w@YG J鴼C=JJJJ8E&K YvKU~?yXAE{7{7鐉9)pBE[[@[\V~?[[[[[BZYY i) Iii@{= ))@uҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037158.163165 s, next control iter: 1743037158.523183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743037158.543165 s.Ih.J~,â(AJ"J*J2J:JBJnJvJA= ףp@A:̗c@ALW~? AAd&"AAxiNA"AZAbAjArAzAAA8RAo(rA7w@A3<A=A,AjݿA7A'*A:?2Aֽ:Ais=BA:?JAֽRAis=٘i)I97w@YwG J?JJJJ;E&K Y;U~?y7WAEj7Z79)uB[[@[RV~?[Y[[[[BZYY i) 8@Iim@w= kL))kL<@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037158.563165 s, next control iter: 1743037158.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10657, header.stamp.nsec: 00 temperature: 13.385682* salinity: 33.391506, density: 1025.000000* values[0]: 0.704827F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037158.963165 s.}n.J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037158.963336F (some fields omitted in printout)Affff@AݔZ@AW~? AMAw&"AAyiNA"AZAbAjArAzAAA坘'AIhrA1v@A2.<A=AA@JܿA`AO*A:?2Aֽ:Ak=BA:?JAֽRAk=YFH~@Ny=J.<ٓH]߿ Y,U~?yۍHWAE77779.B)yBE[["@[ IV~?[[[[[BZYY i) }Iin@ = ))ϡ@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037158.983165 s, next control iter: 1743037159.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037159.383165 s.J u.J~"J*J2J,/ع(A:JN4?BJN4?nJ=5vJA(@Ak@A-V~? AA5n&"AAiNA"AZAbAjArAzAAAxcA|TRrAv@Aۘ;AB=AA3ܿAA򓦼*A:?2A׽:A=BA:?JA׽RA=٘i)I9v@YG JC=JJJJ@E&K YU~?yVAE{7J9/B)BE[[?@[?V~?[[[[[BZYY i) ^Ii{p@= s))s`@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037159.403165 s, next control iter: 1743037159.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10658", header.stamp.nsec: 0"0 temperature: 13.385956"* salinity: 33.391499", density: 1025.000000"* values[0]: 0.703790"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037159.803165 s.vA|.J~,wg(AA@A@AV~? A=A&"AAbiNA"AZAbAjArAzAAA=B.VAgxMrAu@A8wA#=A0ADlۿApAn*AT:?2A\E׽:A+<BAT:?JA\E׽RA+<٘i)I9u@YqG JJJJJCE&K YU~?y#VAE779)B[[nЉ@[6V~?[wĨ[[[[BZYY i) 任Iir@$[= u))ui@TêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037159.823165 s, next control iter: 1743037160.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037160.223165 s.g.J~,H(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: -0.066922< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037160.223306F (some fields omitted in printout)AzG@A 7:@AV~? AڱAo&"AAP|iNA"AZAbAjArAzAAAtJAnf2WrASu@A'A=AA`ʡڿA_A*A2:?2Ah׽:A<BA2:?JAh׽RA<٘i)I9u@Y"G J?JJJJEE&K YU~?yǤVAE7{7ߙ9)BE[[Ba@[-V~?[ʨ[[[[BZYY i ) jڻIiau@0 = w2))w2=@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037160.243165 s, next control iter: 1743037160.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037160.643165 s.uЉ.J~,*)(AA ףp}@A2dp@A7V~? AA&"AAeiNA"AZAbAjArAzAAA.X7vAB9orAt@Ak9A)=AÌA@dٿA CAٓ*A:?2AY׽:A7<BA:?JAY׽RA7<I٘i)I9t@YG JJJJJHE&K YT~?ykUA DE7779)B[[c@[%V~?[UѨ[[[[BZYY i)  Iidx@= ))񓿩^@\YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037160.663165 s, next control iter: 1743037161.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10659, header.stamp.nsec: 00 temperature: 13.386196* salinity: 33.391483, density: 1025.000000* values[0]: 0.702869F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037161.063165 s..J~,_ D(AJ"J*J2J:J3?BJ3?nJ<5vJA3333@Ai*@AV~? A]Ai&"AA*PiNA"AZAbAjArAzAAAL)Aߡ0rAt@A*ԻA o=AA@]ٿA@AА*A+:?2AI ׽:ASM<BA+:?JAI ׽RASM Y]T~?yx`UAE{7j7t9)BE[[@[V~?[ר[[[[BZYY i)  Iiy@= #))#@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037161.083165 s, next control iter: 1743037161.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037161.483165 s.t_.J~,^(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743037161.483271F (some fields omitted in printout)A\@Ax[@AuV~? A?ƩAh&"AA;iNA"AZAbAjArAzAAAD\]AHwNrAks@Al:Ab=AA 7ؿAL%A*A9?2Agֽ:Ae)=BA9?JAgֽRAe)=٘i)I9s@YAG JɐC=JJJJME&K YT~?yUAE777?9)B[[_@[BV~?[lި[[[[BZYY i) (Ii3{@ = j))jZ5@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037161.523165 s, next control iter: 1743037161.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10660, header.stamp.nsec: 00 temperature: 13.386412* salinity: 33.391468, density: 1025.000000* values[0]: 0.702032F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037161.903165 s.ȝ.J~,y(AJ"J*J2J:J3?BJ3?nJs<5vJAQ@Ab @AAV~? A8ͩA2]&"AA&iNA"AZAbAjArAzAAA^A.| rA~s@Ag<A7=AWtAf׿AlbA*A9?2A"ֽ:A=BA9?JA"ֽRA=٘i)I9s@YG JVJJJJPE&K YlT~?yĨTAE 9)B[[@[V~?[[[[[BZYY i)  +Ii+}@"= ())(ť@̾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037161.923165 s, next control iter: 1743037162.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037162.323165 s.u.J~,!(AAGzT@A/oG@AV~? AEԩA_&"AAiNA"AZAbAjArAzAAA0p%QAPe=PYrAr@A3?<Aы=AAֿAAN˔*A9?2Aѡֽ:A0=BA9?JAѡֽRA0=٘i)I9r@YG JJJJJSE&K YT~?y̨KTAE77j7Ԣ9.B)BE[[3@[`V~?[[[[[BZYY i) :Ii@#= 銿))銿U@qYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743037162.343165 s, next control iter: 1743037162.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10661*, header.stamp.nsec: 0*0 temperature: 13.386604** salinity: 33.391487*, density: 1025.000000** values[0]: 0.701203*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037162.743165 s.W.J~,u(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: -0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743037162.743323F (some fields omitted in printout)Aףp=@A=`2}@A9V~? Af۩AI&"AAiNA"AZAbAjArAzAAA_={A irA<"r@A<<A3I=A9A޷տAFAY*A39?2A"ֽ:Am=BA39?JA"ֽRAm=٘i)I9"r@Y^G JB=JJJJUE&K YxT~?yԨSAE7790B)BE[[@[V~?[4[[[[BZYY i) JIi@E%= ))@qªYFF]:Waiting for Gazebo time sync: latest Gz time: 1743037162.783165 s, next control iter: 1743037163.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037163.163165 s.~}.J~,qʺ(AA@A~s@Aj}V~? AA&"AAhNA"AZAbAjArAzAAAH>AjrAq@AE9A/=AA-ԿA A(*A9?2AZ׽:A{=BA9?JAZ׽RA{=Y@Hy.=|b9ٓH@Wӿi?@Vӿ`Qܱ2?@?)@ I٘i)I9q@YG JٓC=J;JJJXE&Kx> YT~?yݨSAE77j9)B[[R@[U~?[[[[[BZYY i) btYIi@%= k))kt@ĪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743037163.183165 s, next control iter: 1743037163.563184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743037163.583165 s..J~,S(AJ"J*J2J:Je3?BJe3?nJ<5vJA)\@A%@ArV~? AA0&"AA-hNA"AZAbAjArAzAAA |kʬArA*q@AkAs =AA@ӿAjDAz*A9?2A R׽:A5=BA9?JA R׽RA5=٘i)I9*q@YG JJJJJ[E&K YT~?yg/SAE)7ŧ749/B)BE[[@[hU~?[[[[[BZYY i) hIi9@&= _,))_,@ǪYFF]Waiting for Gazebo time sync: latest Gz time: 1743037163.603165 s, next control iter: 1743037163.983178 s, wait time: 0.380013 s T~?) gtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10662, header.stamp.nsec: 00 temperature: 13.386811* salinity: 33.391449, density: 1025.000000* values[0]: 0.700369F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037164.003165 s.z .J~,U4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075975< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037164.003284F (some fields omitted in printout)]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications FaultAR+@AwNy@A>gV~? A<A&"AAYhNA"AZAbAjArAzAAAFsA[[rA%p@A $=A5K=A9AӿATwA*A39?2AZ׽:A=BA39?JAZ׽RA=٘i)I9p@Y|G JAJJJJ]E&K YT~?yRAE77{79)B[[;r@[.U~?[E[[[[BZYY i) 2xIi@'= ))6@ʪYF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743037164.043165 s, next control iter: 1743037164.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037164.423165 s.u.J~,(AJ"J*J2J:J/3?BJ/3?nJ;5vJA{Ga@A=T@A\V~? AA&"AABhNA"AZAbAjArAzAAAB Ay>rA0p@A Al=A#A`9ҿA`A|U*A9?2A+׽:A=BA9?JA+׽RA=٘i)I90p@Y/G JdJJJJ`E&K YUT~?y%oRAEb77ʫ91B)BE[[L@[WU~?[ [[[[BZYY i) ɃIi@s)= d))dG#@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037164.443165 s, next control iter: 1743037164.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10663, header.stamp.nsec: 00 temperature: 13.386995* salinity: 33.391457, density: 1025.000000* values[0]: 0.699538F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037164.843165 s..J~, 5(AAp= @A@ASV~? A!Ap&"AAhNA"AZAbAjArAzAAA]Z5 A-&rAo@AwA1=AdAѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037164.883165 s, next control iter: 1743037165.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037165.263165 s..J~ "2Initializing CTD_Seabird.,'P(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: -0.084957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743037165.263278F (some fields omitted in printout)A@AJ@L¿@AIV~? AA&"AAHhNA"AZAbAjArAzAAAI AsAu'o@AY;A@=AْA uпAAC*A9?2Aֽ:AI=BA9?JAֽRAI=Y@y7@=|;ٓH@)˿ZC?`ףS-`L˿𛲿 Ec. y?Q?)@ I٘i)I9'o@YG J⠼Ji<JJJfE&K?x> YT~?yQAE77_9)B[[@[U~?[w[[[[BZYY i) pIi@}*= wv))wv@@y歽mժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037165.303165 s, next control iter: 1743037165.663180 s, wait time: 0.360015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106642, header.stamp.nsec: 020 temperature: 13.3872232* salinity: 33.3914302, density: 1025.0000002* values[0]: 0.6986392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037165.683165 s.l.J~,Zk(AA(\@A @A@V~? ACA.Z&"AAhhNA"AZAbAjArAzAAAq+Y Al\[sA}n@ATH8<A[=AlA !ϿAB(A6`*A9?2Amֽ:A\6=BA9?JAmֽRA\6=٘i)I9n@Y8G JȧJJJJhE&K YT~?y?QAEj7j7*9-B)B[[ح@[U~?[>![[[[BZYY i) %Ii@t+= =r))=rϪ@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037165.683165 s, next control iter: 1743037166.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037166.103165 s..J~,(AJ"J*J2J:JBJnJvJAQ8@A}F+@A^8V~? AAj&"AAHhNA"AZAbAjArAzAAA&$ A sAn@AA,<A]=Af߿A@RͿANAѯ*A9?2A<ֽ:AA=BA9?JA<ֽRAA=٘i)I9n@YG JJJJJkE&K Y}T~?yPPAE779)BE[[w<@[U~?[([[[[BZYY i)  Ii†@~},= Em))Emr^@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037166.143165 s, next control iter: 1743037166.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037166.523165 s..J~,|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743037166.523321F (some fields omitted in printout)AHzn@A΍ a@A|0V~? AA/&"AAuhNA"AZAbAjArAzAAA'a: AkpNsAsm@Ao;ACG=AܿA {˿A sAY*Aҿ9?2Aֽ:A/H=BAҿ9?JAֽRA/H=٘i)I9sm@YG JJJJJnE&K YwT~?y nPAEj7SI79)B[[ʒ@[U~?[.[[[[BZYY i) EIi@-= i))i@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037166.563165 s, next control iter: 1743037166.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10665, header.stamp.nsec: 00 temperature: 13.387453* salinity: 33.391430, density: 1025.000000* values[0]: 0.697652F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037166.943165 s.Yd.J~,F](AJ"J*J2J:JBJnJvJAq= ף@A˖@A)V~? A[&Aܘ &"AAUjhNA"AZAbAjArAzAAAtbA4tsA]l@AA*=AnڿA ɿA@ A6M*AA9?2A8׽:A0=BAA9?JA8׽RA0=٘i)I9l@Y)G JLJJJJpE&K YqT~?y)PAEŧ7b79)ƯB[[X@[RU~?[5[[[[BZYY i) Ii@>.= d))dz@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037166.983165 s, next control iter: 1743037167.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037167.363165 s..J~,>׻(AA@Aȑ@AC"V~? A%.A2 &"AA_hNA"AZAbAjArAzAAA:<AG#5sADl@AoH*A=A*\׿A@$ǿA@Ao*A9?2AKA׽:A=BA9?JAKA׽RA=Y.@x׿y =#*ٓH `@?(Q?@Je`5;HU?).@ I٘i)I9Dl@YG JB=Jٌ<JJJsE&KWx> YVnT~?yB2OAx׿EU9,B)ʯBE[[@[%U~?[g<[[[[BZYY i) hIiЈ@s/= 6`))6`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037167.403165 s, next control iter: 1743037167.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10666&, header.stamp.nsec: 0&0 temperature: 13.387697&* salinity: 33.391415&, density: 1025.000000&* values[0]: 0.696628&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037167.783165 s.[.J~,(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743037167.783291F (some fields omitted in printout)A(\@AQ@AV~? A5Ah &"AAUhNA"AZAbAjArAzAAAJpAb-sAǨk@AA&6AXܬ=A#ԿA`ſAAw似*A>9?2A(׽:A=BA>9?JA(׽RA=٘i)I9k@YmG JɹC=JJJJvE&K Y+kT~?y:"OAE{7{79)ϯB[[(u@[[U~?[8C[[[[BZYY i) Ii%@/= [))[#@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037167.803165 s, next control iter: 1743037168.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037168.203165 s./J~, (AAQE@Ad8@AV~? A=Ak &"AAALhNA"AZAbAjArAzAAA1A3D#sAXk@AûAUl=A2ҿA` ĿAA_ļ*Aث9?2AUֽ:A=BAث9?JAUֽRA=٘i)I9k@Y G J4JJJJxE&K YgT~?yCNAEŧ7b7껉9)ԯB[[&@[U~?[ J[[[[BZYY i)  ǼIi@40= UW))UW!%@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037168.243165 s, next control iter: 1743037168.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037168.623165 s.^ /J~,z'(AJ"J*J2J:J2?BJ2?nJ:5vJAGz@Ac#m@AV~? AEAs5 &"AAChNA"AZAbAjArAzAAA,rAL(sA _j@AHV;A=AϿA/¿ApA%̼*A9?2Aֽ:Ae=BA9?JAֽRAe=٘i)I9_j@YG JBȼJJJJ{E&K YdT~?y{L=NAEj7SI79)ٯB[[ߐ@[U~?[P[[[[BZYY i) k^μIi\@71= R))Rڲ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037168.643165 s, next control iter: 1743037169.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10667, header.stamp.nsec: 0 0 temperature: 13.387958 * salinity: 33.391392 , density: 1025.000000 * values[0]: 0.695571 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037169.043165 s./J~,B(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084957< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037169.043292F (some fields omitted in printout)A= ף@A-s@A V~? AMAٚ &"AA<ٓH`?`C>xﷇ??)8p@ I٘i)I9h@Y G J&ּJC<JJJE&Kx> YZaT~?y^RMArʿE77J9)B[[𥳐@[U~?[v^[[[[BZYY i) _ܼIi:@f62= J))Jͯ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037169.483165 s, next control iter: 1743037169.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10668, header.stamp.nsec: 00 temperature: 13.571696* salinity: 33.374973, density: 1025.000000* values[0]: 0.570845F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037169.883165 s.y/J~,8x(AA(@A@AV~? A]Ac &"AA/hNA"AZAbAjArAzAAA_< A-CG27sA/Fh@AT;A=AǿA@9A@?A6 ټ*Ay9?2ANֽ:AT}=BAy9?JANֽRAT}=٘i)I9Fh@Y] G JؼJJJJE&K Y aT~?yfLAE77É9)B[[ Yǿ[U~?[Ge[[[[ZZ¸BZYY i¸֔=) 0мIie@m2= 7E))7E7EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037169.903165 s, next control iter: 1743037170.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037170.303165 s.T$/J~,og(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037170.303260F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@ArD@AV~? AeA&"AA)hNA"AZAbAjArAzAAAG4Ayٯ elevatorAngleAction: 0.083780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037171.563320F (some fields omitted in printout)A3333@A*@A=U~? A}Aw&"AAhNA"AZAbAjArAzAAAujAtfJsAe@AAis=APA`A_iA*A9?2Aֽ:AZ<BA9?JAֽRAZ YbT~?yKAcEb77@ʉ9)B[[ӂ[FU~?[r[[[[ZZBZYY i) ڀIiь@ ?4= 3))33YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037171.583165 s, next control iter: 1743037171.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10670, header.stamp.nsec: 00 temperature: 13.572430* salinity: 33.374969, density: 1025.000000* values[0]: 0.569015F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037171.983165 s.?/J~,(AJ"J*J2J:JBJnJvJA\(@A;1@A"U~? AЅA1T&"AAxhNA"AZAbAjArAzAAAo AkΜOsA`ad@Al+A|/=A<ºABALoAGϼ*A29?2Avֽ:A};BA29?JAvֽRA};٘i)I9ad@Y G JJJJJE&K YHeT~?yJAE{7Z7 ̉9) BE[[qL[BU~?[;[[[[ZZBZYY i) CIiЌ@>4= /))//vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037172.003165 s, next control iter: 1743037172.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037172.403165 s.&F/J~,(AAQ^@A.pyQ@AU~? AA¶&"AA(hNA"AZAbAjArAzAAAk~ AڤTsAec@Am;A<A0AKYArA6*A9?2Aֽ:AABA9?JAֽRAA𺙘٘i)I9c@Y G J ¼JJJJE&K YgT~?yyJAEb7b7͉9)B[[![U~?[[[[[ZZBZYY i) 0Ii@z4= g+))g+g+YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037172.423165 s, next control iter: 1743037172.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10671", header.stamp.nsec: 0"0 temperature: 13.572824"* salinity: 33.374962", density: 1025.000000"* values[0]: 0.568103"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037172.823165 s.J "J *J 2J :J o?L/J~BJo?nJ5,24(AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743037172.823265F (some fields omitted in printout)AGz@AEf.p@AU~? AA8&"AAhNA"AZAbAjArAzAAADqΠAœYsAr:c@AE'<A<A A`Tzz?AtAW*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9:c@YK G JJJJJE&K YnjT~?yJ'JAEZ7SI7ω9)B[[I෿[[U~?[[[[[ZZBZYY i) ڍIi^@4= &))&&_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037172.843165 s, next control iter: 1743037173.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037173.243165 s.S/J~,~O(AAףp=@AX0@AU~? AA{&"AAhNA"AZAbAjArAzAAAY4T˒A/)Y~^sAb@A<AA*Anޕ?ArA7*A9?2ADֽ:A}BA9?JADֽRA}٘i)I9b@Y G JiJJJJE&K YmT~?yIAE77jщ9)B[[U[vU~?[z[[[[ZZBZYY i) jiIi@5= F"))F"F" )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037173.263165 s, next control iter: 1743037173.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037173.663165 s.Z/J~,qj(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10672, header.stamp.nsec: 00 temperature: 13.573064* salinity: 33.374966, density: 1025.000000* values[0]: 0.567533F (some fields omitted in printout)A@AM@AU~? AA&"AAhNA"AZAbAjArAzAAA呆Au~jcsAԚb@AKS;A޳AeA.?A`HnA*A9?2A}ֽ:A0BA9?JA}ֽRA0Y@8hy޳XS;ٓH*? Zh?-~f?`o?`_{?`oij??)@ I٘i)I9b@Y G JJ_FJJJE&K.w> YlrT~?yIAh E{7{75Ӊ9-B)BE[[t[U~?[4[[[[ZZBZYY iSq=) WIi@775= )) )YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037173.683165 s, next control iter: 1743037174.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037174.083165 s.Da/J~,S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058965< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037174.083291F (some fields omitted in printout)A)\5@Aw(@AU~? A"A@&"AAhNA"AZAbAjArAzAAAe&sA~{UhsAub@AٞAUAխA?A`PgAF*A9?2A7Aֽ:AeۼBA9?JA7AֽRAeۼ٘i)I9b@Y G JqJJJJE&K YwT~?ydJA Eŧ7b7Չ9)[[W>[U~?[騩[[[[BZYY i.َ=) J EIii@5= l))ll@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037174.103165 s, next control iter: 1743037174.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037174.503165 s.g/J~,H4(AJ"J*J2J:JBJnJvJARk@Ad:tz^@AU~? A.Au&"AA hNA"AZAbAjArAzAAAq[A>msAlb@A-A=AEAа?A]A\&;*A59?2Aֽ:ABA59?JAֽRA٘i)I9b@Y G J:JJJJE&K YB}T~?yǩ0JAE)7ŧ7։9)[[}[U~?[[[[[BZYY i) 3Iio@2 5= ))2~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037174.543165 s, next control iter: 1743037174.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10673, header.stamp.nsec: 00 temperature: 13.573132* salinity: 33.374985, density: 1025.000000* values[0]: 0.567318F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037174.923165 s.<n/J~,(AA{G@A$;@A(V~? A6Au&"AA$hNA"AZAbAjArAzAAAL;Ad%rsA!b@A3Av`A A`֚?AQA <*A9?2A#ֽ:AҠBA9?JA#ֽRAҠ٘i)I9b@Y G J;JJJJE&K YT~?yϩNJAEŧ77؉9)B[[Ь[U~?[B[[[[BZYY i) !Ii@M5= ))yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037174.943165 s, next control iter: 1743037175.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037175.343165 s.?BJ>?nJL5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743037175.343288F (some fields omitted in printout)Ap= @AF%u@ABV~? A:ƪAi&"AAW(hNA"AZAbAjArAzAAAug AMp, wsA b@A&ACP}AT A i?A4CAz?<*A9?2A=`ֽ:A&x BA9?JA=`ֽRA&x ٘i)I9b@Y' G J$<B=JJJJE&K YT~?yaةmJAE{7{7`ډ9.B)BE[[[U~?[伩[[[[BZYY i) 2Ii @5= k% ))k% k% y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037175.363165 s, next control iter: 1743037175.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10674&, header.stamp.nsec: 0&0 temperature: 13.573044&* salinity: 33.374981&, density: 1025.000000&* values[0]: 0.567496&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037175.763165 s.7{/J~,(AA @A@AV~? A8ΪAw&"AAj-hNA"AZAbAjArAzAAADA{sA|Wc@A2 ;A..AP^A@:?A1Ag<*AZ9?2Aֽ:AΉ BAZ9?JAֽRAΉ Y3@cy.ue;ٓH`? V?6e`S?`tV?gB?%c?@V?)3@ I٘i)I9Wc@Y] G JR<C=JݽJJJE&Kw> YKT~?yJAcE77+܉9/B)BE[[e[U~?[zé[[[[BZYY iGj=) F Ii@ '5= ))j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037175.783165 s, next control iter: 1743037176.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037176.183165 s.˂/J~,g (AJ"J*J2J:JBJnJvJA(\B@A̘5@A V~? A/֪A1&"AAI3hNA"AZAbAjArAzAAAmeA&fȀsAȿc@A<AFAA?A A7<*An9?2A!ֽ:A-BAn9?JA!ֽRA-٘i)I9c@Y G Jsx<JJJJE&K Y|T~?y<&KAE)7ŧ7݉9)B[[0[U~?[ ʩ[[[[BZYY i)  Ii2@ݻ4= Q))QQ*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037176.203165 s, next control iter: 1743037176.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037176.603165 s.94/J~,&(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057197< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037176.603292F (some fields omitted in printout)AQx@AnEk@AV~? A ުAE%"AA9hNA"AZAbAjArAzAAA^N~A'sA_7d@A(l4<AޡAQA?A`A <*A9?2Aֽ:A6BA9?JAֽRA6I٘i)I97d@Y G JY<JJJJE&K YT~?yKAEŧ7b7߉9) BE[[[V~?[Щ[[[[BZYY i) . Ii@I4= V))VV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037176.623165 s, next control iter: 1743037177.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10675 , header.stamp.nsec: 0 0 temperature: 13.572860 * salinity: 33.374969 , density: 1025.000000 * values[0]: 0.567942 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037177.023165 s.Z/J~,{A(AJ"J*J2J:JBJnJvJAHz@AM @AV~? AA%"AAlAhNA"AZAbAjArAzAAAJ!?AwtsADd@AKc;AAA?AA<*A9?2Aֽ:AWh BA9?JAֽRAWh ٘i)I9d@Y6 G J[<B=JJJJE&K YT~?yKA Eb779) B[[ġ[ V~?[ש[[[[BZYY i)  Ii@r4= ))yj=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037177.043165 s, next control iter: 1743037177.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037177.443165 s.=Ö/J~,W]\(AAq= @A@AV~? AAZa%"AAIhNA"AZAbAjArAzAAA_}A"CsA,Ne@AO.AAlA@ ?AA<*A 9?2A{hֽ:AY BA 9?JA{hֽRAY ٘i)I9Ne@Y G J<C=JJJJE&K YT~?y=LA#E7{7U90B)B E[[玟[V~?[ݩ[[[[BZYY i=) XIiS@N4= ))쾩*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037177.463165 s, next control iter: 1743037177.843183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10676, header.stamp.nsec: 00 temperature: 13.572628* salinity: 33.374996, density: 1025.000000* values[0]: 0.568547F (some fields omitted in printout).T~?). rAdjusting time to match Gazebo time: 1743037177.863165 s.+/J~,>w(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037177.863320F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AB @A V~? AA%"AARhNA"AZAbAjArAzAAAf[]AUp% sAe@AT*AiAsAs?A`-A[ <*AP9?2Aa8ֽ:Az BAP9?JAa8ֽRAz Yt@_y>h~ٓH T?༇?@p@I? в?*??e?)t@ I٘i)I9e@Y G J}<JJJJE&Kw> YT~?y LA_&Eŧ7b7 9)B[[[Z[V~?[[[[[BZYY i) 'JIi@4= I))I㾩I.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037177.903165 s, next control iter: 1743037178.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037178.283165 s.9R/J~,(AA(\O@Ag?RB@A'V~? AA+/%"AAy\hNA"AZAbAjArAzAAA00A^PUΘsA+f@AT.6AڙA<A|I?AA<*AS9?2AR:ֽ:AVBAS9?JAR:ֽRAV٘i)I9f@YJ G J<JJJJE&K YT~?yMA(E77791B)B!E[[$[r V~?[][[[[BZYY i)  Ii(@g3= >sھ))>sھ>sھ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037178.303165 s, next control iter: 1743037178.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106772, header.stamp.nsec: 020 temperature: 13.5722792* salinity: 33.3749772, density: 1025.0000002* values[0]: 0.5692572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037178.703165 s.Ӻ/J~,(AJ"J*J2J:J?BJ?nJ5vJAQ@A?x@A.V~? AMAD%"AA ghNA"AZAbAjArAzAAAIM A\sAg@A AA=A  ?AUxAxDZ<*Al9?2Anֽ:ABAl9?JAnֽRA٘i)I9g@Y G J˴<JJJJE&K YT~?yxMA+E)7ŧ792B)B$E[[9[L(V~?[[[[[BZYY i) nˣIiڋ@3= .Ѿ)).Ѿ.Ѿ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037178.723165 s, next control iter: 1743037179.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037179.123165 s.:/J~,iǾ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037179.123286F (some fields omitted in printout)AG@As'ح@A6V~? A A?%"AA`rhNA"AZAbAjArAzAAAQ\M AD(}>sAݫg@A嚺AAA?A TAn<*A9?2AȺֽ:A#*BA9?JAȺֽRA#*٘i)I9g@Y G JǮ<JJJJE&K YT~?y#MA.E77{79)B[[[0V~?[ [[[[BZYY i) ,Ii@52= Ⱦ))ȾȾy3=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037179.143165 s, next control iter: 1743037179.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037179.543165 s.I/J~,(AJ"J*J2J:JBJnJvJA= ף@A@A>V~? AA-j%"AA}~hNA"AZAbAjArAzAAAʋj AsA/8h@A9;A*A㋿A?A#-A<*A49?2Aֽ:A,BA49?JAֽRA,٘i)I98h@YU G J<JJJJE&K YT~?y!+JNA0E7K9)B[[π[ 9V~?[P[[[[BZYY i) u:Iiˋ@.2= 㿾))㿾㿾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037179.583165 s, next control iter: 1743037179.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10678, header.stamp.nsec: 00 temperature: 13.571964* salinity: 33.374989, density: 1025.000000* values[0]: 0.570022F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037179.963165 s.}/J~,(AAffff&@Aip[@AGV~? ADA %"AA^hNA"AZAbAjArAzAAA A GD sAh@AV94<A]A>A M?AA<*A9?2AM ׽:AbBA9?JAM ׽RAbY̶@Wy'4<ٓH@C|?W?O ԙ?`f?Rӱ? ??)̶@ I٘i)I9h@Y G J<J[<JJJE&K3x> YT~?y2NAW3E7793B)B(E[[K[AV~?[[[[[BZYY i) b:Ii@\1=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037179.983165 s, next control iter: 1743037180.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037180.383165 s./J~,Y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037180.383288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A x#O@APV~? A#A&A%"AAhNA"AZAbAjArAzAAAS' AY*sA@i@Ak&<AΧAmA2?AkA*a<*AD9?2Aֽ:A2BAD9?JAֽRA2٘i)I9@i@Y G J<B=JJJJE&K YU~?y: OA6Eŧ779)B[[[0KV~?[ [[[[BZYY i) =!;IiK@1= >/))>/>/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037180.403165 s, next control iter: 1743037180.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10679&, header.stamp.nsec: 0&0 temperature: 13.571667&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.570656&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037180.803165 s.xA/J~,g3(AA@A \@AZV~? AM+AO%"AAfhNA"AZAbAjArAzAAA AĒ=sAi@AN;A>يA2A`?A`A-R<*AM9?2Ajֽ:A{OBAM9?JAjֽRA{O٘i)I9i@YDG J<C=JJJJE&K YU~?yWBiOA8E)7ŧ79)B[[ۍ[TV~?[[[[[BZYY i) ^;IiӉ@j0= O))OO4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037180.843165 s, next control iter: 1743037181.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037181.223165 s.J "J *J 2J g/J~:J+?BJ+?,HN(AnJE5vJAz@AUס@AdV~? A2A%"AAhNA"AZAbAjArAzAAA|2cAKoQ]DsA@j@A,4A.A"A?AG{A_<*A"9?2Awֽ:ABA"9?JAwֽRA٘i)I9@j@YG J<JJJJE&K YwU~?yJOA;E777u94B)B+E[['[^V~?[[[[[BZYY i) ;Ii@E 0= l))ll*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037181.263165 s, next control iter: 1743037181.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037181.643165 s.x/J~,*i(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066400< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037181.643281F (some fields omitted in printout)A ףp@A`!se@AoV~? A:A?%"AAdhNA"AZAbAjArAzAAAëb<$AAC½sAj@AD*A9A~A`?A aIA+<*A9?2A_ֽ:A| BA9?JA_ֽRA| ٘i)I9j@YG Jp<JJJJE&K Y*U~?yQ)PA>Eb77@95B)߯B,E[[i[iV~?[[[[[BZYY i) ;Iiq@/= ))*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10680, header.stamp.nsec: 00 temperature: 13.571396F* salinity: 33.375011, density: 1025.000000* values[0]: 0.571307F (some fields omitted in printout)FF]Waiting for Gazebo time sync: latest Gz time: 1743037181.663165 s, next control iter: 1743037182.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037182.063165 s./J~,g (AJ"J*J2J:JA?BJA?nJ[5vJA33333@AI+&@AzV~? A`AA%%"AAhNA"AZAbAjArAzAAAJoLAq5sA?=k@A *A; A\xAq?AA.<*AT9?2Aswֽ:A -BAT9?JAswֽRA -Y@xya  ~*ٓH?@m?\ ?@?@\?@C`?)@ I٘i)I9=k@Y+G J/<B=J-%<JJJE&Kx> Y:U~?yYPAx@E77 96B)ܯB/E[[]2[sV~?[![[[[BZYY i=) ;Iip@٣.= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037182.083165 s, next control iter: 1743037182.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037182.483165 s.z_/J~,잿(AA\h@AWZF[@AV~? AHAko%"AALhNA"AZAbAjArAzAAA=8|A'^sAk@AݑAPAsAB?AAύ<*A9?2AŴֽ:A,BA9?JAŴֽRA,٘i)I9k@YvG J<C=JJJJE&K YJU~?y\`PACE7779)دB[[[~V~?['[[[[BZYY i) OU;Ii@ܗ-= fƁ))fƁfƁȴ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037182.503165 s, next control iter: 1743037182.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10681, header.stamp.nsec: 00 temperature: 13.571105* salinity: 33.375004, density: 1025.000000* values[0]: 0.571916F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037182.903165 s./J~,͹(AJ"J*J2J:Ji?BJi?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037182.903312F (some fields omitted in printout)AQ@AF'K@AV~? AOA#%"AAUhNA"AZAbAjArAzAAAɖNARwsA*l@AnO;ALA&nAAc?A7AKX<*A9?2Aֽ:ACBA9?JAֽRAC٘i)I9*l@YG J<JJJJE&K YZU~?yg7QAFE97B)կB2E[[#[V~?[-[[[[BZYY i) bG$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037183.763165 s, next control iter: 1743037184.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037184.163165 s.|}0J~,q (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037184.163312F (some fields omitted in printout)A@@AE2@AV~? AdAG%"AA4iNA"AZAbAjArAzAAA^ٙAhsArm@A;A@'AAx^A7?AA<*A9?2Aֽ:ABA9?JAֽRAY(:@^y&Q;ٓH ř?p? bШ@Mdm?7?vA?`z? 2?)(:@ I٘i)I9rm@YG Jǂ<JiJJJE&Kx>  9YU~? 9y|HRA^NE77{79)ͯB[[x[V~?[ ?[[[[BZYY i) 4 elevatorAngleAction: 0.077637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037185.423330F (some fields omitted in printout)A{G@Aٗl<@AFV~? AxA%"AA3uiNA"AZAbAjArAzAAA7AsAn@A8A撽A(OA@h:?A @A<*AY9?2ATֽ:A{ BAY9?JATֽRA{ ٘i)I9n@Y`G J<JJJJE&K YU~?y^SAVE)7)7`9;B)įB=E[[׮j[V~?[O[[[[BZYY i) |b Y!U~?y TAD[E779)B[[#a[dV~?[Z[[[[BZYY i) K elevatorAngleAction: 0.077637< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037186.683287F (some fields omitted in printout)A(\@A,σu@AlW~? A"A?%"AAiNA"AZAbAjArAzAAAAPsAep@A;AA*,?A?A@X?A<*A9?2A ׽:A= BA9?JA ׽RA= ٘i)I9ep@YPG J۝<JJJJE&K YrU~?y TA^E77 9)BCE[[;][V~?[_[[[[BZYY i) %B)BGE[[7T[W~?[Cj[[[[BZYY i=) I0J~,_](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743037187.943313F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@Ah[@AKGW~? AA(%"AAjNA"AZAbAjArAzAAA:ۿAv{ sAr@A;%;AꟽA/A`?AaOAO <*Aת9?2Aֽ:ABAת9?JAֽRA٘i)I9r@YKG JC<B=JJJJE&K Ye;V~?ydUAfE7ŧ7 9?B)BJE[[wO[Z+W~?[[o[[[[BZYY i) b۞(AAY@AdL@AYW~? AfA`%"AAE"jNA"AZAbAjArAzAAA5 X̿A ̦sAlr@AU&AA*A+0?AeAzI<*A9?2AoXֽ:AuBA9?JAoXֽRAuY[@m{*ywٓH??@FV'?Q+?"1?@ÄvZ?)[@ I٘i)I9r@YG JѮ<C=J\>JJJE&Kx> YQV~?yԻ$VA{*iE{7j79@B)BME[[?3K[:W~?[Tt[[[[BZYY i) KJy[[[[BZYY i) % elevatorAngleAction: 0.087214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037189.203343F (some fields omitted in printout)AQ@A@A}W~? AݯAi~%"AA YjNA"AZAbAjArAzAAA=_?A+tA(s@As'A'ASD A?AZPA <*A9?2AQֽ:ABA9?JAQֽRA٘i)I9s@Y^G Jm<JJJJE&K Y}V~?yƪVAnE779)BPE[[s'B[ZW~?[~[[[[BZYY i) ( elevatorAngleAction: 0.087214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743037190.463329F (some fields omitted in printout)Afffff@A)t^Y@AJW~? A*AH<%"AAjNA"AZAbAjArAzAAA[?AC tAu@A" <AA4A`?A{޿Aa8<*A9?2A ׽:AXBA9?JA ׽RAXYv@jy <ٓH??@]@V ?/??C?@+?)v@ I٘i)I9u@Y~G J<B=JcJJJE&K$x> Y7V~?yG֪KXAjvEŧ779CB)BXE[[˅4[W~?[[[[[BZYY i) M elevatorAngleAction: 0.087214< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743037191.723267F (some fields omitted in printout)Az@A@AW~? AUϫA%"AA kNA"AZAbAjArAzAAA6W|*?A9HtA w@A:dAr.AA@?A)@ܿAp<*A9?2AUֽ:A^BA9?JAUֽRA^٘i)I9w@YG J<B=JJJJE&K Y W~?ycYA~E)7b7A 9)B[[&[^W~?[V[[[[BZYY i)  !))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037191.743165 s, next control iter: 1743037192.123175 s, wait time: 0.380010 s W~?)c rAdjusting time to match Gazebo time: 1743037192.143165 s.J "J _/0J~*J2J,,* (A:J?BJ?nJL5vJA ףp=@AqQe0@AX~? A!ԫA%"AA:*kNA"AZAbAjArAzAAA'a?AtAGx@AAA3A ?AK}ۿA<*A|9?2Aֽ:AZ BA|9?JAֽRAZ I٘i)I9Gx@YG J<C=JJJJE&K Y!W~?yZAEj7j7 "9)BaE[[#:"[W~?[[[[[ZZZZ¸>BZYY i¸>ר) 1))V>V>I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037192.163165 s, next control iter: 1743037192.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037192.563165 s.0J~, $(AA3333s@Aіs)f@AX~? AثAwT%"AAJkNA"AZAbAjArAzAAAC4@A<tAy@A!6AIAQIAC?A@ڿAK@<*A!z9?2AGֽ:AB BA!z9?JAGֽRAB Yo@@yF?7ٓH?̛?`Ooܿj?@0?@?@%ІY?)o@@ I٘i)I9y@YG J<JIJJJE&Kw> Y:W~?yZAE777#9EB)}BdE[[[W~?[[[[[ZZZZBZYY i) t))Д->Д->*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037192.583165 s, next control iter: 1743037192.963190 s, wait time: 0.380025 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10691, header.stamp.nsec: 00 temperature: 13.567712* salinity: 33.375088, density: 1025.000000* values[0]: 0.578989F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037192.983165 s.0J~,>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743037192.983284F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A8@A3X~? ASݫA%"AAhjkNA"AZAbAjArAzAAA^@Ase!tAy@A;A$A:A?AٿA<(=*A9?2AMֽ:ABA9?JAMֽRA٘i)I9y@Y G J<JJJJE&K Y TW~?y[AE)7ŧ7%9GB)xBhE[[[fW~?[[[[[ZZZZBZYY i) %))?>?>d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037193.023165 s, next control iter: 1743037193.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037193.403165 s.&0J~,Y(AAQ@AIC@A_IX~? AA_%"AA*kNA"AZAbAjArAzAAA>%Au@Ab$tA>z@A 8Ap隽A׾AC?A ٿA8/=*A9?2A/ֽ:A꼼BA9?JA/ֽRA꼼٘i)I9z@YG Jv=JJJJE&K YHmW~?y[AE777k'9)qB[[wy[O X~?[[[[[ZZZZBZYY i) w))YR>YR>y6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037193.443165 s, next control iter: 1743037193.803179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10692", header.stamp.nsec: 0"0 temperature: 13.567225"* salinity: 33.375118", density: 1025.000000"* values[0]: 0.580007"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037193.823165 s.0J~,-t(AJ"J*J2J:JBJnJvJAGz@A'jin@Am_X~? AAN%"AA\kNA"AZAbAjArAzAAA(q@AP&tA{@A$<AyAT;A@2 ?AJؿAcc<*AL9?2Axֽ:AhBAL9?JAxֽRAh٘i)I9{@YG J5<JJJJE&K YW~?y \AE776)9)kBkE[[[X~?[[[[[ZZZZBZYY i) ۤ))d>d>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037193.843165 s, next control iter: 1743037194.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037194.243165 s.0J~,q(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082442< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743037194.243314F (some fields omitted in printout)Aףp=J@Aۧ1=@AuX~? AA%"AAkNA"AZAbAjArAzAAA;Ua.0 @AQ.)tAC|@ASD<Af6Am¾A H?Ay׿A<*A9?2A ֽ:A0BA9?JA ֽRA0٘i)I9C|@YG J<JJJJE&K YŸW~?y\AE77{7+9HB)fBnE[[3 [ 2X~?[A[[[[ZZZZBZYY i) Ř))ppw>ppw>|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037194.263165 s, next control iter: 1743037194.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037194.663165 s.0J~,q(AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10693, header.stamp.nsec: 00 temperature: 13.566743* salinity: 33.375126, density: 1025.000000* values[0]: 0.581060F (some fields omitted in printout)A@A7 r@A^X~? A A%"AAkNA"AZAbAjArAzAAA|8xT @A@+tA|@A$<AMAwA Ʌ?AۥֿA<*A69?2Afֽ:Af:BA69?JAfֽRAf:Y݁@ydἙ$<ٓH??`wRֿ JJJ"E&Kw> Y@W~?y\AEb77,9)aBqE[[c[EX~?[⴪[[[[ZZZZBZYY iz) f))>>o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037194.683165 s, next control iter: 1743037195.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037195.083165 s.D0J~,S(AA)\µ@AV}@A;X~? AAa%"AAwlNA"AZAbAjArAzAAA࿚ @A@ -tAh}@AM;Aav2A9A ?AMտA<*AF9?2Awֽ:A<BAF9?JAwֽRA<٘i)I9h}@Y<G J<C=JJJJ$E&K YW~?y\AE.9)]BtE[[[YX~?[j[[[[ZZZZBZYY i)  ))B>B>~)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037195.103165 s, next control iter: 1743037195.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037195.503165 s.0J~,74(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069335< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743037195.503265F (some fields omitted in printout)AR@A4y@AYX~? AAM%"AAM5lNA"AZAbAjArAzAAANϯ@A'y00tA}@A A;AvңA/?APԿA;<*Ą9?2Aʕֽ:Ai<BĄ9?JAʕֽRAi<٘i)I9}@YwG Ji<JJJJ'E&K Y4W~?y \AEZ7Z7a09)ZB[[-[mX~?[ۻ[[[[ZZZZBZYY if) Xs))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037195.523165 s, next control iter: 1743037195.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10694, header.stamp.nsec: 00 temperature: 13.566352* salinity: 33.375114, density: 1025.000000* values[0]: 0.581826F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037195.923165 s.<0J~,(AA{G!@AC@AX~? AA%"AAXlNA"AZAbAjArAzAAA8@AnX2tA ~@AN)AMl<Az]A 0?A@ԿA;*A9?2Aֽ:AGӛ<BA9?JAֽRAGӛ<٘i)I9 ~@YG J<B=JJJJ*E&K Y X~?y) ]AEb77,29IB)XBwE[[[~X~?[2[[[[ZZZZBZYY i) k^))>>y3ݍ̩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037195.963165 s, next control iter: 1743037196.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037196.343165 s.<0J~J"J,(A*J2J:J?BJ?nJ@5vJAp= W@AI@AMX~? A|A%"AA|lNA"AZAbAjArAzAAAS@AU]j4tA,~@A "Ag<AA Pd?A`=ӿA;*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9,~@YG J;C=JJJJ,E&K Y,$X~?yF E]AE{7{739)zE[[E[RX~?[nª[[[[BZYY i) I))qn>qn>yn,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037196.363165 s, next control iter: 1743037196.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10695*, header.stamp.nsec: 0*0 temperature: 13.566107** salinity: 33.375153*, density: 1025.000000** values[0]: 0.582230*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037196.763165 s.:0J~,,0(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.079297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743037196.763278F (some fields omitted in printout)Ǎ@A@AY~? AAM%"AAlNA"AZAbAjArAzAAA2@Awd6tA.~@A!A?-=AꩄA ?A_ҿAZ*A9?2A:iֽ:A=<BA9?JA:iֽRA=*>JJJ/E&KHw> Y?X~?y ]AEj7Z759)}E[[}Z޾[&X~?[Ū[[[[BZYY ii) Y8))9ų>9ų>lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037196.803165 s, next control iter: 1743037197.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037197.183165 s.0J~,kK(AJ"J*J2J:J?BJ?nJQ5vJA(\@A삵@A Y~? AA-%"AA5lNA"AZAbAjArAzAAAc@LU@A]2G8tA~@AQ;AU=AtA*?A`gѿAٻ*A!9?2A>&ֽ:A.|=BA!9?JA>&ֽRA.|=٘i)I9~@YG JJJJJ2E&K YZX~?y\AE77779KB)[BE[[Ծ[HX~?[Ȫ[[[[BZYY i_ ) ())*>*>0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037197.203165 s, next control iter: 1743037197.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037197.603165 s.<40J~,Úf(AAQ@A ސF@AU1Y~? AA,%"AAlNA"AZAbAjArAzAAAf@z@A`b:tA}@A])<A|u=A`A@&?AпAjw7*A9?2Aս:A=BA9?JAսRA=٘i)I9}@Y~G JJJJJ4E&K Y3vX~?y\AEj7Z7V99)]BE[[q˾[X~?[`˪[[[[BZYY i) N8))E>E>YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037197.623165 s, next control iter: 1743037198.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10696 , header.stamp.nsec: 0 0 temperature: 13.566004 * salinity: 33.375164 , density: 1025.000000 * values[0]: 0.582276 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037198.023165 s.Z0J~,{(AJ"J*J2J:J?BJ?nJM5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037198.023296F (some fields omitted in printout)AHz.@A( 5 !@AIY~? AA!%"AA mNA"AZAbAjArAzAAAVe@A.#;tA~}@A7<A=AKA1?AtϿAph*Aݍ9?2A ֽ:A =BAݍ9?JA ֽRA =٘i)I9~}@YIG JOJJJJ7E&K YX~?yR]\AEb77!;9LB)`BE[[[pX~?[%Ϊ[[[[BZYY i) T))5 >5 >ٸYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037198.043165 s, next control iter: 1743037198.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037198.443165 s.=0J~,W](AAq= c@A'LV@ANbY~? A, Ag%"AA2mNA"AZAbAjArAzAAA4@AE`=tAr}@A\;A}=A6A WA?A@UͿAV*A49?2ANֽ:Ag=BA49?JANֽRAg=٘i)I9}@Y G JEzJJJJ:E&K YX~?y"\AE77{7<9)cB[[s[iY~?[Ъ[[[[BZYY i) S;Ii@8@< >))>>y!31ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037198.463165 s, next control iter: 1743037198.843181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10697, header.stamp.nsec: 00 temperature: 13.566057* salinity: 33.375187, density: 1025.000000* values[0]: 0.582015F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037198.863165 s.+0J~,>(AJ"J*J2J:JBJnJvJA@AzS@A {Y~? A A5%"AAXmNA"AZAbAjArAzAAAZ&@Aڏ>tA,|@AAr=A04!ACg?A˿Am*A9?2Aֽ:A3=BA9?JAֽRA3=Y@>Y!y`=LٓH@؄?;?=? Ŀ ?@ù@ޓ_@ ?)@ I٘i)I9|@YG JΌJ=JJJ=E&Kw> YX~?y[AY!Eb7b7>9)gBE[[[HY~?[KӪ[[[[BZYY i) ;Ii!4@<  >)) > >#ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037198.883165 s, next control iter: 1743037199.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037199.283165 s.2R0J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251462@ elevatorAngleAction: -0.066432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743037199.283267F (some fields omitted in printout)A(\@Ae5]O@AY~? AA1%"AA}mNA"AZAbAjArAzAAAӢ&@A0!M@tA}|@AAp=A A`Š?AɿAJ˜*A#9?2A`ֽ:A =BA#9?JA`ֽRA =٘i)I9|@YsG J JJJJ?E&K YX~?yXY[AE77@9)kBE[[a[q.Y~?[ժ[[[[BZYY i) &;Iie0@u< U>)) U>U>bԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037199.303165 s, next control iter: 1743037199.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 106982, header.stamp.nsec: 020 temperature: 13.5661542* salinity: 33.3751952, density: 1025.0000002* values[0]: 0.5815502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037199.703165 s.غ0J~,(AJ"J*J2J:JBJnJvJAQ@A@AY~? AAi%"AAymNA"AZAbAjArAzAAAo^jV@AkAtA/{@A9AR=AW!A`c?AȿAVt*A9?2ARս:At =BA9?JARսRAt =٘i)I9{@Y!G JB=JJJJBE&K YY~?yZAE77{7LB9)oBE[[[DY~?[ת[[[[BZYY i) ;Ii -@^< *>))*>*>تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037199.723165 s, next control iter: 1743037200.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037200.123165 s.<1J~,q(AAG:@A:w-@A2Y~? AA%"AAmNA"AZAbAjArAzAAA3 9@AdBtA {@AJAʞ=AŽA&?AGƿAw*A29?2Aս:A =BA29?JAսRA =٘i)I9 {@YG JgC=JJJJEE&K YpY~?yZA DEb77D9)tBE[[mY[[Y~?[ڪ[[[[BZYY i) b;Ii*@b< I>))I>I>zڪY"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037200.143165 s, next control iter: 1743037200.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037200.543165 s.I1J~,"(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037200.543303F (some fields omitted in printout)A= ףp@A($c@AY~? AA %"AAmNA"AZAbAjArAzAAA,wfD@ACtAVuz@A^7A=A(A ?A2vĿAe*A9?2AVս:A =BA9?JAVսRA =٘i)I9uz@YpG JⰼJJJJGE&K YT8Y~?y}+ZAE{7j7E9)xBE[[y[rY~?[#ܪ[[[[BZYY i) H&;Ii'@}< ?))??ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037200.563165 s, next control iter: 1743037200.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10699, header.stamp.nsec: 00 temperature: 13.566303* salinity: 33.375206, density: 1025.000000* values[0]: 0.580994F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037200.963165 s.{1J~,=(AAffff@Ahv[@AY~? AAni%"AACnNA"AZAbAjArAzAAA2D@ADtAy@A;A=AbjA?A¿A ʸ*A9?2Aս:A^ =BA9?JAսRA^ =Y%<@#Qhy=L;ٓH}?T?Ȗ?` M?@Tʈ׻? a?)%<@ I٘i)I9y@YG JĶJ<JJJJE&Ku> YTY~?yYAQhEG9)}BE[[B~[[Y~?[ު[[[[BZYY i)  [:IiJ#@< 4 ?))~4 ?4 ?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037200.983165 s, next control iter: 1743037201.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037201.383165 s.1J~,4X(AJ"J*J2J:JBJnJvJA(@A}:@A|Z~? A,AI%"AA YxY~?y WA4=Eŧ7b7P9KB)BE[[ [Y~?[w[[[[BZYY i) ԋBIi@u< !?))_O|!?!?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037203.103165 s, next control iter: 1743037203.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037203.483165 s.x_71J~,(AA\@A@ArZ~? AaA%"AAoNA"AZAbAjArAzAAAܛȯ #@A̶&ItAvlv@A@%AW=A=Ai?A(eA*A9?2A=ֽ:A8R<BA9?JA=ֽRA8R<٘i)I9lv@YG JCJJJJZE&K YY~?y6 UWAE77{7lR9)BE[[S [Z~?[[[[[BZYY i) TIi @n< ƪ&?)) ƪ&?ƪ&?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037203.503165 s, next control iter: 1743037203.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10702, header.stamp.nsec: 00 temperature: 13.566782* salinity: 33.375252, density: 1025.000000* values[0]: 0.579161F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037203.903165 s.J "J *J 2J :J C?BJ C? =1J~nJw5vJ,(AAQ@Ay@AjZ~? AA%"AAY'oNA"AZAbAjArAzAAAE'#@A*FpItAu@A|A}X=A=At?AࢥA=w*A9?2AWԽ:A/<BA9?JAWԽRA/<٘i)I9u@YG J՝JJJJ]E&K YZ~?yVAE776T9)BE[[&[.Z~?[}[[[[BZYY i) r|Ii$ @Ұ< ֖+?))֖+?֖+?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037203.923165 s, next control iter: 1743037204.303186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743037204.323165 s.sD1J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743037204.323265F (some fields omitted in printout)AGzT@AhoG@AlZ~? ARA%"AANoNA"AZAbAjArAzAAAd~ا[$@ADItAcu@AE;Aw=A=Az?A@.A*Ag9?2AԽ:AG<BAg9?JAԽRAG<٘i)I9cu@YZG J,JJJJ`E&K Y6Z~?yoVAE7777V9)BE[[,Ľ[GZ~?[J[[[[BZYY i') Ii@{< H0?))H0?H0?/YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037204.343165 s, next control iter: 1743037204.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10703*, header.stamp.nsec: 0*0 temperature: 13.566897** salinity: 33.375259*, density: 1025.000000** values[0]: 0.578635*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037204.743165 s.WK1J~,y/(AJ"J*J2J:J!?BJ!?nJS5vJAףp=@A.;1}@ArZ~? AAi%"AA)voNA"AZAbAjArAzAAA>3$@A L}ItAt@Aw)<Ao=A0=A@}?A ۄA}*A9?2AEԽ:AL<BA9?JAEԽRAL<٘i)I9t@Y G J\JJJJbE&K YSRZ~?y 0VAEŧ7b7W9)BE[[W[_Z~?[[[[[BZYY i) lۻIi+@)-< ބ5?))ބ5?ބ5?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037204.783165 s, next control iter: 1743037205.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037205.163165 s.y}R1J~,qJ(AA@A@A|Z~? AAE%"AAoNA"AZAbAjArAzAAALğN%@A͹ItA"`t@A&1<AzM=A=>A@~?A`mT?A&•*A9?2AhVս:A<BA9?JAhVսRAymK=1<ٓH੘?4W¿??td??.S5@H1?@b?)@ I٘i)I9`t@YG J՘J0JJJeE&K'u> YHnZ~?yUA>E{7{7Y9)B[[li[wZ~?[t[[[[BZYY i) IiW?j< tr:?))ztr:?tr:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037205.183165 s, next control iter: 1743037205.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037205.583165 s.X1J~,Re(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244765@ elevatorAngleAction: -0.075271< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037205.583285F (some fields omitted in printout)A)\@A~@A[~? AAN%"AAoNA"AZAbAjArAzAAAhgi5&@A^WItAs@Af;A;=Aeo(>AW}?A ^}?A?*AH9?2Aս:A<BAH9?JAսRA<٘i)I9s@YpG J'JJJJhE&K YA {?A@'?A|*A:?2AyԽ:AD<BA:?JAyԽRAD<٘i)I9ms@Y(G JJJJJjE&K Y2Z~?y>UAE,]9PB)BE[[W[Z~?[[[[[BZYY i) Ii?w< jD?))jD?jD?!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037206.023165 s, next control iter: 1743037206.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037206.423165 s.uf1J~,(AJ"J*J2J:JBJnJvJA{Ga@AjJ>T@AI[~? AA!%"AApNA"AZAbAjArAzAAAEp'@A|cItAhr@AAω=A3R>At?A"?A*A9?2A.Fս:A3<BA9?JA.FսRA3<٘i)I9r@YG JJJJJmE&K Y(Z~?yTAE77{7^9)BE[[:[Z~?[[[[[BZYY i) ,IiB?I< sI?))sI?sI?Y +YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037206.463165 s, next control iter: 1743037206.823180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10705, header.stamp.nsec: 00 temperature: 13.567108* salinity: 33.375309, density: 1025.000000* values[0]: 0.577641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037206.843165 s.l1J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075271< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037206.843335F (some fields omitted in printout)Ap= @A@Ac[~? AEA%"AA^;pNA"AZAbAjArAzAAAOz(@A+)|ItATr@Aq`8A=Af>Ak?A ?A*A9?2A-ս:Ac=BA9?JA-սRAc=٘i)I9r@YG JJJJJpE&K YZ~?yfTAEŧ7b7`9OB)BE[[{<[Z~?[[[[[BZYY i) Y;Ii?< N?))N?N?EYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037206.883165 s, next control iter: 1743037207.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037207.263165 s.t1J~,(AJ"J*J2J:JBJnJvJA@An@Ay}[~? AA%"AAbpNA"AZAbAjArAzAAAc9(@AHtAr@AyA==A^{>A`g`?AqG?Aa*A=9?2Aս:A7=BA=9?JAսRA7=Y(<3z>yN=0>ٓH`N?Ͽ°?@_?5 ?V?U}?)(< I٘i)I9r@YTG JJ;JJJrE&Kt> YZ~?yTAz>E77b9)BE[[ta'=[Z~?[[[[[BZYY i) KIit?ϋ< S?))~yS?S?_êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037207.283165 s, next control iter: 1743037207.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 107062, header.stamp.nsec: 020 temperature: 13.5672082* salinity: 33.3752782, density: 1025.0000002* values[0]: 0.5771952F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037207.683165 s.lz1J~,k(AA(\@Asۄ@AZ[~? AA%"AApNA"AZAbAjArAzAAAMbH)@AHtAHq@AyS=:A7Q=AoЇ>A@R?A?Aϔ*A9?2AWս:AU=BA9?JAWսRAU=٘i)I9q@Y G JJJJJuE&K Y[~?yoSAEj7SI7Wd9NB)¯BùE[[,x=[ [~?[`[[[[BZYY i) }iZIi,?< X?)) X?X?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037207.683165 s, next control iter: 1743037208.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743037208.103165 s.1J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075271< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037208.103298F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@A0E+@A+[~? AA%"AA'pNA"AZAbAjArAzAAAR3)@A@y_GtAq@A<An=A>A C?A@.ߺ?AG*A:?2AԽ:A =BA:?JAԽRA =I٘i)I9q@YG JJJJJxE&K YP0[~?yLHSAE7777!f9)ůBƹE[[Ƥ=[%[~?[[[[[BZYY iFr) iIi?< ]?))]?]?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037208.123165 s, next control iter: 1743037208.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037208.523165 s.1J~, |!(AAHzn@A0 a@A[~? ARA%"AA=pNA"AZAbAjArAzAAALy@S*@A͜G\FtAp@A:<AB<=A9Û>A`1?Ax}?A*A:?2AeԽ:AE =BA:?JAeԽRAE =٘i)I9p@YkG JWB=JJJJzE&K YK[~?y)RAE7g9)ɯB[[=[>[~?[[[[[BZYY i) 5yIi?{< b?))b?b?˪Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037208.543165 s, next control iter: 1743037208.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10707, header.stamp.nsec: 00 temperature: 13.567310* salinity: 33.375328, density: 1025.000000* values[0]: 0.576710F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037208.943165 s.Yd1J~,F]<(AJ"J*J2J:J?BJ?nJ5vJAq= ף@A `ʖ@A[~? AAJ/%"AA4pNA"AZAbAjArAzAAAhKK+@AfͫEtA p@A#W <A-=A(>A?Au?A,*A79?2AԽ:A~=BA79?JAԽRA~=٘i)I9 p@YG JvC=JJJJ}E&K Yg[~?yRAE7i9KB)˯BȹE[[=[ X[~?[<[[[[BZYY i) MIi^?[s< Ng?))Ng?Ng?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037208.963165 s, next control iter: 1743037209.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037209.363165 s.1J~,>W(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743037209.363287F (some fields omitted in printout)A@A@A%[~? AdAK%"AA&qNA"AZAbAjArAzAAA7(S+@AA#?A?A*A9?2Ajս:A-=BA9?JAjսRA-=Y#X>Hݰ>y˜=T:ٓH?4տr?`X?`Y??-V?6?)#X> I٘i)I9o@YG JJL<JJJE&Kt> Y[~?y #RAݰ>Ej7Z7k9)ίB˹E[[}>[p[~?[7[[[[BZYY i) ۋIi8?g< zm?))+[yzm?zm?yfVҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037209.383165 s, next control iter: 1743037209.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10708&, header.stamp.nsec: 0&0 temperature: 13.567434&* salinity: 33.375313&, density: 1025.000000&* values[0]: 0.576159&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037209.783165 s.W1J~,r(AJ"J*J2J:JBJnJvJA(\@AO@A\~? AAVk%"AALqNA"AZAbAjArAzAAAq\ UR,@ACnCtAYo@AػAΛ=A銻>A?A ?Ad*A9?2A$ֽ:A=BA9?JA$ֽRA=٘i)I9o@YwG JIJJJJE&K YA[~?yQAE77Lm9JB)үBιE[[e$>[[~?[[[[[BZYY i) iIi?U]< B)r?)) B)r?B)r?)֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037209.803165 s, next control iter: 1743037210.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037210.203165 s.1J~,(AAQE@AD8@A0\~? AA%%"AA3sqNA"AZAbAjArAzAAAU,@AxÌBtAzn@A\5A11=A>A?A?AZ*A2:?2AԽ:A=BA2:?JAԽRA=٘i)I9zn@Y%G J]JJJJE&K YҶ[~?yVQAES77o9IB)կBѹE[[9>[=[~?[[[[[BZYY i) wIiu?S< Vw?))Vw?Vw?ڪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037210.223165 s, next control iter: 1743037210.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037210.623165 s.Z1J~,i(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037210.623284F (some fields omitted in printout)AGz@Am@A)J\~? AA%"AAqNA"AZAbAjArAzAAAUu{V-@A4wiAtA+m@A[A?=A>A@?A?A*A9?2A- ս:An=BA9?JA- սRAn=٘i)I9m@YG J6JJJJE&K Ye[~?yPAE7)7p9)ٯBԹE[[eM>[[~?['[[[[BZYY i) Ii۞?UK< 4|?))4|?4|?ߪY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037210.643165 s, next control iter: 1743037211.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10709 , header.stamp.nsec: 0 0 temperature: 13.567568 * salinity: 33.375347 , density: 1025.000000 * values[0]: 0.575623 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037211.043165 s.1J~,(AA= ף@AIG9@A=c\~? AA%"AAqNA"AZAbAjArAzAAAXu7.@A@tA']m@APA=A>AΏ?AL?Aݲ*AP9?2A8ս:A7=BAP9?JA8սRA7=٘i)I9]m@YwG JխJJJJE&K Y[~?yPAE777r9)ޯB[[-b>[[~?[v[[[[BZYY i) Ii?C< ?))??6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037211.063165 s, next control iter: 1743037211.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037211.463165 s.T1J~,ߤ(AJ"J*J2J:JBJnJvJAffff@AJzZ@A,|\~? AE A%"AAqNA"AZAbAjArAzAAApۇ".@A# ħ>tAol@Ai;A=AB >Al?A?A*A9?2A;&ս:A=BA9?JA;&սRA=Y#h>C>y)=;ٓH?@ۿᛳ???`?`6t?`?)#h> I٘i)I9l@YG JJ<JJJE&Kt> Yk\~?yTPAC>E7)7wt9HB)B׹E[[w>[[~?[ު[[[[BZYY i) iIi?V8< p|?))yp|?p|?^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037211.483165 s, next control iter: 1743037211.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10710, header.stamp.nsec: 00 temperature: 13.567690* salinity: 33.375366, density: 1025.000000* values[0]: 0.575024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037211.883165 s.y1J~,M(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243949@ elevatorAngleAction: -0.084202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743037211.883319F (some fields omitted in printout)A(@A(@A\~? A A7%"AA; rNA"AZAbAjArAzAAAIf\J/@Au #=tAi"l@A.<Aܚ=A9:>AG?A!?Aü*A9?2A8Oս:A1=BA9?JA8OսRA1=٘i)I9"l@YG JJJJJE&K Y\~?yOAE{7{7Av9GB)BڹE[[sF>[\~?[ܪ[[[[BZYY i) Ii‡?-< ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037211.903165 s, next control iter: 1743037212.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037212.303165 s.S1J~,jg(AJ"J*J2J:JBJnJvJAQ@ALD@A\~? A#Ai%"AA0rNA"AZAbAjArAzAAA1%/@A,ƅ;tA{k@A.<A=A"q>Ar?A?A|ȼ*AY9?2AԽ:Aٿ=BAY9?JAԽRAٿ=٘i)I9{k@YRG J+ƼJJJJE&K YW8\~?y4OAEb7b7 x9FB)BݹE[[Oϐ>[ \~?[pڪ[[[[BZYY i) Ii^?O$< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037212.323165 s, next control iter: 1743037212.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10711., header.stamp.nsec: 0.0 temperature: 13.567876.* salinity: 33.375385., density: 1025.000000.* values[0]: 0.574386.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037212.723165 s.1J~,H.(AAz@Auiz@A\~? AWAɞ%"AAUrNA"AZAbAjArAzAAAe90@Ai}9tAj@A1;AW2=ASk?A ?Ar?A2Mʼ*A*9?2AԽ:A=BA*9?JAԽRA=٘i)I9j@YG JɼJJJ FJE&K YQ\~?yNAEj7j7y9BB)B߹E[[j>[9\~?[ت[[[[BZYY i) kǼIis? < b?))b?b?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037212.743165 s, next control iter: 1743037213.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037213.143165 s.T/1J~,)I(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037213.143282F (some fields omitted in printout)A ףp@Ah8e@A<\~? AdA%"AAzrNA"AZAbAjArAzAAAL1[a0@A8tAP(j@ANMA=AG?A?A?Aʼ*A9?2A`ս:A|=BA9?JA`սRA|=٘i)I9(j@YG JʼJJJJE&K YBk\~?y'QNAEb77{9)B[[>[R\~?[ժ[[[[BZYY i) >μIinh?< T ?))T ?T ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037213.163165 s, next control iter: 1743037213.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037213.563165 s.1J~,R d(AA3333@AoG8-@AI\~? AKA%"AA[rNA"AZAbAjArAzAAAei)K0@A Aj6tA}i@AmA=A6 ?A Y?A Zz?A˼*A9?2Aս:A=BA9?JAսRA=YҌ> ?y=ٓH I٘i)I9}i@YG J ˼B=J'<JJJE&Ku> Y]\~?yMA ? E77j7l}9)BE[[>[k\~?[Ҫ[[[[BZYY i) )ռIikV?: < +?))z+?+?{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037213.583165 s, next control iter: 1743037213.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10712, header.stamp.nsec: 00 temperature: 13.568069* salinity: 33.375374, density: 1025.000000* values[0]: 0.573654F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037213.983165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 1J~,~(AA\(@A#)@A ]~? A A{O%"AArNA"AZAbAjArAzAAABy1@A##4tAh@A5AK,=AwT?A`h?AX?AXμ*Ar9?2A0ֽ:A=BAr9?JA0ֽRA=٘i)I9h@Y G J̼C=JJJJE&K Yt\~?ybMA E{779AB)BE[[I>[ \~?[Ъ[[[[BZYY i) /ݼIi)F?; 5Z?)) 5Z?5Z?4YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037214.003165 s, next control iter: 1743037214.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037214.403165 s.&1J~,͙(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084202< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743037214.403337F (some fields omitted in printout)AQ^@AQ@A%]~? AAQ%"AArNA"AZAbAjArAzAAA{i/\1@A{ 2tA"h@A,ܻAC=AW?A\5?A5[œ\~?[̪[[[[ZZ¸BZYY i¸=) /ѼIi7?; ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037214.423165 s, next control iter: 1743037214.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10713", header.stamp.nsec: 0"0 temperature: 13.568281"* salinity: 33.375393", density: 1025.000000"* values[0]: 0.572956"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037214.823165 s.1J~,6(AJ"J*J2J:J?BJ?nJ5vJAGz@An@A%=]~? AA%"AAI sNA"AZAbAjArAzAAAq1@A%@Q/tAng@Aכ:A=A>?A?A ?Aټ*A[9?2AԽ:A K=BA[9?JAԽRA K=٘i)I9ng@Y G JռJJJJE&K Y\~?y٪tLAE{7̂9)B[[W>[X\~?[ɪ[[[[ZZBZYY i) 0żIi*?@; ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037214.843165 s, next control iter: 1743037215.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037215.243165 s.1J~,y(AAףp=@A 2@AOT]~? AhAy%"AA.sNA"AZAbAjArAzAAAl?IZ1@A\-tAf@A <A X=A< ?A ?A?A**A9?2A&Խ:A<BA9?JA&ԽRA<٘i)I9f@Y_ G JJJJJE&K Y\~?yNժKAE9?B) BE[[>[\~?[`ƪ[[[[ZZBZYY i) .Ii?p; fs?))fs?fs?RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037215.283165 s, next control iter: 1743037215.643179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037215.663165 s.1J~,q(AJ"J*J2J:Jx?BJx?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037215.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10714, header.stamp.nsec: 00 temperature: 13.568506* salinity: 33.375404, density: 1025.000000* values[0]: 0.572152F (some fields omitted in printout)A@Af1@A9k]~? AAc%"AAQsNA"AZAbAjArAzAAAH.2@A;m:O+tAe@A& 7<A޷=AY`%?A`?A?A*Ai:?2A"/ս:A<BAi:?JA"/սRAT%?yt=R7<ٓHw? CC??`;??y?TҲ`?Q?)m> I٘i)I9e@Y G JB=JxJJJE&Kt> YN\~?yϪKA%?E77b9;B) BE[[t>[\~?[ª[[[[ZZBZYY i) IiU?/; $?))|$?$?yI=ЪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037215.683165 s, next control iter: 1743037216.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037216.083165 s.D2J~,S(AA)\5@A(@A]~? AA%"AAtsNA"AZAbAjArAzAAA| s2@Au(tAd@A;ALp=AȤ*?A@S?A@?A+**A :?2AƝս:Ang<BA :?JAƝսRAng<٘i)I9d@YT G JC=JJJJE&K Y]~?yʪ2KAE77,9:B)BE[[O>[\~?[![[[[ZZBZYY i) H롼Ii>;ߡ; ۠?)) ۠?۠?xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037216.103165 s, next control iter: 1743037216.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037216.503165 s.2J~,e4 (AJ"J*J2J:JY?BJY?nJu5vJARk@A2z^@AI]~? AAy%"AA>sNA"AZAbAjArAzAAAzq2@Ag(`&tA.d@A18ָA$^+=A/?A [?A;[?A̼*A#:?2AMԽ:AL(;BA#:?JAMԽRAL(;٘i)I9.d@Y G JhJJJJE&K Y]']~?ycŪJAEŧ7b79)B[[@>[]~?[:[[[[ZZBZYY i) mHIi>ڏ; ?))??BqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037216.543165 s, next control iter: 1743037216.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10715, header.stamp.nsec: 00 temperature: 13.568796* salinity: 33.375423, density: 1025.000000* values[0]: 0.571234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037216.923165 s.72J~,;(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037216.923309F (some fields omitted in printout)A{G@A5?@Al]~? A>AP%"AAsNA"AZAbAjArAzAAAr2@Ae:[#tAѐc@A9A6<A4?A` ?A@%?A=*A#:?2AԽ:A6<BA#:?JAԽRA6<٘i)I9c@Y G J#B=JJJJE&K Y=]~?ygJAEb77‹98B)BE[[?[-]~?["[[[[ZZBZYY i) Ii>>'; xY?))xY?xY?BY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037216.943165 s, next control iter: 1743037217.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037217.343165 s.<2J~,U(AJ"J*J2J:JBJnJvJAp= @A@AJ]~? AܫAO%"AAdsNA"AZAbAjArAzAAA<3@AoS!tAc@A3JA<A :?A˜?A?A2s*A:?2AA+ս:A)BA:?JAA+սRA)٘i)I9c@Y5 G J0C=JJJJE&K YnT]~?yǺJA"Ej7j797B)BE[[, ?[[E]~?[ܲ[[[[ZZBZYY i)  ~Iih>e; 3?))3?3?0JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037217.363165 s, next control iter: 1743037217.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10716*, header.stamp.nsec: 0*0 temperature: 13.568979** salinity: 33.375431*, density: 1025.000000** values[0]: 0.570527*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037217.763165 s.32J~,p(AA @A~@A]~? ATثA9%"AAVsNA"AZAbAjArAzAAA+lF~3@A2$VtAb@AO2(AsAL??AU?A v?A$*A:?2ADս:ABA:?JADսRA􈼙٘i)I9b@Y G JqRJJJJE&K Yj]~?yyIA$E{7W9)!B[[=?[\]~?[h[[[[ZZBZYY i) fIiB>O; ?))??*)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037217.783165 s, next control iter: 1743037218.163174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037218.183165 s.J "J *J 2J :J ?BJ ?nJ 5vJ "2J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083448< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037218.183284F (some fields omitted in printout)A(\B@A/5@A']~? AӫAT%"AAtNA"AZAbAjArAzAAA g;3@AЉ}tAb@ANIA<AD?A`R?A ?Aз*A:?2Aս:ABA:?JAսRA٘i)I9b@Y G JJJJJE&K Y~]~?y+8IA'E7{7"96B)"BE[[S?[t]~?[ǩ[[[[ZZBZYY iu=) (OIiՔ>>; ʱ?))ʱ?ʱ?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037218.223165 s, next control iter: 1743037218.583182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743037218.603165 s.;4)2J~,(AAQx@A]Ek@A ^~? AΫA%"AA:tNA"AZAbAjArAzAAA%d3@A%֐tAkb@A;A?5AI?Ak?A E?Aq*A9?2AvWֽ:AMּBA9?JAvWֽRAMּ٘i)I9kb@Y G JwJJJJE&K Y]~?yܪHA*E77쒊92B)BE[[?[]~?[[[[[BZYY i) <8Ii&>22; H?))H?H?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037218.623165 s, next control iter: 1743037219.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10717 , header.stamp.nsec: 0 0 temperature: 13.569012 * salinity: 33.375454 , density: 1025.000000 * values[0]: 0.570221 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037219.023165 s.Z02J~, |(AJ"J*J2J:JBJnJvJAHz@AM@A^~? AɫA%"AArZtNA"AZAbAjArAzAAAo_=4@A<4tAmb@A 1<A.?ATO?A`z?A?AV);*A9?2Aֽ:AJBA9?JAֽRAJ٘i)I9mb@Y G J<9JJJJE&K Y]~?ynHA,E9)[[n?[á]~?[[[[[BZYY i)  Ii8>w*; $N?))$N?$N?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037219.063165 s, next control iter: 1743037219.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037219.443165 s.862J~,B](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092998< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037219.443295F (some fields omitted in printout)Aq= @AB@A-^~? AīAq%"AAytNA"AZAbAjArAzAAAwޝz4@A7{ytAb@AX)<AkART?A-?A`?A;*A9?2Ajֽ:A BA9?JAjֽRA ٘i)I9b@Y G JQ;JJJJE&K Y]~?y@HA/E{79-B)BE[[+%?[ ]~?[[[[[BZYY i) ̳ Ii>v'; ?))??yQ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037219.463165 s, next control iter: 1743037219.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10718, header.stamp.nsec: 00 temperature: 13.568936* salinity: 33.375469, density: 1025.000000* values[0]: 0.570280F (some fields omitted in printout)F]~?)F@ rAdjusting time to match Gazebo time: 1743037219.863165 s.+=2J~,>(AJ"J*J2J:JBJnJvJA@A @AA^~? AA%"AAtNA"AZAbAjArAzAAA"e44@A x'PtAb@A}&;A\ApY?A?A{?A5<*A"9?2Atֽ:AGBA"9?JAtֽRAGYF!?^Y?y[u;ٓH@? ?Y"?*@.(?@q??)F!? I٘i)I9b@Y G J<B=JmJJJE&K> Y]~?yeHA^Y?2E77M9,B)BE[[_*?[]~?[[[[[BZYY i(==) WSIi6D>': ?))qv??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037219.903165 s, next control iter: 1743037220.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037220.283165 s.5RD2J~,(AA(\O@AvRB@AT^~? AjA;%"AA!tNA"AZAbAjArAzAAAR_4@A tA!c@AAX*A~^?A`Ȏ?A`/?A+cy<*A(9?2A,ֽ:AFp#BA(9?JA,ֽRAFp#٘i)I9!c@Y; G JLT<JJJJE&K Yo]~?yHA4Eb779)B[[H0?[<]~?[K[[[[BZYY i/ =) JջIi >g/: 3?)) 3?3?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037220.303165 s, next control iter: 1743037220.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 107192, header.stamp.nsec: 020 temperature: 13.5687122* salinity: 33.3754542, density: 1025.0000002* values[0]: 0.5706212F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037220.703165 s.׺J2J~,-(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: 0.063990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743037220.703330F (some fields omitted in printout)AQ@A"x@Ah^~? AA%"AAtNA"AZAbAjArAzAAAܺl8-5@A\tAc@A/AgApc?Ac;?A@?A˥<*A9?2A'Խ:A1"BA9?JA'ԽRA1"٘i)I9c@Y G J<C=JJJJE&K Y]~?yiIA7E77{7⛊9(B) BE[[5?[u]~?[[[[[BZYY i)  elevatorAngleAction: 0.063990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743037221.963311F (some fields omitted in printout)Affff&@AT^@A^~? AA%"AA)uNA"AZAbAjArAzAAAr#%5@A RcfsA9ye@A6 ;AuAs?A@?A ?A <*A%9?2Aս:ABA%9?JAսRAYB:?s?yZӻ ;ٓH` ?@7Ϟ ?N?'$?Ҧa??)B:? I٘i)I9ye@Y G J<B=J5JJJE&KOt> Y2^~?y xKJAs??Ej7j7B9%B)B E[[tF?[6^~?[y[[[[BZYY i) WQ6II?i__0 i?))i?i?=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037221.983165 s, next control iter: 1743037222.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037222.383165 s.e2J~,+(AJ"J*J2J:JBJnJvJA(\@AdO@A^~? AAS]%"AAUDuNA"AZAbAjArAzAAA/(2 6@AsA$f@A<A"Apx?A?A`3J?A<*A9?2AM5ֽ:A` BA9?JAM5ֽRA` ٘i)I9$f@Y G JN<C=JJJJE&K YCC^~?ypJABE77 9)B[[ZL?[I^~?[r[[[[BZYY i)  I I?iݽ |?))|?|?l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037222.403165 s, next control iter: 1743037222.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10721", header.stamp.nsec: 0"0 temperature: 13.567975"* salinity: 33.375484", density: 1025.000000"* values[0]: 0.572163"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037222.803165 s.wAl2J~,{g(AA@A_u@A^~? AAU%"AA_uNA"AZAbAjArAzAAA4 RA6@A'`$sAff@AmcA<A_fA}?A?AP?Au<*A9?2Amֽ:AJBA9?JAmֽRAJ٘i)I9f@Yz G J;<B=JJJJE&K YS^~?yi7KADEb77פ9!B)B E[[Y]^~?[l[[[[BZYY i) XI{ I?i ʺ .q?)).q?.q?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037222.823165 s, next control iter: 1743037223.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037223.223165 s.gs2J~,H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037223.223278F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@AAgҦ@A ^~? AA}G%"AA>yuNA"AZAbAjArAzAAAg8+t6@ARisAb{g@A<A=A;k?A]a?A ?AG<*A9?2Axhֽ:A, BA9?JAxhֽRA, ٘i)I9{g@Y G J<C=JJJJE&K Yd^~?ybKAGE77{79)B[[ W?[Sp^~?[e[[[[BZYY i) hII?iF" A?))A?A?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037223.243165 s, next control iter: 1743037223.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037223.643165 s.zy2J~,*(AA ףp@Ac@A^~? AˋA%"AA̒uNA"AZAbAjArAzAAAjU16@AZrMsAp%h@A4ASA?A?A9?Af<*A9?2AjFֽ:A]BA9?JAjFֽRA]٘i)I9%h@YI G J<JJJJE&K Yt^~?yo[#LAJEb7b7m9 B)ޯBE[[M]?[^~?[E_[[[[BZYY i) oF:II?if) #?))#?#?*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037223.663165 s, next control iter: 1743037224.043182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10722, header.stamp.nsec: 00 temperature: 13.567557* salinity: 33.375504, density: 1025.000000* values[0]: 0.573048F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037224.063165 s.2J~,[ (AJ"J*J2J:JBJnJvJA33333@A8'&@A^~? AyA:%"AAuNA"AZAbAjArAzAAA /$l6@A9sAh@A\ArA9{?A ?Ar?A$<*A9?2A0ֽ:APBA9?JA0ֽRAPY$U?a?yq4cٓH?K.?@?)$ɳ?@? Y^~?ySLA?ME779)ٯB[[xc?[^~?[}X[[[[BZYY i) :II?i9 j?))j?j?:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037224.083165 s, next control iter: 1743037224.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037224.483165 s.w_2J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037224.483283F (some fields omitted in printout)A\h@AVfJ[@A_~? AAQ%"AAuNA"AZAbAjArAzAAASg7@AsAri@A;>AXLA?A@*?A@?Aۿ<*A]9?2AHEֽ:AtBA]9?JAHEֽRAtI٘i)I9ri@YG J<JJJJE&K Y^~?y'LLAOE77779B)ϯBE[[<>i?[Φ^~?[Q[[[[BZYY i) mF);I7H?inZ N?))N?N?1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037224.503165 s, next control iter: 1743037224.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10723, header.stamp.nsec: 00 temperature: 13.567164* salinity: 33.375519, density: 1025.000000* values[0]: 0.573917F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037224.903165 s.ȍ2J~,9(AJ"J*J2J:JBJnJvJAQ@AE`@A(_~? AxA4%"AAuNA"AZAbAjArAzAAAS77@A@)sAj@AAd(A?Ae?A w?A`<*Az9?2Aֽ:A/BAz9?JAֽRA/٘i)I9j@YtG J<JJJJE&K Y^~?yDbMARE{7ͭ9)ʯB[[ o?[^~?[hJ[[[[BZYY i) 8e;IH?i w ?))??)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037224.923165 s, next control iter: 1743037225.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037225.323165 s.2J~,lT(AAGz@AeVp@A!#_~? AqA%"AAuNA"AZAbAjArAzAAA5ɖd7@A;UosAj@AAZA elevatorAngleAction: 0.063990< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037225.743324F (some fields omitted in printout)Aףp= @Az2@A1_~? A6kA6%"AA6 vNA"AZAbAjArAzAAAWב7@A#sA40k@A#;A#*A?A`?A`?A <*A:?2A'׽:A7BA:?JA'׽RA79٘i)I90k@Y$G JΥ<JJJJE&K Y^~?y<57NAWE)7ŧ7b9B)BE[[z?[j^~?[;[[[[BZYY i|=) a;IKH?ijᾉ?D ZF?))ZF?ZF?˽*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037225.763165 s, next control iter: 1743037226.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037226.163165 s.w}2J~,q(AA@@A Y^~?y+-NA?ZE77.9B)BE[[K?[5^~?[*4[[[[BZYY i) =;I zH?i 6 ' ^?)) ^? ^? *YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743037226.183165 s, next control iter: 1743037226.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037226.583165 s.2J~,R(AJ"J*J2J:J9?BJ9?nJ`5vJA)\u@A)h@AdM_~? A]A;@%"AA3vNA"AZAbAjArAzAAAٜ{7@A]ۀ_sA-l@A:*<AyAP?A-?A@(?Aώ<*A:?2A*׽:AVBA:?JA*׽RAV켙٘i)I9-l@YG J<C=JQ>JJJE&K> Y^~?y"%NA]E9B)BE[[9?[^~?[,[[[[BZYY i) Z;I H?i N V?))V?V?*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037226.603165 s, next control iter: 1743037226.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10725, header.stamp.nsec: 00 temperature: 13.566461* salinity: 33.375534, density: 1025.000000* values[0]: 0.575428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037227.003165 s.x 2J~,L4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037227.003310F (some fields omitted in printout)AR@A9){@AZ_~? AVA%"AAPHvNA"AZAbAjArAzAAAn 8@A[sA5l@Ag;AϘA&ޘ?A [?Ale?Av<*A9?2Aֽ:ABA9?JAֽRA񼙘٘i)I9l@YG J<B=JQ>JJJE&K> Y^~?yHOA_E87¶9)B[[-?[X_~?[$[[[[BZYY i)  elevatorAngleAction: 0.073247< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037228.263294F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Ad?@AZ_~? A'AAf%"AA4vNA"AZAbAjArAzAAAn|8@AHsAn@A$8A'Am?A?Ae?A<+<*A9?2Azֽ:A77BA9?JAzֽRA77YE??y8ٓH ?`h*ßZ??`?t@?)E? I٘i)I9n@YG JP<J:JJJE&Ktx> Y^~?yXPA?gE{7{7"9)B[[?[0_~?[y [[[[BZYY i=) 4 elevatorAngleAction: 0.082013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037229.523292F (some fields omitted in printout)AHz@A @Aٟ_~? A+A2%"AAvNA"AZAbAjArAzAAA=F֚8@AlsAzao@Aq<A;A`?A@3?A`?A$B<*A9?2A R׽:ABA9?JA R׽RA٘i)I9ao@YG J܆<JJJJE&K Y_~?y{fQAoE77j79 B)BE[[?[T_~?[5[[[[BZYY i) zc(AAY@A8fٓL@A_~? AA=7%"AAvNA"AZAbAjArAzAAA7ܵ9@A (,msAxKp@A.;A唽Aĭ?ANj?A?AΒ<*A9?2A׽:A BA9?JA׽RA Y4??y㔽;ٓH?@8Fjʀ \0?@?@jM?@%~?`#?)4? I٘i)I9Kp@Y?G J <B=JJJJE&K)x> Y%_~?yک$RA?uE)7b7Ŋ9)B[[x?[li_~?[[[[[BZYY i) ' elevatorAngleAction: 0.082013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037230.783295F (some fields omitted in printout)A(\@AC3O@A_~? A{A%"AAdvNA"AZAbAjArAzAAAMOϰ39@A|ɦsALp@AyMA>AK?A ?Af*?A:<*A9?2Aֽ:AkBA9?JAֽRAk٘i)I9p@YG J <C=JJJJ E&K Y+_~?yѩRAwE777Ɗ9)B[[x?[r_~?[٩[[[[BZYY i) 1ˆ elevatorAngleAction: 0.082013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037232.043283F (some fields omitted in printout)A= ף0@A *#@A_~? AbAm%"AAdwNA"AZAbAjArAzAAA5{9@ASYsAtr@A^A-A?A ?Aϖ?A<*A9?2Aֽ:AɏBA9?JAֽRAɏ٘i)I9tr@YG Jd<JJJJE&K Y=_~?ySAEZ7Z7B̊9)tB[[7?[_~?[ [[[[BZYY i) 3?@ Q?@? Y@?V4?)ί? I٘i)I9 s@YG J<JϟJJJE&KTx> Y@_~?yX#TA?E{7j7 Ί9B)mBE[[@?[N_~?[[[[[BZYY i)  elevatorAngleAction: 0.082013< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037233.303293F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AYj@A~_~? AAU%"AAn"wNA"AZAbAjArAzAAA[xô9@AxXsA>t@AE<<AA?A`i?Ab?AY<*A9?2A8׽:A)BA9?JA8׽RA)٘i)I9>t@YG J<JJJJE&K Y(G_~?y۝UAEb7ъ9)cB[[A]?[_~?[|[[[[BZYY i) 29@A:bsAu@AZ;AOA0?A;?A`N?AЮ<*A99?2Aֽ:A;BA99?JAֽRA;٘i)I9u@YkG J<C=JJJJE&K YvM_~?y^UAE8Պ9B)WBE[[|?[_~?[ď[[[[BZYY im=) | H?i. C@))C@C@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037234.163165 s, next control iter: 1743037234.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037234.563165 s.(3J~,[ (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037234.563293F (some fields omitted in printout)A3333s@AW'g(f@A_~? AΪA%&"AAf9wNA"AZAbAjArAzAAAۖ"9@Ae_{sAU(v@A9שAeA?A?A 0?Ag<*Aݪ9?2A=cֽ:ABAݪ9?JA=cֽRAY?@?y˵uٓH)Ƅ?mx??@̵ ϵ?:u?)? I٘i)I9(v@YG J<J*,JJJ!E&K x> YM_~?yVVA?E77׊9)RB[[?[_~?[c[[[[BZYY i) Y?A?AA?A<*A+9?2A#;ֽ:AGhBA+9?JA#;ֽRAGh٘i)I9v@Y:G J<JJJJ$E&K Y N_~?yzVAE7؊9)LB[[Ѧ?[_~?[|[[[[BZYY i) M elevatorAngleAction: 0.091028< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743037235.823316F (some fields omitted in printout)AGz@AKTo@Ap_~? A A_&"AALIwNA"AZAbAjArAzAAAW9@AL%msA&3x@A6gAﲽA?Ab?A}[?Ag<*A9?2A8ֽ:ABA9?JA8ֽRA٘i)I93x@YG J5<C=JQ>JJJ)E&K> YN_~?y/iWAEb7c܊9B)@BE[[[?[_~?[i[[[[ZZZZ¸>BZYY i¸>rЪ)  WJJJ,E&K> YN_~?yc`+XAEZ7SI7-ފ9):B[[?[_~?[l`[[[[ZZZZBZYY i) a YQL_~?yWXA?E77{7ߊ9)4B[[?[_~?[V[[[[ZZZZBZYY i) \m%S :@AtS|YsAM{@A.;AwEyAu?A o?A,p?A<*A]9?2Aֽ:AjBA]9?JAֽRAj٘i)I9M{@YG J<JJJJ4E&K Y&G_~?yFYAE9)%B[[6?[ʬ_~?[C[[[[ZZZZBZYY i) JJJ Y<_~?y+ZA?E79B)BE[[?[ޢ_~?[K'[[[[ZZZZBZYY iƋ) hy@sA}@AAԩ<A?A #A`+\?A;*AI9?2Abֽ:A<BAI9?JAbֽRA<٘i)I9}@YG J<B=JJJJAE&K Y1_~?yZA DE{7{79)B[[[?[_~?[V[[[[ZZZZBZYY i) ?Q7(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075835< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743037240.863292F (some fields omitted in printout)A@A@Ad_~? AUAW &"AA@wNA"AZAbAjArAzAAA:WhP9@Aep92sA}@As<A=5[=A?A LA`0?Ax*A9?2A2ֽ:Aе=BA9?JA2ֽRAе=Y? ?y2[=<ٓHҿ (y?ҿꥫ? bۃ??)? I٘i)I9}@YtG JJ>JJJIE&K?w> Y_~?ysZA?E)7ŧ79)B[['?[r_~?[D[[[[BZYY ii)  Y^~?y֨XA?E7779)"B[[ٽ?[R_~?[ʨ[[[[BZYY i) ˓;IF?iJ H B.@))B.@B.@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037242.983165 s, next control iter: 1743037243.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037243.383165 s.ص3J~,D(AJ"J*J2J:J5?BJ5?nJz>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066475< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037243.383286F (some fields omitted in printout)A(@A_|@A_~? A5&A &"AAwNA"AZAbAjArAzAAAiM}xP~9@AZkYsAe={@A"8j;A!D=Ae?AZɿA?A\7*AY9?2AGֽ:AJ=BAY9?JAGֽRAJ=٘i)I9={@YG JJJJJYE&K Y^~?yΨ{XAE79B)(B E[[?[F_~?[¨[[[[BZYY i)  k;IF?i"iG $/@))$/@$/@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037243.403165 s, next control iter: 1743037243.783182 s, wait time: 0.380017 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10742", header.stamp.nsec: 0"0 temperature: 13.383821"* salinity: 33.391594", density: 1025.000000"* values[0]: 0.709019"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037243.803165 s.vA3J~,wg(AA@A!@AK_~? AuA &"AAwNA"AZAbAjArAzAAAIh9@AesAz@A <Aٞ=Alx@A,˿At?A*A9?2A7#ֽ:AX=BA9?JA7#ֽRAX=٘i)I9z@YG JJJJJ\E&K Y^~?yƨXAE7n9)-B[[]{@[`9_~?[M[[[[BZYY i) l/;I9F?i|QF X1@))X1@X1@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037243.823165 s, next control iter: 1743037244.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037244.223165 s.g3J~,H(AJ"J*J2J:JZ5?BJZ5?nJ)>5vJAzG@A3:@A_~? AA$&"AAvNA"AZAbAjArAzAAA, ӼP9@A`hU sA5 z@A_2<Ax=A@A 2̿AP?A踼*A9?2A6ֽ:A =BA9?JA6ֽRA =٘i)I9 z@Y0G JCJJJJ_E&K  9Y ^~? 9yWAEb7789)1B[[@[,_~?[[[[[BZYY i) N:I}F?isC 2@))2@2@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037244.243165 s, next control iter: 1743037244.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037244.643165 s.x3J~,*)(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066475< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037244.643323F (some fields omitted in printout)A ףp}@Adp@AA_~? AA&"AAvNA"AZAbAjArAzAAA79@A^y>sA2qy@A|8;Au=AG@AοA*?Aƶ*A9?2Axֽ:Awm =BA9?JAxֽRAwm =٘i)I9qy@YG JJJJJbE&K Y#^~?y@WAE779B)8BE[[@[(_~?[7[[[[BZYY i) ]:ImF?ilB? p4@))p4@p4@wתYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037244.663165 s, next control iter: 1743037245.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10743, header.stamp.nsec: 00 temperature: 13.384105* salinity: 33.391628, density: 1025.000000* values[0]: 0.707790F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037245.063165 s.3J~,N D(AJ"J*J2J:J15?BJ15?nJ=5vJA3333@Az'@A{_~? AAO&"AAvNA"AZAbAjArAzAAA 9@ANsA6x@AFAF=Ao@A`OпA?Ap̱*Aر9?2AEֽ:A\Y=BAر9?JAEֽRA\Y=Y?m@yF=VٓH޿ G1?`޿ P?.Dg\`?)? I٘i)I9x@YuG JJ JJJdE&K x> Y^~?yɮVAm@E77{79B)=BE[[x!@[_~?[ӟ[[[[BZYY i) ?I]F?ixR? 5@))5@5@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037245.083165 s, next control iter: 1743037245.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037245.483165 s.|_3J~,^(AA\@AO!W@A4_~? AAk&"AAvNA"AZAbAjArAzAAA1s9@AirAEx@AcA=A@A6ѿA /?A+K*Aҵ9?2Aֽ:A=BAҵ9?JAֽRA=٘i)I9Ex@YG JzJJJJgE&K Y%^~?y qVAEj79B)CBE[[ @[O_~?[[[[[BZYY i) IMF?i{> ~7@))~7@~7@EѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037245.523165 s, next control iter: 1743037245.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10744, header.stamp.nsec: 00 temperature: 13.384376* salinity: 33.391644, density: 1025.000000* values[0]: 0.706505F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037245.903165 s.J "J *J 2J :J 4?BJ 4?3J~nJ=5vJ,y(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066475< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743037245.903268F (some fields omitted in printout)AQ@A >@An_~? AzA+v&"AAvNA"AZAbAjArAzAAAZK8@AA Ys^~?yTA @Eŧ7 9)YB[[ @[h^~?[w[[[[BZYY i)  ԙIF?iV1 =@))=@=@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037247.203165 s, next control iter: 1743037247.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037247.583165 s.J "J *J 2J :J j4?BJ j4?nJ -=5vJ 3J~,&S(AA)\@A I@Au_~? A5۩A&"AAvNA"AZAbAjArAzAAA@_^8@A6LNrA|u@A6<As=A1 @AտA?Ax*A9?2ASֽ:A=BA9?JASֽRA=٘i)I9u@YrG J6JJJJtE&K Yc^~?yR{TAE{7Z79 B)_BE[[b@[4^~?[?p[[[[BZYY i) IF?i9 / T4?@))T4?@T4?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037247.603165 s, next control iter: 1743037247.983185 s, wait time: 0.380020 sc^~?)RtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10746, header.stamp.nsec: 00 temperature: 13.384921* salinity: 33.391651, density: 1025.000000* values[0]: 0.704183F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037248.003165 s. 4J~,4(AAR+@ATN{@AWi_~? AԩA@&"AAsvNA"AZAbAjArAzAAAU898@AG5rAu@A-<A=A @A`eֿA ơ?A+ *Aq9?2A}ֽ:A*=BAq9?JA}ֽRA*=٘i)I9u@Y!G J$JJJJwE&K YS^~?yzTAE7)7Y9)cB[[@[y^~?[h[[[[BZYY i) .V׻IE?inn+ ]@@))]@@]@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037248.023165 s, next control iter: 1743037248.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037248.423165 s.u4J~,(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: -0.075204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743037248.423277F (some fields omitted in printout)A{Ga@A4@T@A\_~? AͩA&"AA`vNA"AZAbAjArAzAAA|8@AWrA߇t@A );A6=Ap@A M<׿A@f?An`*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JؖB=JJJJzE&K YC^~?yrSAE777#9 B)iBE[[s@[<^~?[a[[[[BZYY i) IE?iN& FB@))FB@FB@y왽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037248.463165 s, next control iter: 1743037248.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10747, header.stamp.nsec: 00 temperature: 13.385175* salinity: 33.391659, density: 1025.000000* values[0]: 0.703082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037248.843165 s. 4J~,5(AAp= @Adq@AO_~? AƩAT&"AASMvNA"AZAbAjArAzAAAVQ(97@ArAYt@A2Ax=A-@A@ؿA'?A&*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JC=JJJJ|E&K Y3^~?yk[SAE79B)nBE[[!@[q^~?[vZ[[[[BZYY i) l IE?ipz,H C@))C@C@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037248.863165 s, next control iter: 1743037249.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037249.263165 s.4J~,P(AJ"J*J2J:JBJnJvJA@ASy;¿@AB_~? A"A:&"AA)9vNA"AZAbAjArAzAAA *#!7@AfTznrAAs@A/A=Aƀ@AؿAk?A*A9?2Ay׽:A<BA9?JAy׽RA Y!^~?ydRAt@Eb779B)sBE[[u@[C]^~?[S[[[[BZYY i) yIE?iawS TE@))TE@TE@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037249.283165 s, next control iter: 1743037249.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 107482, header.stamp.nsec: 020 temperature: 13.3853802* salinity: 33.3916702, density: 1025.0000002* values[0]: 0.7020662F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037249.683165 s.l4J~,ck(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: 0.4200102 time: 1743037249.683280F (some fields omitted in printout)A(\@A@A4_~? ATA b&"AAN$vNA"AZAbAjArAzAAAR7@A؟GrA"s@A#A完=A<@A ԱٿA@D?A/4*AB9?2Aֽ:AM`=BAB9?JAֽRAM`=٘i)I9"s@YG JJJJJE&K Yj^~?y^RAEj7Z79B)yBE[[@[|H^~?[L[[[[BZYY i) `)IɽE?iGr  )F@)))F@)F@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037249.683165 s, next control iter: 1743037250.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037250.103165 s.!4J~,Ú(AJ"J*J2J:JBJnJvJAQ8@A"^F+@A%_~? AA'&"AAvNA"AZAbAjArAzAAA*յ"k7@A.rAr@AiA=A@A{ڿA|a?AN*A9?2Aֽ:ARx=BA9?JAֽRARx=٘i)I9r@YG JߎJJJJE&K Y,]~?yXWCRAE77N9)|B[[@[C3^~?[F[[[[BZYY i) 8I%E?i#k<} aH@))aH@aH@:ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037250.123165 s, next control iter: 1743037250.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037250.523165 s.'4J~,{(AAHzn@AD a@A_~? AA{h&"AAuNA"AZAbAjArAzAAA܄>7@A #rA7.r@Aj߇;A=AW@ABۿA?Aэ*A09?2A}oֽ:A&=BA09?JA}oֽRA&=٘i)I9.r@YeG JB=JJJJE&K Y]~?yPQAE79B)BE[[U@[^~?[?[[[[BZYY i) 6VHIE?iaA 7H))7HI@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037250.543165 s, next control iter: 1743037250.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10749, header.stamp.nsec: 00 temperature: 13.385645* salinity: 33.391685, density: 1025.000000* values[0]: 0.701095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037250.943165 s.J "J *J 2J :J z3?BJ z3?hd.4J~nJ2<5vJ,](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: 0.4200262 time: 1743037250.943312F (some fields omitted in printout)Aq= ף@AWʖ@Am_~? AvA&"AAuNA"AZAbAjArAzAAA|&Y7@A3m&rAq@A%<AJ=A@A ܿAw?A *A9?2A'Jֽ:A{ =BA9?JA'JֽRA{ =٘i)I9q@YG JᙼC=JJJJE&K Y]~?yIQAEj7Z79B)BE[[W@[^~?[k9[[[[BZYY i) !WIsE?iVYy {F)){F:mK@NɪYFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037250.963165 s, next control iter: 1743037251.343191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743037251.363165 s.54J~,>(AA@A F@A^~? AAg&"AABuNA"AZAbAjArAzAAAG4Ʃ6@AE9rAX(q@Au0<A͓=A@AܿAࠊ?A=*A#9?2AZֽ:Aך =BA#9?JAZֽRAך =Ya @@y˓=0<ٓH:@9  &?`ޙ?`Wu?3?)a @ I٘i)I9(q@YG J睼J &<JJJE&Kw> Y\]~?yC%QA@E{79B)BE[[b@[]~?[Q3[[[[BZYY i) $gI$E?iOR c/E))c/ERL@c˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037251.403165 s, next control iter: 1743037251.763178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10750*, header.stamp.nsec: 0*0 temperature: 13.385867** salinity: 33.391693*, density: 1025.000000** values[0]: 0.700024*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037251.783165 s.[;4J~,(AJ"J*J2J:J43?BJ43?nJ;5vJA(\@Ag\S@A^~? AAQ&"AA"uNA"AZAbAjArAzAAA/6@An\rAHp@Ak;A=Ab>@AݿAO>?Az*A9?2Aֽ:A#9 =BA9?JAֽRA#9 =٘i)I9p@YtG JJJJJE&K Y]~?y=PAE777y 9)B[[8@[-]~?[f-[[[[BZYY iy) LvI/E?iKm C))CsN@6ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037251.803165 s, next control iter: 1743037252.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037252.203165 s.C4J~,6 (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084258< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037252.203299F (some fields omitted in printout)AQE@A8@A^~? AyA_&"AA`uNA"AZAbAjArAzAAAV}6@A!2яrAyp@A_A d=A@A SF޿A@?A>*Aܱ9?2A#ֽ:Ar =BAܱ9?JA#ֽRAr =٘i)I9p@Y#G JPJJJJE&K Y]~?y7_PAE7C"9B)BE[[b@[]~?['[[[[BZYY i) błIxE?iFC. !)B))!)BO@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037252.223165 s, next control iter: 1743037252.603186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743037252.623165 s.VI4J~,X'(AJ"J*J2J:JBJnJvJAGz@Ab'm@A^~? AZA&"AAuNA"AZAbAjArAzAAA"{mJ6@A8ӶrA@o@A/AA&=Aq@A߿A@?A{f*A{9?2A׽:A =BA{9?JA׽RA =٘i)I9o@YG JlJJJJE&K Y^]~?ys1OAE7$9B)BE[[ @[T]~?[("[[[[BZYY i) bdInE?i8~ @))@yQ@;ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037252.643165 s, next control iter: 1743037253.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10751 , header.stamp.nsec: 0 0 temperature: 13.386134 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.698951 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037253.043165 s.P4J~,B(AA= ף@A|ԗ@A^~? AXA"N&"AAeuNA"AZAbAjArAzAAAPSf6@A݂(rAzo@A5A+š=AM;@A ܶ߿ACL?Ayu*Ar9?2A׽:A) =BAr9?JA׽RA) =٘i)I9o@YG JJJJJE&K Y s]~?yW+OAE77%9B)BE[[^"@[]~?[[[[[BZYY i) I~eE?iE,ܻ 8%?))8%?}R@y+}ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037253.063165 s, next control iter: 1743037253.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037253.463165 s.RW4J~,פ](AJ"J*J2J:J2?BJ2?nJy;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084258< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037253.463296F (some fields omitted in printout)Affff@Ar_@A^~? ArA|&"AAhKuNA"AZAbAjArAzAAAZ)5@A~DrAn@A ^Akʝ=A@A@4A@?AI*Aj9?2Aֽ:A=BAj9?JAֽRA=Y`t@z@yYɝ=ٓHvIK? ?/c?,@} {?)`t@ I٘i)I9n@Y0G J~B=J;><JJJE&Kw> Y\]~?y%.OAz@E77'9B)BE[[v#@[!{]~?[[[[[BZYY i) I\E?iy&ջ =))=zT@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037253.483165 s, next control iter: 1743037253.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10752, header.stamp.nsec: 00 temperature: 13.386389* salinity: 33.391720, density: 1025.000000* values[0]: 0.697887F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037253.883165 s.y]4J~,Qx(AA(@Aa@AĐ^~? AyA4&"AA=0uNA"AZAbAjArAzAAAge5@A6I#rAn@Ac9Ag=A@AGA?A*A9?2A{ֽ:Ar=BA9?JA{ֽRAr=٘i)I9n@YG JqC=JJJJE&K YF]~?yy NA Eŧ7b7n)9B)B޹E[[ %@[b]~?[[[[[BZYY i) TITE?i˻ p&<))p&<EU@4ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037253.903165 s, next control iter: 1743037254.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037254.303165 s.Ud4J~,sg(AJ"J*J2J:J2?BJ2?nJ0;5vJAQ@AQ1D@AC~^~? AsA&"AAuNA"AZAbAjArAzAAA'Jyp5@A:rAmm@A<A5=A !@AA9M?A{ *An9?2A:ֽ:AG5=BAn9?JA:ֽRAG5=٘i)I9mm@YG JJJJJE&K Yj0]~?y ZNAE7779+9)B[[&@[I]~?[ [[[[BZYY i) yILE?i }:))}:8xW@BYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037254.323165 s, next control iter: 1743037254.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10753., header.stamp.nsec: 0.0 temperature: 13.386662.* salinity: 33.391739., density: 1025.000000.* values[0]: 0.696740.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037254.723165 s.k4J~,H(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084258< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743037254.723274F (some fields omitted in printout)Az@A)Uz@Aek^~? ApnAE&"AA6tNA"AZAbAjArAzAAA%!E75@AԱ-rAl@AdZ8<A3=A|S"@A1A?A,A*A9?2AG.ֽ:ALU=BA9?JAG.ֽRALU=٘i)I9l@Y#G JJJJJE&K Y4]~?yMAEŧ7ŧ7-9 B)B۹E[['@[0]~?[] [[[[BZYY i) IDE?i5 . M)9))M)9hX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037254.743165 s, next control iter: 1743037255.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037255.143165 s.Y/r4J~,*(AJ"J*J2J:JBJnJvJA ףp@Ad@A,X^~? AiA}&"AA_tNA"AZAbAjArAzAAAڵ4@AܡrA5l@A6!<A\Ǩ=Au#@A̓A 4?A^ѽ*A9?2Aa\ֽ:A=BA9?JAa\ֽRA=٘i)I95l@YG J#JJJJE&K Y]~?y,MAEj7Z7.9"B)BعE[[r)@[G]~?[[[[[BZYY i) sI=E?i" M7))M7hsZ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037255.163165 s, next control iter: 1743037255.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037255.563165 s.x4J~,c (AA3333@A}\*@AD^~? AcA&"AAtNA"AZAbAjArAzAAA4@AqfrAk@A:AӪ=A$@AA y?AQW*A9?2A`ֽ:A=BA9?JA`ֽRA=Y@$@yӪ=:ٓHOͱ$ ?p @?!T{[??)@ I٘i)I9k@YaG JB=JTx<JJJE&Kx> Y$\~?yx MA$@E77709%B)ȯBԹE[[^*@[\~?[[[[[BZYY i) ľI7E?i1龉> 16))16[@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037255.603165 s, next control iter: 1743037255.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10754, header.stamp.nsec: 00 temperature: 13.386969* salinity: 33.391731, density: 1025.000000* values[0]: 0.695506F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037255.983165 s.4J~,(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: -0.084258< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743037255.983293F (some fields omitted in printout)A\(@A@A0^~? A^AM&"AAtNA"AZAbAjArAzAAAXO 94@A-~urARj@A-ͻAǬ=A7T&@A#A?AGw*A9?2Ahֽ:AU=BA9?JAhֽRAU=I٘i)I9j@YG JC=JJJJE&K YK\~?yLAE77d29)ίB[[a,@[\~?[[[[[BZYY i) )ƼI1E?ic׾rى -4))-4i]@zYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037256.003165 s, next control iter: 1743037256.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037256.403165 s.&4J~,(AAQ^@AX)Q@Ai^~? AvYA%&"AAtNA"AZAbAjArAzAAA'h.G4@As4`rAQj@AI2A=A'@AWpA\?A ¼*Ap9?2AU׽:A#M=BAp9?JAU׽RA#M=٘i)I9Qj@YG JpB=JJJJE&K Yo\~?y.LAE77.49'B)ԯBѹE[[-@[\~?[[[[[BZYY i) cͼI,E?i8w ;3));3 ^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037256.423165 s, next control iter: 1743037256.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10755", header.stamp.nsec: 0"0 temperature: 13.387239"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.694225"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037256.823165 s.4J~,G4(AJ"J*J2J:J1?BJ1?nJZ:5vJAGz@A"uq@A^~? ATA&"AAbtNA"AZAbAjArAzAAA[_ 4@A5S^rAdi@AAx=A(@AA9?A`Ǽ*A 9?2Aֽ:A =BA 9?JAֽRA =٘i)I9i@Y7G JļC=JJJJE&K Y\~?y_KAE759(B)ۯBιE[[*I/@[o\~?[o[[[[BZYY i) ԼI4(E?i&;W M1))M1h]`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037256.863165 s, next control iter: 1743037257.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037257.243165 s.4J~,qO(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084258< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037257.243272F (some fields omitted in printout)Aףp=@A1@A]~? AOAq&"AAMCtNA"AZAbAjArAzAAAa3@A qrAmi@AEdA=A7*@A!APu?A ͼ*A9?2A6ֽ:A=BA9?JA6ֽRA=٘i)I9i@Y G J`ʼJJJJE&K Y\~?yIKA E779*B)B˹E[[Ÿ0@[8\~?[[[[[BZYY i) ܼIy$E?iΊ1 =J0))=J0xa@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037257.283165 s, next control iter: 1743037257.643174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743037257.663165 s.4J~,qj(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10756, header.stamp.nsec: 00 temperature: 13.387580* salinity: 33.391743, density: 1025.000000* values[0]: 0.692917F (some fields omitted in printout)A@As@A]~? AKA&"AAi#tNA"AZAbAjArAzAAA;፰3@AlrARh@A&Y;A/=AXy+@AyGAਯ?A0gԼ*A 9?2AA:ֽ:Aۻ=BA 9?JAA:ֽRAۻ=Yy@+@y.=;ٓHwzܿ ~@i??^` r?@?)y@ I٘i)I9Rh@Ye G JмJ<JJJE&Kw> Y|s\~?yJA+@#E799)B[[&+2@[z\~?[[[[[BZYY i) S6I+!E?iuQ .)).Lc@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037257.683165 s, next control iter: 1743037258.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037258.083165 s.D4J~,S(AA)\5@A5(@A4]~? AFA'&"AAtNA"AZAbAjArAzAAAP<}H3@AsT֌rAg@A(<A[=A},@A A ?A׼*A|9?2Aֽ:AV=BA|9?JAֽRAV=٘i)I9g@Y G JռJJJJE&K Y=Z\~?yYJA&E77{7Y;9+B)BȹE[[3@[_\~?[[[[[ZZ¸BZYY i¸շ=) =2׼IeE?iTNg  l]-))l]-Id@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037258.103165 s, next control iter: 1743037258.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037258.503165 s.4J~,H4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037258.503284F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@Aog_y^@Aj]~? A+BA&"AAHsNA"AZAbAjArAzAAA5wj3@AD N(rAf@Ah-<A=A .@AbA@?Aټ*Av9?2AL&ֽ:A=BAv9?JAL&ֽRA=٘i)I9f@Y G J׼JJJJE&K Y@\~?yIA(Eb7b7$=9/B)BĹE[[4 5@[E\~?[[[[[ZZBZYY i) -˼IAE?i8˺ +))+7f@y뾽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037258.523165 s, next control iter: 1743037258.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10757, header.stamp.nsec: 00 temperature: 13.387877* salinity: 33.391747, density: 1025.000000* values[0]: 0.691536F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037258.923165 s.:4J~,(AA{G@A=D;@AX]~? A=A&"AAsNA"AZAbAjArAzAAAЉG2@A- rA f@A{\;AW=A`/@AY A dF?A߬*A9?2Ahֽ:A<BA9?JAhֽRA<٘i)I9 f@Y G JpJJJJE&K Y'\~?yhIA+E77>90B)BE[[8v6@[5*\~?[m[[[[ZZBZYY i) *IE?iѽEՅ s*))s*4g@y = YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037258.943165 s, next control iter: 1743037259.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037259.343165 s.<4J~,(AJ"J*J2J:J0?BJ0?nJo95vJAp= @Ad6@A]~? A9AE%&"AAqsNA"AZAbAjArAzAAA}Fo2@A%4rADe@A3>Agә=A0@A_HA r?A#*Aw9?2A(ֽ:AW[<BAw9?JA(ֽRAW[<٘i)I9De@Y G JJJJJE&K Y}\~?yHA.E7777@91B)BE[[7@[j\~?[[[[[ZZBZYY i) %IGE?i)F!ٹ f)))f)Oi@yD=0ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037259.363165 s, next control iter: 1743037259.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10758&, header.stamp.nsec: 0&0 temperature: 13.388260&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.689998&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037259.763165 s.64J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037259.763290F (some fields omitted in printout)A @An@Aho]~? A5A7t&"AAg}sNA"AZAbAjArAzAAAwA;2@Az qrACqd@Al!ALx=A, 2@AA {?Ac*A9?2Aֽ:Ag<BA9?JAֽRAg<٘i)I9qd@Y G JJJJJE&K Y=[~?y(xHA0Eŧ7b7B90B) B[[E9@[[~?[[[[[ZZBZYY i) H!IE?i<~܊9 '))'j@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037259.783165 s, next control iter: 1743037260.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037260.183165 s.4J~,^ (AJ"J*J2J:Jm0?BJm0?nJ85vJA(\B@A5@AX]~? A2A_&"AAZsNA"AZAbAjArAzAAAA{1@A:gMrAc@AgCAe5=AjY3@A࿿A?Aۢͼ*A9?2Aֽٙ:A -;BA9?JAֽٙRA -;٘i)I9c@Y G JJJJJE&K Y[~?y=ݧGA3E77OD91B)BE[[:@[[~?[ߧ[[[[ZZBZYY i) aI E?i= : &))&1l@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037260.223165 s, next control iter: 1743037260.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037260.603165 s.744J~,&(AAQx@AUfJk@AnA]~? AX.A &"AA$8sNA"AZAbAjArAzAAAQޯ1@A5}^~rAdc@AAn<A4@AAY?AE*AZ9?2Aֽ:ACBAZ9?JAֽRAC麙٘i)I9c@Y2 G JJJJJE&K Y[~?yQ٧GA6E7)7F92B)BE[[<@[[~?[ ާ[[[[ZZBZYY i=) IE?i;>R: 7$))7$~mm@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037260.643165 s, next control iter: 1743037261.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10759 , header.stamp.nsec: 0 0 temperature: 13.388653 * salinity: 33.391777 , density: 1025.000000 * values[0]: 0.688414 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037261.023165 s.Z4J~,|A(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.091672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037261.023289F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A|G @A*]~? A*A;P &"AAsNA"AZAbAjArAzAAAi1@A1){rAfb@Ay]ANT0<A,5@A /A ?A**AM9?2A1ֽ:A BAM9?JA1ֽRA ٘i)I9b@Y G JJJJJE&K Y|[~?yfէGA8Eb77G94B)BE[[b=@[R[~?[qܧ[[[[ZZBZYY i) XIP"E?i>2; G#))G#n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037261.063165 s, next control iter: 1743037261.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037261.443165 s.;4J~,O]\(AAq= @ArM@A]~? An'Aۓ &"AAcrNA"AZAbAjArAzAAA!1@AyrA*b@A;AYA8:7@A bA@4?AdE*A9?2Aחֽ:A;wBA9?JAחֽRA;w٘i)I9*b@Y G JoJJJJE&K Y<[~?y{ѧFA;E77I9)"B[[>@[?[~?[ۧ[[[[ZZBZYY i) % nIa'E?i>fGq; !))!@p@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037261.483165 s, next control iter: 1743037261.843181 s, wait time: 0.360016 s<[~?){ѧtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10760, header.stamp.nsec: 00 temperature: 13.388927* salinity: 33.391754, density: 1025.000000* values[0]: 0.687310F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037261.863165 s.+4J~J,>w(A"J*J2J:J/?BJ/?nJ85vJA@A(\ @A\~? A3$A &"AA~rNA"AZAbAjArAzAAAf0@AVwrAa@A0I0<A<As8@AA@T?A3*A@9?2AEֽ:A BA@9?JAEֽRA Y~*@Ԅ8@y~:R0<ٓH-GXп$?#[?u??@ ?`?)~*@ I٘i)I9a@Y{ G J%JJJJE&K> Yt[~?y:ϧFA8@>E7yK96B)'BE[[@@[p[~?[٧[[[[ZZBZYY id=)  \I,E?i> }; t ))t q@y7c=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037261.903165 s, next control iter: 1743037262.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037262.283165 s.4R4J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055842< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037262.283272F (some fields omitted in printout)A(\O@A4OB@A\~? A!AY!&"AAGrNA"AZAbAjArAzAAA20@AurA,a@A<A AL9@AAt?AU*A~9?2A }ֽ:A#RټBA~9?JA }ֽRA#Rټ٘i)I9a@Ye G JJJJJE&K YY[~?y̧FA@E77DM97B))BE[[AA@[U[~?[ا[[[[BZYY ix=) II3E?i8>R; S ))S bs@yx=|<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037262.323165 s, next control iter: 1743037262.683176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 107612, header.stamp.nsec: 020 temperature: 13.3890582* salinity: 33.3917662, density: 1025.0000002* values[0]: 0.6867642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037262.703165 s.׺4J~,(AJ"J*J2J:J/?BJ/?nJZ85vJAQ@An2x@A{\~? A0A2M!&"AArNA"AZAbAjArAzAAAi8G0@A`*2trA(a@A:A=A;@ARA`?A^}w;*A1{9?2A;ֽ:AWBA1{9?JA;ֽRAW󼙘٘i)I9a@Yg G J39B=JJJJE&K Y>[~?yʧFACEŧ7O98B)*BE[[4B@[:[~?[ק[[[[BZYY i) 7I9E?i>F; `))`Ut@y2[= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037262.723165 s, next control iter: 1743037263.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037263.123165 s.94J~,e(AAG@Aԭ@A\~? AhA!&"AA_rNA"AZAbAjArAzAAA/@ArrAJa@A?޻A2cA+a<@A`Aa?A#<*Asw9?2Azս:ABAsw9?JAzսRA٘i)I9a@Y G J>;C=JJJJE&K Y"[~?yuȧGAFE77P99B)E[[([~?[ק[[[[BZYY i) %IAE?iM?%; 8))8u@y =Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037263.163165 s, next control iter: 1743037263.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037263.543165 s.I4J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J> elevatorAngleAction: 0.0698062J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:J dt: 0.420001BJ2 time: 1743037263.543286nJF (some fields omitted in printout)vJA= ף@A@A\~? AA!&"AA:rNA"AZAbAjArAzAAAOe/@AsprA51b@A8AA=@Ar?A`?A3E<*A*v9?2Aս:ABA*v9?JAսRA٘i)I91b@Y G J$<JJJJE&K Yg[~?y3Ƨ$GAIE77{7R9:B)(BE[[E@[[~?[{֧[[[[BZYY i) I'JE?i?9U; ))Nw@y-=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037263.563165 s, next control iter: 1743037263.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10762, header.stamp.nsec: 00 temperature: 13.389043* salinity: 33.391762, density: 1025.000000* values[0]: 0.686828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037263.963165 s.y4J~,(AAffff&@Au]@Aʀ\~? AOA!&"AArNA"AZAbAjArAzAAAp@AdA`?At<*Av9?2Aֽ:ABAv9?JAֽRAY0@"?@y"O S#ٓH&!Ŀ?E? ۙD @a?^@`?)0@ I٘i)I9b@Y G J-\<B=JJJJE&K)w> YZ~?yħGA?@KE)7ŧ7oT9;B)&BE[[F@[Z~?[֧[[[[BZYY izf=) AI8SE?i(?; \k))\kYx@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037263.983165 s, next control iter: 1743037264.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037264.383165 s.5J~,4(AJ"J*J2J:JBJnJvJA(\@A9GO@Ag\~? AA"&"AAqNA"AZAbAjArAzAAA>8.@AmrAb@A.xdA&AK@@A.A`.?A<*Asx9?2ASֽ:ABAsx9?JASֽRA٘i)I9b@Y% G J0<C=JJJJE&K YZ~?yrçGANEŧ779V9 elevatorAngleAction: 0.056357< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037264.803286F (some fields omitted in printout)A@A8@AN\~? AAF"&"AAqNA"AZAbAjArAzAAAҠ-@A<.lrAgxc@A5;AAA@A@vA!?A <*A9?2Aֽ:ABA9?JAֽRA٘i)I9xc@Yq G J;<JJJJE&K YZ~?y§?HAQEj7j7X9) B[[I@[JZ~?[է[[[[BZYY i) ]ʻILgE?ijA?[; ~))~7}{@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037264.823165 s, next control iter: 1743037265.203182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037265.223165 s.J "J *J 2J g5J~:J0?BJ0?,HN(AnJ85vJAz@AP@A5\~? AA1o"&"AA qNA"AZAbAjArAzAAAq$-@Aj@kqkrACd@AT*<A%םA^B@A`mAo8?Aݎ<*A9?2Aֽ:A9 BA9?JAֽRA9 ٘i)I9d@Y G J<JJJJE&K Y͗Z~?yHASE77Y9=B)BE[[J@[ߙZ~?[֧[[[[BZYY i) ثIrE?iP?Dr< ?))?2|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037265.243165 s, next control iter: 1743037265.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037265.643165 s.u5J~,*i(AA ףp@ArMd@A^\~? AA"&"AA}qNA"AZAbAjArAzAAA'n,@A/-RjrAd@A-<AzMADD@AA3\?AH<*AL9?2Aֽ:A BAL9?JAֽRA ٘i)I9d@Y G JŪ<JJJJE&K Y{Z~?yPHAVE77{7[9)BE[[QL@[Z~?[i֧[[[[BZYY iՆ=) fI~E?i[a?:< ))A~@ymHg=*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037265.663165 s, next control iter: 1743037266.043174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10764, header.stamp.nsec: 00 temperature: 13.388806* salinity: 33.391750, density: 1025.000000* values[0]: 0.688345F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037266.063165 s. 5J~,_ (AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037266.063295F (some fields omitted in printout)A33333@AQ(&@A\~? AV A$"&"AAXWqNA"AZAbAjArAzAAAoWG+@A4LirA$e@AX;AϜA,E@A A@?A<*A9?2AӅֽ:AtBA9?JAӅֽRAtYx~7@E@yoϜ٫;ٓHz! L?A? QnP? ? ku??)x~7@ I٘i)I9$e@Yu G JF<JJJJE&Kw> Y_Z~?yӾdIAE@YE77d]9>B)BE[[بM@[FeZ~?[֧[[[[BZYY i)  ]IGE?iYk?< k}))k}J@yOg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037266.083165 s, next control iter: 1743037266.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037266.483165 s.s_'5J~,(AA\h@A%[@Ai[~? A As"&"AA0qNA"AZAbAjArAzAAA)칯9+@A`hrA e@A*<A4A^F@AA?A#<*AŠ9?2AEֽ:ABAŠ9?JAEֽRA٘i)I9e@Y G JB<JJJJE&K YCZ~?yVIA[E7{7/_9?B)BE[[N@[ KZ~?[ק[[[[BZYY i) w!IE?iw?b'< ))@yr4=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037266.503165 s, next control iter: 1743037266.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10765, header.stamp.nsec: 00 temperature: 13.388570* salinity: 33.391739, density: 1025.000000* values[0]: 0.689405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037266.903165 s.-5J~,͹(AJ"J*J2J:JBJnJvJAQ@AU-@A[~? Aw A"&"AA qNA"AZAbAjArAzAAAvJ*@A!+JgrA4Sf@AA+:AH@Ay*AΑ?A<*A9?2A(#ֽ:AIBA9?JA(#ֽRAI٘i)I9Sf@Y. G J<JJJJE&K YU'Z~?yڽ7JA^E{7j7`9@B) BE[[PP@[ 1Z~?[nا[[[[BZYY i) ˺IE?iR?&< ]))]0@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037266.923165 s, next control iter: 1743037267.303182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037267.323165 s.z45J~,6(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037267.323306F (some fields omitted in printout)AGz@A'jin@A[~? AEA #&"AApNA"AZAbAjArAzAAAP|(@AAerAah@A:A.AFAZA@0?AQ <*A9?2Aֽ:AUBA9?JAֽRAUY>@ Fy)Ms:ٓH ŧ?K?(I~q? k?@Q? s?)>@ I٘i)I9h@Y4 G J<Jϑ<JJJE&Kx> YY~?yIhKAFfE777Zf9)B[[@T@[Y~?[ۧ[[[[BZYY i) :IrE?i?WA<  )) <@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037268.183165 s, next control iter: 1743037268.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037268.583165 s.H5J~,S%(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037268.583291F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AQ,h@Ah[~? AAC#&"AAmpNA"AZAbAjArAzAAAX&,(@Aڥ:erAh@A8 <AڊAJDA(fA@?A!<*AF9?2Aֽ:ABAF9?JAֽRA٘i)I9h@Y G Jn<JJJJE&K YY~?yKAiE77{7$h9)BE[[QU@[Y~?[eݧ[[[[BZYY i) h ;I`E?iq?I< EL ))EL @>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037268.603165 s, next control iter: 1743037268.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10767, header.stamp.nsec: 00 temperature: 13.388149* salinity: 33.391739, density: 1025.000000* values[0]: 0.691526F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037269.003165 s.y P5J~,P4@(AAR@Axx@AN[~? A A P#&"AAgFpNA"AZAbAjArAzAAA;R̎'@AZ`drAi@Aj8<A빈ApCAnA@ ?A<*A(9?2Aֽ:ABA(9?JAֽRA񼙘٘i)I9i@Y G Jq<JJJJE&K YQY~?y&LAkE77i9BB)BE[[V@[vY~?[ߧ[[[[BZYY i) K;I E?i>?;R< ))萄@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037269.043165 s, next control iter: 1743037269.403180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037269.423165 s.uV5J~,[(AJ"J*J2J:JBJnJvJA{G@Aףp=@A4[~? AAY#&"AA pNA"AZAbAjArAzAAAA@&@A;adrAzi@A<As A&BAtAԚ?Ax-<*A9?2A#ֽ:ABA9?JA#ֽRA񼙘٘i)I9zi@YG J4<JJJJE&K Y~Y~?yLAnEb77k9)BE[[()X@[Y~?[[[[[BZYY i) 9[;I F?i?A \< ))6@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037269.443165 s, next control iter: 1743037269.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10768, header.stamp.nsec: 00 temperature: 13.387959* salinity: 33.391735, density: 1025.000000* values[0]: 0.692454F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037269.843165 s.\5J~,u(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743037269.843332F (some fields omitted in printout)Ap= @Aw @A[~? AA^#&"AAoNA"AZAbAjArAzAAAS&@AydrAi@Av:AA@AwAQ?Aݎ<*A9?2Aֽ:AH{BA9?JAֽRAH{٘i)I9i@YbG JΎ<JJJJE&K YaY~?y뾧LAqE777m9CB)B}E[[qY@[Y~?[[[[[BZYY i=) `-;IF?ih?f< i))iڅ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037269.863165 s, next control iter: 1743037270.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037270.263165 s.d5J~,,ؐ(AJ"J*J2J:JBJnJvJAL@A%t?@A[~? A}Aa#&"AA>oNA"AZAbAjArAzAAAR4ܵ%@A| drAjj@A&bAelA?AxAkA<*A9?2A[Zֽ:APBA9?JA[ZֽRAPY=D@W?ykٓHc? ?3¿WBf? ? 6,|?)=D@ I٘i)I9jj@YG J<B=J,<JJJE&Kw> YEY~?y8=MA?sE7Oo9)BzE[[Z@[;gY~?[[[[[BZYY i) ;I1F?iv?em< ))@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037270.283165 s, next control iter: 1743037270.663180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10769., header.stamp.nsec: 0.0 temperature: 13.387797.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.693321.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037270.683165 s.lj5J~,c(AA(\@Au@AZ~? AA"a#&"AAҨoNA"AZAbAjArAzAAA`o$%@AdrAPj@AX5A봃AS>AwA`A<*Aܽ9?2AuNֽ:AwBAܽ9?JAuNֽRAw٘i)I9j@YG JI<C=JJJJE&K Y)Y~?yMAvE{7j7q9DB)BwE[[5\@[NY~?[[[[[BZYY i) ;IoFF?i`?Bt< ))&@Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037270.683165 s, next control iter: 1743037271.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743037271.103165 s.q5J~,(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037271.103285F (some fields omitted in printout)AQ@AE@AZ~? AAp]#&"AAioNA"AZAbAjArAzAAA,%z$@A[jdrA#Uk@AsA냽A=ArA@A"=<*Aջ9?2AFrֽ:ABAջ9?JAFrֽRA٘i)I9Uk@Y:G J<JJJJ E&K Y Y~?y§MAyE777r9)BtE[[P]@[6Y~?[x[[[[BZYY i) (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037272.363279F (some fields omitted in printout)AY @As`L @A~Z~? AA?#&"AAi oNA"AZAbAjArAzAAA"@AoOerAl@Af,<AA 9A{VAAb<*A9?2A ׽:AvBA9?JA ׽RAvYK@9ya,<ٓH?~¯?Ͽu[?5?`?`K?)K@ I٘i)I9l@YG J<JIJJJE&K*x> YȺX~?yǧNA9EDx9)߯BnE[[>!a@[X~?[q[[[[BZYY i) j/ elevatorAngleAction: 0.074973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037273.623303F (some fields omitted in printout)AG @AV{ @Az1Z~? A A#&"AAnNA"AZAbAjArAzAAAn @A|+grA%m@AugAQAw.5A@#AKA^<*A&9?2Ajֽ:A BA&9?JAjֽRA ٘i)I9m@YG Jb<JJJJE&K YhX~?y!ΧPAE77j7}9EB)կBeE[[d@[ X~?[[[[[BZYY iSK=)  ^ Y2X~?yWӧPA2Eŧ7b7:9)̯B[[kg@[~X~?[j[[[[BZYY i) | elevatorAngleAction: 0.084128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743037274.883308F (some fields omitted in printout)A( @A2* @AY~? AA8"&"AA!nNA"AZAbAjArAzAAAɉ@Dp@A4jrA~o@A1лAA.I1AA>ſA<*AP9?2Aֽ:A9PBAP9?JAֽRA9P٘i)I9~o@YG J0<JJJJ#E&K YDX~?y_֧4QAEZ7Z79)ȯB`E[[˫h@[hX~?[[[[[BZYY i) X~?[ [[[[BZYY i) 8 elevatorAngleAction: 0.084128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743037276.143264F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp= @AUd0 @AY~? AA7"&"AAYmNA"AZAbAjArAzAAApN.j@A:XnrAqq@A]<<AEWA"-A~yA O˿AX<*A%_:?2A½:A%BA%_:?JA½RA%٘i)I9q@YG Jm<JJJJ+E&K YW~?yxߧ`RAESI787e9)BWE[[`l@[X)X~?[f[[[[BZYY i)  Ӝ Y0W~?y7RA,E77{7/9CB)BTE[[m@[X~?[t[[[[BZYY i) 98(AJ"J*J2J:JBJnJvJA\ @AB @AgY~? AA!&"AAcmNA"AZAbAjArAzAAAC^@AF8qrA5r@AU:ADA+AMA?ͿA<*Ar:?2AMoŽ:ABAr:?JAMoŽRA٘i)I95r@YjG J<JJJJ1E&K YW~?y=SAE)7ŧ79)B[[n@[[X~?[[[[[BZYY i) B elevatorAngleAction: 0.084128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037277.403315F (some fields omitted in printout)AQ @A- @AGOY~? AA!&"AAT>mNA"AZAbAjArAzAAAHG@A]!5srAr@AAઽA*Ak/A bϿA<*Agn:?2Aǽ:ABAgn:?JAǽRA٘i)I9r@YG J4<JJJJ3E&K Y|W~?ySAE{7{7ō9)BQE[[p@[lW~?[[[[[BZYY i)  elevatorAngleAction: 0.084128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037278.663292F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10777, header.stamp.nsec: 00 temperature: 13.386282* salinity: 33.391651, density: 1025.000000* values[0]: 0.701204F (some fields omitted in printout)A @AMr @A;Y~? AA%A!&"AA*lNA"AZAbAjArAzAAA͊#o@AVfxrAtt@AxSAf[A&AA`hҿA<*AS:?2AϽ:ANBAS:?JAϽRANY0]@&y)[ATٓH@s D?`?`=7@S&?`l?`oj`?)0]@ I٘i)I9t@YG J<Jy]JJJ;E&Kd> Y0W~?yTA&Eb77%9)B[[s@[W~?[3*[[[[BZYY i) E&K YwW~?y%uUA DE779BB)BIE[[t@[ W~?[.[[[[BZYY i) *E elevatorAngleAction: 0.084128< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037279.923310F (some fields omitted in printout)A{G! @A= @AX~? A@/AlE &"AAblNA"AZAbAjArAzAAAA@A1~rA4v@Aȁ8<AA]"A#AbԿAR<*A\7:?2AԽ:ABA\7:?JAԽRA٘i)I9v@Y7G Jf<JJJJCE&K YV~?ybVAEZ7SI79)BCE[[5Qw@[{W~?[m8[[[[BZYY iQ=) JBZYY i¸>,O) E[[z@[HW~?[CG[[[[ZZZZBZYY i) A&"AAkNA"AZAbAjArAzAAAx6k@A͌trAy@ABAA"Ab7A@׿A9=*A:?2AVս:ABA:?JAVսRA٘i)I9y@YG JD<JJJJNE&K YV~?y(AA@AJC@A9!X~? AKA&&"AArkNA"AZAbAjArAzAAAU׳+@A;TrAw8|@A@&<A5AɱA@qA@!fڿA<*A.:?2Aֽ:AVBA.:?JAֽRAVYc`j@1y65L '<ٓHp`/?D|?@OV'?`?@ބ??)c`j@ I٘i)I98|@YG J<J=JJJVE&K1> YDAV~?y$eYAE779?B)^B5E[[w@[K W~?[[[[[[ZZZZBZYY i) !D5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082182< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037283.703293F (some fields omitted in printout)AQ@Av@AW~? ATAr&"AA#1kNA"AZAbAjArAzAAAAȭI?Ad)rAS[}@A<A!0A[A`AۿAB<*A&:?2Amֽ:A9<BA&:?JAmֽRA9<٘i)I9[}@Y3G J<B=JJJJ\E&K YxV~?y0YAE7779)UB3E[[E@[rV~?[f[[[[ZZZZBZYY i) 㚉x?AԷrA`}@A`AY<A}yA!NAݿAo;*A:?2AR+׽:AE<BA:?JAR+׽RAE<٘i)I9}@YG Jr<JJJJaE&K YU~?y<YZAE)7b7:9>B)NB,E[[u@[5V~?[r[[[[ZZZZBZYY i) gJJJdE&K*y> YU~?y :JJJJfE&K YU~?yIYAE7777Я9=B)LB)E[[8@[-V~?[}[[[[BZYY i1[) EB)NB*E[[̃@[>V~?[[[[[BZYY i) %3G JUB=JJJJnE&K YnU~?y]yYAE777709/B)CB$E[[A@[V~?[c[[[[BZYY i) s<ٓHѻ&?CB F?@?)lw@ I٘i)I9|@YG JȂC=J=JJJqE&Kx> Y~U~?ydYA E~779)GB[[^@[V~?[m[[[[BZYY ivh) ؆ֽ:A=BAm9?JA>ֽRA=٘i)I9|@YG J9B=JJJJtE&K YGnU~?ykXAE7777Ÿ9.B)JB!E[[*@[GxV~?[[[[[BZYY i) {;Ii i@N'= V))V%:@gѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037287.523165 s, next control iter: 1743037287.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10786, header.stamp.nsec: 00 temperature: 13.384801* salinity: 33.391514, density: 1025.000000* values[0]: 0.708843F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037287.903165 s.}6J~,(AJ"J*J2J:JBJnJvJAQ@A@Ap6W~? AIAZ&"AA jNA"AZAbAjArAzAAAP sJA]̶rA{@AYAƛ=A% AZV߿AA&#*A 9?2A-׽:A=BA 9?JA-׽RA=٘i)I9{@Y_G JgC=JJJJvE&K Y]U~?yrRXAEb779/B)OB"E[[I@[7mV~?[[[[[BZYY i) d;Iik@ŷ= [))[D̟@U֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037287.923165 s, next control iter: 1743037288.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037288.323165 s.x6J~,-(AAGzT@AspG@AD%W~? A]A"&"AAziNA"AZAbAjArAzAAAnYAu#13rA`q{@A6Aǜ=AjAQ޿AAܩ*A9?2A]׽:A8 =BA9?JA]׽RA8 =I٘i)I9q{@Y G J{JJJJyE&K Y"MU~?yzWAE7[9)SBE[[;@[bV~?[ͧ[[[[BZYY i) nZ;IiRn@~= /Ȣ))/Ȣ]@ya%iתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037288.343165 s, next control iter: 1743037288.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10787*, header.stamp.nsec: 0*0 temperature: 13.385001** salinity: 33.391510*, density: 1025.000000** values[0]: 0.707945*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037288.743165 s. W6J~,/(AJ"J*J2J:J;5?BJ;5?nJ >5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056883< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037288.743327F (some fields omitted in printout)Aףp=@A]L3}@AW~? AAum&"AAiNA"AZAbAjArAzAAA{긓A"HrAz@A'HA=A0eA`)ݿA%A٭*AG9?2AP׽:A&=BAG9?JAP׽RA&=٘i)I9z@YG J6JJJJ|E&K Y Yf.U~?yш&WA&E7779.B)\BE[[i^@[KNV~?[F[[[[BZYY i) ?U;Iir@x= =))=d@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037289.183165 s, next control iter: 1743037289.563176 s, wait time: 0.380011 sf.U~?)ш rAdjusting time to match Gazebo time: 1743037289.583165 s.6J~,Re(AJ"J*J2J:JBJnJvJA)\@A׺@A0V~? A<Aw&"AAiNA"AZAbAjArAzAAAe$$زAhvEJrAy@AU;A=AAbܿA`A*A:?2Acֽ:A.=BA:?JAcֽRA.=٘i)I9y@YG JB=JJJJE&K Y< U~?ypVAESI7879/B)aBE[[@[DV~?[[[[[BZYY i) ';Iit@f= ))@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037289.603165 s, next control iter: 1743037289.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10788, header.stamp.nsec: 00 temperature: 13.385256* salinity: 33.391491, density: 1025.000000* values[0]: 0.706940F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037290.003165 s. 6J~,4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200622 time: 1743037290.003347F (some fields omitted in printout)AR+@A_{@AV~? AA2&"AA5iNA"AZAbAjArAzAAA /2 A5rA"y@A- <Aᬑ=AAۿA`5AE"*A :?2Afֽ:A=BA :?JAfֽRA=٘i)I9"y@YG JC=JJJJE&K YU~?y XVAEŧ7b7Ë9)fB[[ˀ@[};V~?[[[[[BZYY i) :Iiv@= S))SƢ@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037290.023165 s, next control iter: 1743037290.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037290.423165 s.u6J~,(AJ"J*J2J:JBJnJvJA{Ga@A;T@AV~? AQAz&"AAuiNA"AZAbAjArAzAAAo^o ˀArAx@AK<A=AJA@oڿALA*A :?2AΠֽ:A <BA :?JAΠֽRA <٘i)I9x@YIG J̬JJJJE&K YU~?yUAE77{7Pŋ9)jBE[[$@[2V~?[TǨ[[[[BZYY i) :Iiiy@= r))r3@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037290.443165 s, next control iter: 1743037290.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10789, header.stamp.nsec: 00 temperature: 13.385509* salinity: 33.391483, density: 1025.000000* values[0]: 0.705923F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037290.843165 s.ݬ6J~,(AAp= @Aё\@AV~? AA &"AA__iNA"AZAbAjArAzAAAc/hHAArA x@A <AH=AAڿAkAS`*A :?2A`ֽ:Aҹ<BA :?JA`ֽRAҹ<٘i)I9x@YG JΣJJJJE&K YT~?yHUAE777Nj9)nB[[堊@[D*V~?[ͨ[[[[BZYY i) IiS|@$}!= 3))3£@y8{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037290.863165 s, next control iter: 1743037291.243181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037291.263165 s.6J~,(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: -0.066181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037291.263290F (some fields omitted in printout)A@Adƿ@AV~? AǾAu&"AArIiNA"AZAbAjArAzAAAAA̒:rAw@Ax)7Aх=A5AA?ٿA AǓ*A :?2Ac%׽:A{<BA :?JAc%׽RA{?)<@ I٘i)I9w@YG JB=JJJJE&Kex> Y&T~?yQ0UAAE77ȋ9.B)rBE[[1@[("V~?[8Ԩ[[[[BZYY i) ?FIiq}@3"= ))𒿩S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037291.283165 s, next control iter: 1743037291.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 107902, header.stamp.nsec: 020 temperature: 13.3857442* salinity: 33.3914832, density: 1025.0000002* values[0]: 0.7050072F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037291.683165 s.l6J~,^(AA(\@A~ƃ@AV~? AũA&"AA34iNA"AZAbAjArAzAAA-[KAM njkrAw@A Ag^=AWA@^mؿAAɈ*A :?2A}]׽:AF<BA :?JA}]׽RAF<٘i)I9w@Y]G J}C=JJJJE&K YT~?yXTAEj7Z7ʋ9/B)wBE[[ ‹@[qV~?[ڨ[[[[BZYY i) 6Ii~@I(#= W))W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037291.683165 s, next control iter: 1743037292.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743037292.103165 s.6J~,(AJ"J*J2J:JBJnJvJAQ8@AnE+@AV~? A̩Ai&"AAiNA"AZAbAjArAzAAA7K[A"rAœv@ALAb=AlA ׿AUAƀ*A :?2Af׽:A<BA :?JAf׽RA<٘i)I9v@YG JqJJJJE&K YT~?y`|TAE77{̋9)zB[[R@[V~?[F[[[[BZYY i) BWIif@Z$= /o))/ot@ײYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037292.123165 s, next control iter: 1743037292.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037292.523165 s.6J~,{!(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743037292.523278F (some fields omitted in printout)AHzn@A a@AV~? AөA;&"AA iNA"AZAbAjArAzAAAR,AyrA.v@Aޘ#A.̀=AdYAֿAA#Z*A :?2A:=׽:As<BA :?JA:=׽RAs<٘i)I9.v@YG JJJJJE&K YUT~?yhǨ"TAE7E΋9.B)}BE[[@[, V~?[[[[[BZYY i) Ii@G%= 0))0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037292.543165 s, next control iter: 1743037292.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10791, header.stamp.nsec: 00 temperature: 13.385937* salinity: 33.391483, density: 1025.000000* values[0]: 0.704177F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037292.943165 s.Wd6J~,>]<(AJ"J*J2J:JBJnJvJAq= ף@AY̖@APV~? AکA'W&"AAhNA"AZAbAjArAzAAAp&xA LrA#u@AAK=AA+տA@A+*A:?2Auֽ:An<BA:?JAuֽRAn<٘i)I9u@YG JXJJJJE&K YT~?ypϨSAEb7Ћ9)B[[p@[V~?[g[[[[BZYY i) rCIiՂ@w'= ))@ѰYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037292.963165 s, next control iter: 1743037293.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037293.363165 s.6J~,>W(AA@AaK@AcxV~? AA&"AA&hNA"AZAbAjArAzAAAu A㚸/rAmSu@A;Ar=ADA`տAA}΂*A:?2AVֽ:A<BA:?JAVֽRA Y˲T~?yרrSA7E7~7ы90B)BE[[a@[lU~?[ [[[[BZYY i) ɻIi=@O'= ))\"@찪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037293.383165 s, next control iter: 1743037293.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10792&, header.stamp.nsec: 0&0 temperature: 13.386126&* salinity: 33.391453&, density: 1025.000000&* values[0]: 0.703460&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037293.783165 s.Y6J~,r(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: -0.075174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037293.783286F (some fields omitted in printout)A(\@AX@AlV~? A2A>&"AAehNA"AZAbAjArAzAAAxQJ)AsrA~t@ASF<A{=A7A:ԿA@7A/*A9?2Aֽ:Aqg<BA9?JAֽRAqg<٘i)I9t@Y G J΂B=JJJJE&K YܩT~?y)SA E)7ŧ7Ӌ9/B)BE[[@[U~?[[[[[BZYY i) UIiՃ@=(= w))w@yڙMYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037293.803165 s, next control iter: 1743037294.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037294.203165 s.6J~, (AAQE@A\;Q8@AaV~? AA&"AA\hNA"AZAbAjArAzAAAT>4 A(rA7wt@A6<A'=AA@[ӿA@+kAl0*A9?2Aֽ:A<=BA9?JAֽRA<=٘i)I9wt@YG J`C=JJJJE&K YT~?yRA Ej7j7pՋ9)B[[@[*U~?[a[[[[BZYY i) jIi@F)= +;))+;A@nYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743037294.223165 s, next control iter: 1743037294.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037294.623165 s.J "J *J 2J :J 3?BJ 3?nJ <5vJ Z6J~,i(AAGz@Am@AtWV~? AAH &"AAhNA"AZAbAjArAzAAAi!<2 AN^rA t@A[;A=A|kA yҿA|Aꁼ*A9?2Aֽ:Ag=BA9?JAֽRAg=٘i)I9 t@YG JJJJJE&K YT~?yoRAE77;׋91B)BE[[䭏@[U~?[ [[[[BZYY i) .Ii@*= ))Ϩ@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037294.643165 s, next control iter: 1743037295.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10793 , header.stamp.nsec: 0 0 temperature: 13.386273 * salinity: 33.391426 , density: 1025.000000 * values[0]: 0.702756 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037295.043165 s.6J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743037295.043338F (some fields omitted in printout)A= ף@A0@AsMV~? AdA/&"AAhNA"AZAbAjArAzAAA`% A)rAߜs@AךA͒=AAѿA@A} *A9?2AD׽:A=BA9?JAD׽RA=٘i)I9s@YEG J_JJJJE&K YT~?y<RAEŧ7b7ً90B)BE[[4<@[uU~?[[[[[BZYY i) #Ii@v,= ]}))]}/^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037295.063165 s, next control iter: 1743037295.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037295.463165 s.Z6J~,(AJ"J*J2J:J3?BJ3?nJ<5vJAffff@A2SZ@ACV~? AA&"AAhNA"AZAbAjArAzAAAA* As-DsA50s@A8Am=AA`íпA`WAZ*A#9?2A-f׽:A,=BA#9?JA-f׽RA,=Yˆ@*yDk=59ٓH ˿* YT~?yQA*E777ڋ9)B[[ː@[(U~?[[[[[BZYY i) Xq3Ii@,= My))My@rYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037295.483165 s, next control iter: 1743037295.863181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10794, header.stamp.nsec: 00 temperature: 13.386469* salinity: 33.391426, density: 1025.000000* values[0]: 0.702013F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037295.883165 s.y6J~,<(AA(@Ar@A:V~? AAUi&"AAhNA"AZAbAjArAzAAAÍF Ar؈sAIr@ARwBAVz=AuA dϿA`S"A߆*A 9?2AN׽:AC=BA 9?JAN׽RAC=٘i)I9r@YG JJJJJE&K YłT~?ym _QAEb77܋9)B[[Y@[=U~?[A[[[[BZYY i) BIil@W-= t))t{@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037295.923165 s, next control iter: 1743037296.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037296.303165 s.V7J~,wg(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037296.303304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A섗D@Ao2V~? A%A&"AAUyhNA"AZAbAjArAzAAA^ ڇ A8<p sAsMr@AvʻAx=A߿A`οͿAIAm<*AO9?2A׽:AJ2=BAO9?JA׽RAJ2=٘i)I9Mr@YxG JቼJJJJE&K Y|T~?yQAE77{7fދ92B)BE[[P@[U~?[$[[[[BZYY i) $oRIi @#.= },p))},pK @ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037296.323165 s, next control iter: 1743037296.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10795*, header.stamp.nsec: 0*0 temperature: 13.386630** salinity: 33.391438*, density: 1025.000000** values[0]: 0.701295*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037296.723165 s. 7J~,H.(AAz@A߽z@An*V~? AA?&"AAlhNA"AZAbAjArAzAAA#vATAsAq@A5;A[(=AaݿA ˿AUnAf*A9?2Ayֽ:Ao =BA9?JAyֽRAo =٘i)I9q@Y.G JJJJJE&K YvvT~?yPAEj709)B[[vv@[U~?[*[[[[BZYY i[) aIiۈ@,/= Mk))Mkq@pʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037296.743165 s, next control iter: 1743037297.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037297.143165 s.W/7J~, *I(AJ"J*J2J:JBJnJvJA ףp@AMd@A"V~? A%Au &"AA`hNA"AZAbAjArAzAAA[,ARsA_Qq@A>(<A[=AڿA #!ʿAАA*A29?2A9wֽ:Aq=BA29?JA9wֽRAq=٘i)I9Qq@YG J)JJJJE&K YOpT~?y7$HPAE779)B[[/@[U~?[1[[[[BZYY i) lqIiى@r0= Mg))Mg*&@yͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037297.163165 s, next control iter: 1743037297.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037297.563165 s.7J~,V d(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037297.563297F (some fields omitted in printout)A3333@Aw*@AV~? A\-A &"AAUhNA"AZAbAjArAzAAA9zaAœbsAp@AK<A]x=A YlT~?y,OA#ؿ"EE7b791B)BE[[r@[dU~?[[8[[[[BZYY i) YJIi@؏0= mb))mbm@IЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037297.603165 s, next control iter: 1743037297.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10796, header.stamp.nsec: 00 temperature: 13.386847* salinity: 33.391396, density: 1025.000000* values[0]: 0.700467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037297.983165 s.7J~,~(AJ"J*J2J:JBJnJvJA\(@Atb@AqV~? A05Ax &"AAKhNA"AZAbAjArAzAAA^ 9AsA`Dp@AA<A=AտAnƿA A *A9?2AEֽ:A/J=BA9?JAEֽRA/J=٘i)I9Dp@Y;G JC=JJJJE&K YiT~?y5}OA$Eb7793B)BE[[t @[`U~?[(?[[[[BZYY i) ۇIi6@0= ]k^))]k^oB@yw?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037298.003165 s, next control iter: 1743037298.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037298.403165 s.&&7J~,͙(AAQ^@AQ@AyV~? A =Af &"AA@BhNA"AZAbAjArAzAAAOs6AN#sANo@AM A6=AFҿAqĿA A1K*A9?2AF ׽:AgS=BA9?JAF ׽RAgS=٘i)I9o@YG J JJJJE&K Y[fT~?yq>OA'E{7j7[9)B[[P@[U~?[E[[[[BZYY i) mIi@1= }Y))}YKЭ@yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037298.423165 s, next control iter: 1743037298.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10797", header.stamp.nsec: 0"0 temperature: 13.387062"* salinity: 33.391376", density: 1025.000000"* values[0]: 0.699536"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037298.823165 s.,7J~,)(AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037298.823296F (some fields omitted in printout)AGz@A&p@A V~? ADAE &"AA9hNA"AZAbAjArAzAAA\:AC z!(sAw3o@AA ǟ=A8пA@A¿AA!주*A9?2A G׽:AX=BA9?JA G׽RAX=٘i)I93o@YG JܢB=JJJJE&K Y cT~?y0GNA*E&9)B[[<@[|U~?[L[[[[BZYY i) IiR@T2= U))U]@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037298.843165 s, next control iter: 1743037299.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037299.243165 s.37J~,q(AAףp=@AB4@AV~? ALA &"AA1hNA"AZAbAjArAzAAA1A ,sA`n@A2KA=AͿAiAVA&*A9?2A J׽:AoU=BA9?JA J׽RAoU=٘i)I9n@Y@G JC=JJJJE&K Y_T~?yOLNA,Ej7Z79)B[[Mɕ@[U~?[S[[[[BZYY i) XIi'@0e3= $Q))$QH@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037299.263165 s, next control iter: 1743037299.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037299.663165 s.:7J~,q(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10798, header.stamp.nsec: 00 temperature: 13.570623* salinity: 33.374992, density: 1025.000000* values[0]: 0.573482F (some fields omitted in printout)A@A;@AV~? ATA &"AA*hNA"AZAbAjArAzAAA±)5Ay1sAn@AA34=A˿AOA +.A)^*Aй9?2Am׽:A4=BAй9?JAm׽RA4=YDF@˿yJ2=ٓHC?ʀ?`@sɴ`s $`@?)DF@ I٘i)I9n@YG J%J]<JJJE&KJx> YE_T~?yXMA˿/E777795B)įBE[[V@[U~?[^Z[[[[BZYY i) )Ii@L3=  L)) Lx@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037299.683165 s, next control iter: 1743037300.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037300.083165 s.DA7J~, S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037300.083292F (some fields omitted in printout)A)\5@A5(@AU~? A\At &"AAL$hNA"AZAbAjArAzAAAq9=$dA6sAm@ALǺA%=A{ȿAAf?Az*A9?2AIֽ:A=BA9?JAIֽRA=٘i)I9m@YG JXJJJJE&K Y^T~?yamMA2Ej7j79,B)B[[íȿ[U~?[.a[[[[BZYY i) RIi0@p3= KH))KHKHuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037300.103165 s, next control iter: 1743037300.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037300.503165 s.G7J~,U4 (AJ"J*J2J:J?BJ?nJ5vJARk@Aڦx^@A|U~? AdA&"AAhNA"AZAbAjArAzAAAԌAPX;sAl@A=J;Ah=AſAAA:NAhd*A9?2A\[ֽ:A=BA9?JA\[ֽRA=٘i)I9l@Y-G JJJJJE&K Y_^T~?yRjLA4E7777P9)ůB[[wƿ[=U~?[g[[[[BZYY i) ZIi{@3= C))CCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037300.543165 s, next control iter: 1743037300.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10799, header.stamp.nsec: 00 temperature: 13.570926* salinity: 33.374992, density: 1025.000000* values[0]: 0.572776F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037300.923165 s.=N7J~,;(AA{G@Al<@AU~? AlAr;&"AA hNA"AZAbAjArAzAAA5AF[y~@sAh>l@A0H<AT=AZkÿA`u}A ZAȼ*A9?2A=ֽ:AC=BA9?JA=ֽRAC=٘i)I9>l@YG JļJJJJE&K Y]T~?ysLA7E{7j79)ʯBE[[BĿ[U~?[n[[[[BZYY i) Ii@n4= wu?))wu?wu?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037300.963165 s, next control iter: 1743037301.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037301.343165 s. Y_T~?yKA=E{79)կB[[ٿ[@U~?[U|[[[[BZYY i) ʼIic@4= 6))66 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037301.803165 s, next control iter: 1743037302.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037302.183165 s.b7J~,k(AJ"J*J2J:JBJnJvJA(\B@A4Y5@ANU~? AAd&"AAhNA"AZAbAjArAzAAAU)A3=OsA>j@AA8=A gAb替A rA ʼ*A9?2A ׽:A@L=BA9?JA ׽RA@L=٘i)I9>j@YG J˼JJJJE&K YObT~?yq2KA?E77{9)گB[[ [U~?[[[[[BZYY i) ѼIiT@4= 7:2))7:27:2dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037302.203165 s, next control iter: 1743037302.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037302.603165 s.54i7J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084159< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743037302.603301F (some fields omitted in printout)AQx@A;4,Fk@AU~? AA&"AA"hNA"AZAbAjArAzAAAi*ǗAMUޙ*TsAi@A[<A=A:A`V鈿AuAT˼*A֠9?2A/׽:A=BA֠9?JA/׽RA=٘i)I9i@Y)G J˼JJJJE&K YdT~?y4JABEF9)߯BE[[%p["U~?[݉[[[[BZYY i) +,ټIiu@5= o-))o-o-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037302.623165 s, next control iter: 1743037303.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10801 , header.stamp.nsec: 0 0 temperature: 13.571574 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.571218 F (some fields omitted in printout)VdT~?)V4 rAdjusting time to match Gazebo time: 1743037303.023165 s.Zp7J~,{(AJ"J*J2J:J;?BJ;?nJU5vJAHz@AP6 @AjU~? A*A(&"AAmhNA"AZAbAjArAzAAA1A>tYsAih@AE?A =AA@f?AuAμ*A;9?2A3׽:A0=BA;9?JA3׽RA0=٘i)I9h@Y G Jb̼JJJJE&K Y&gT~?yEJAEE{7j79)B[[;[U~?[[[[[BZYY i;) jIiō@`w5= gg)))gg)gg)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037303.043165 s, next control iter: 1743037303.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037303.443165 s.7v7J~,>](AAq= @Av1@AU~? A<Aa&"AAhNA"AZAbAjArAzAAA A@^sA9h@A~A=AٕA@?AsAoӼ*Aʛ9?2AƼֽ:Aj%=BAʛ9?JAƼֽRAj%=٘i)I99h@YV G JмB=JJJJE&K YiT~?yIAGE{79)B[[[U~?[U[[[[BZYY i) *IiD@/6= $))$$?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037303.463165 s, next control iter: 1743037303.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10802, header.stamp.nsec: 00 temperature: 13.571898* salinity: 33.374981, density: 1025.000000* values[0]: 0.570409F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037303.863165 s.+}7J~,>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093166< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037303.863288F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A  @AU~? AMA&"AAihNA"AZAbAjArAzAAAA1bsA%g@A'hW;A=ABA ??A nAּ*A9?2A]ֽ:A=BA9?JA]ֽRA=Yɕ@ y=@X;ٓHJ?@p?@2?@P?X ꕶj??)ɕ@ I٘i)I9g@Y G JmԼC=J;JJJE&Kx> YnT~?y_VIA JE)7ŧ79)BE[[Դ[U~?[ [[[[ZZ¸BZYY i¸l=) ۼIiۍ@W5= C ))C C YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037303.903165 s, next control iter: 1743037304.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037304.283165 s.6R7J~,(AA(\O@A{2QB@AU~? A[AlP&"AAhNA"AZAbAjArAzAAAbAi9gsAHf@A,<Al=AAT?A]gAVۼ*Ah9?2A "ֽ:A=BAh9?JA "ֽRA=I٘i)I9f@Yz G JؼJJJJE&K  9YtT~? 9yHAMEŧ7q9-B)BE[[ϟ[ZU~?[[[[[ZZBZYY i) ϼIi@J5= /))//y1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037304.303165 s, next control iter: 1743037304.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 108032, header.stamp.nsec: 020 temperature: 13.5722482* salinity: 33.3749892, density: 1025.0000002* values[0]: 0.5695712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037304.703165 s.ֺ7J~,-(AJ"J*J2J:J?BJ?nJ5vJAQ@AWx@AU~? AgA8&"AAhNA"AZAbAjArAzAAA]CsA ;lsAf@AH<A럯=AFAu?A[A*AЙ9?2A}+ֽ:AG1=BAЙ9?JA}+ֽRAG1=٘i)I9f@Y G JmB=JJJJE&K YZyT~?ycHAOEb77<9)B[[j[VU~?[h[[[[ZZBZYY i)  üIi@=5= ))yy=oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037304.723165 s, next control iter: 1743037305.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037305.123165 s.L7J~,G(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082824< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037305.123330F (some fields omitted in printout)AG@ALqU٭@AdU~? AnAP&"AAhNA"AZAbAjArAzAAA9AY&qsA@%e@AA;A=AQA`?ANA*Aا9?2A cֽ:A8<BAا9?JA cֽRA8<٘i)I9%e@Yv G JC=JJJJE&K Y~T~?yJʩGARE7{79)B[[6[U~?[[[[[ZZBZYY i) 3Ii@=m5= s]))s]s]y=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037305.143165 s, next control iter: 1743037305.523180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037305.543165 s.I7J~,b(AJ"J*J2J:JBJnJvJA= ף@AH@A\U~? ApŪAy&"AAhNA"AZAbAjArAzAAAP A iEHvsA&Nd@AuIպAw=AܤAn?A7AA*A̱9?2ADֽ:A?6l<BA̱9?JADֽRA?6l<٘i)I9Nd@Y G JJJJJE&K Y߃T~?yҩpGAUEŧ779.B) BE[[[fU~?[[[[[ZZBZYY i) vIi@ 5= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037305.563165 s, next control iter: 1743037305.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10804, header.stamp.nsec: 00 temperature: 13.572622* salinity: 33.374981, density: 1025.000000* values[0]: 0.568564F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037305.963165 s.y7J~,}(AAffff&@AI[@AU~? AnͪAs&"AAhNA"AZAbAjArAzAAAlWAso{sAc@A%A93=AA9?A1AMgͼ*A_9?2Aoֽ:A{ͻ;BA_9?JAoֽRA{ͻ;Y8 @Ey3=%ٓH:?@?F?p`E?{@鯄?)8 @ I٘i)I9c@Y~ G JhJؽJJJE&Khw> YT~?ya۩4GAWE77{79)B[[kͩ[}U~?[J[[[[ZZBZYY iB9=) Ii~@5=  ))  |YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037305.983165 s, next control iter: 1743037306.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037306.383165 s.إ7J~,8(AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:JBJ8 propOmegaAction: 25.132812nJ< rudderAngleAction: -0.261799vJ> elevatorAngleAction: 0.073351< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037306.383331F (some fields omitted in printout)A(\@A֎O@AV~? AfժAA&"AAl%hNA"AZAbAjArAzAAAJ&A:MsA7b@A^A`<AeA '?A A9*A>9?2A ֽ:AmBA>9?JA ֽRAm٘i)I9b@Y G J\JJJJE&K YT~?yFAZE7)7f 9/B)BE[[K[U~?[ũ[[[[ZZBZYY i) ZԕIi@ 4= ))MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037306.403165 s, next control iter: 1743037306.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10805", header.stamp.nsec: 0"0 temperature: 13.572974"* salinity: 33.374985", density: 1025.000000"* values[0]: 0.567686"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037306.803165 s.yA7J~,g(AA@Ajܛ߄@AkV~? AXݪA-%"AA+hNA"AZAbAjArAzAAAI^A`&sApb@A'A-<AОA d?A 9 A}*A9?2A[zֽ:ABA9?JA[zֽRA٘i)I9pb@Y G JtJJJJE&K YT~?yIFA]Eb771 9)B[[`[V~?[s̩[[[[ZZBZYY i) kIi@\Z4= c))ccςYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037306.823165 s, next control iter: 1743037307.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037307.223165 s.g7J~,H(AJ"J*J2J:J>?BJ>?nJL5vJAz@A8+@A| V~? ABAJ %"AA!3hNA"AZAbAjArAzAAA,RTAX1sADb@A،A%AV8A F?A`nA>#4*Aߺ9?2A[ֽ:ARVmBAߺ9?JA[ֽRARVm٘i)I9b@Y G J^JJJJE&K Y!T~?y~FA_E7 9)BE[[)[V~?[ҩ[[[[ZZBZYY i)=) 2Ii@rT4= ))y=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037307.243165 s, next control iter: 1743037307.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037307.643165 s.yй7J~,*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082599< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037307.643303F (some fields omitted in printout)A ףp@A&k@AV~? A$Aq%"AA,;hNA"AZAbAjArAzAAA+BnA^ʎsA_a@A!;AfAǙA`'?AAٻ*AŶ9?2A1ֽ:AFBAŶ9?JA1ֽRAF٘i)I9a@Yq G JB=JJJJE&K Y3T~?y2BFAbE79)!B[[[ V~?[~٩[[[[ZZBZYY i) jIi @{4= ))y=)YFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10806F, header.stamp.nsec: 00 temperature: 13.573195* salinity: 33.374996, density: 1025.000000* values[0]: 0.567129F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037307.663165 s, next control iter: 1743037308.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037308.063165 s.7J~,N (AJ"J*J2J:JBJnJvJA33333@An,(&@A.V~? AAc%"AADhNA"AZAbAjArAzAAA;|$ABsAa@ANI<AAA@~?A@AV'*A 9?2Acֽ:Aٴ¼BA 9?JAcֽRAٴ¼Y*K@~y4I<ٓH_?A?`h?S??`@#?r?)*K@ I٘i)I9a@Y\ G J5C=J6JJJE&KLx> YT~?yYmFAeE90B)#B E[[἞[tV~?[ߩ[[[[BZYY ikj=) >YIiO@)3= ))辩y@=(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037308.083165 s, next control iter: 1743037308.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037308.483165 s.u_7J~,(AA\h@A^9[@AV~? AA>%"AAMhNA"AZAbAjArAzAAAC&cA+XsAحa@A,<Am\.A aA?AɟAU:*Aá9?2Aֽ:ABAá9?JAֽRA伙٘i)I9a@YY G J2JJJJE&K YT~?y FAgE7)7\9)[[[V~?[b[[[[BZYY il=) PGIi@2= ߾))߾߾yz=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037308.523165 s, next control iter: 1743037308.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10807, header.stamp.nsec: 00 temperature: 13.573242* salinity: 33.374992, density: 1025.000000* values[0]: 0.566921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037308.903165 s.7J~,9(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037308.903293F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AW@A$V~? AAz%"AAWhNA"AZAbAjArAzAAAbA0sAa@AbI;AUA"ӑAH?A ~A~~;*Aў9?2A0lֽ:ATBAў9?JA0lֽRAT٘i)I9a@Yk G Jƈ;JJJJE&K YT~?yFAjEb7b7&91B)"B!E[[M[c#V~?[[[[[BZYY i) 86Iic@j2= ׾))׾׾y elevatorAngleAction: 0.067324< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037310.163300F (some fields omitted in printout)A@@Ap^2@AN=V~? AA%"AA{hNA"AZAbAjArAzAAAyӍ AŻsAab@AZEA_,A,$A@S ?A A0\<*A9?2Aֽ:ABA9?JAֽRAY@{y)J9FٓH.? ~5? 䖿@! 4?18?{?e?)@ I٘i)I9b@Y G J|<JJJJE&Kiw> YwT~?y-wGArE7{79)B[[-[r elevatorAngleAction: 0.057114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743037311.423323F (some fields omitted in printout)A{G@A-;@A*ZV~? A 2A*%"AA8hNA"AZAbAjArAzAAA A-ڸsALd@A\6<A=AA?AׄA٦<*Ah9?2A׽:A$ BAh9?JA׽RA$ ٘i)I9Ld@Y G J&<JJJJ E&K YU~?yEHAzEŧ7b794B)B+E[[[XV~?[?[[[[BZYY i) wIi@/= 6ӡ))6ӡ6ӡy?;j=]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037311.443165 s, next control iter: 1743037311.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10810, header.stamp.nsec: 00 temperature: 13.572673* salinity: 33.374996, density: 1025.000000* values[0]: 0.568134F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037311.843165 s.7J~,(AAp= @AEu @AdV~? Al9A%"AAhNA"AZAbAjArAzAAAaAZsApd@AN<AAT~A@JJJE&Kx> Y4U~?yT_IAzE7777|"96B) B/E[[[/mV~?[W[[[[BZYY i) + ]Ii@w-=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037312.283165 s, next control iter: 1743037312.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 108112, header.stamp.nsec: 020 temperature: 13.5723412* salinity: 33.3750112, density: 1025.0000002* values[0]: 0.5688412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037312.683165 s.l 8J~,V+(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037312.683254F (some fields omitted in printout)A(\@Afu@Am{V~? AGA|%"AAphNA"AZAbAjArAzAAAIBAc[_:sA{f@A-ҺA\AtA`tP?A`1AI@<*A9?2A>vֽ:A BA9?JA>vֽRA ٘i)I9f@Y G J<C=JJJJE&K Y~DU~?y^[IAE7ŧ7F$9)B[[Q[wV~?[M$[[[[BZYY i"j=)  Ii@Y,= F())F(F(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037312.683165 s, next control iter: 1743037313.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037313.103165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 8J~,F(AAQ@A_E@AvV~? AOA%"AAIhNA"AZAbAjArAzAAACpxfAl>sAgf@AJ A AoA '?AAI<*A9?2AGGֽ:A0BA9?JAGGֽRA0٘i)I9f@YV G JM<JJJJE&K YLTU~?yb,JAE77&97B)B2E[[O[V~?[9*[[[[BZYY i) tȺIi@x+=  {|)) {| {|1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037313.123165 s, next control iter: 1743037313.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037313.523165 s.8J~,{a(AAHz@A؀@AV~? A4VAd%"AAhNA"AZAbAjArAzAAAߓIvA 8sA&g@AZQAAØjAo?AxA<*A9?2ANֽ:ABA9?JANֽRA٘i)I9&g@Y G JO<JJJJE&K YdU~?yiJAE7'9)B[[gہ[V~?[0[[[[BZYY i) r}Iiv@*= ̛j))̛j̛jU*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037313.543165 s, next control iter: 1743037313.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10812, header.stamp.nsec: 00 temperature: 13.572037* salinity: 33.375000, density: 1025.000000* values[0]: 0.569572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037313.943165 s.cd8J~,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: 0.066120< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743037313.943315F (some fields omitted in printout)Aq= #@A!@AV~? A5]A%"AAiNA"AZAbAjArAzAAAj;A窚2sAg@A9A(AOeA@^?A@ <A<*A9?2ARֽ:AjBA9?JARֽRAj٘i)I9g@Y G J<JJJJE&K YsU~?yAqJAE7)98B)B6E[[_=[fV~?[5[[[[BZYY i) D9Ii&@.n*= X))XXy[= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037313.983165 s, next control iter: 1743037314.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037314.363165 s.%8J~,y>(AAY@AZՒL@AUV~? A!dAS%"AA#iNA"AZAbAjArAzAAAلAGlsA74h@A[A|ɆA^_A?AA4<*A9?2Aֽ:ARBA9?JAֽRARY@N_y{ɆٓHy??fB?P?`ְ?zK?C?)@ I٘i)I94h@YR G Jd<Jܮ<JJJ E&K>x> YU~?yxTKA_Eq+9)B[[ z[V~?[;[[[[BZYY i) <ͥ:Ii@(= F))FF*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037314.383165 s, next control iter: 1743037314.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10813&, header.stamp.nsec: 0&0 temperature: 13.571709&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.570269&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037314.783165 s.^+8J~,(AJ"J*J2J:J?BJ?nJ5vJA(\@A1P@A4V~? AjA%"AA7iNA"AZAbAjArAzAAAA;sFsA[h@A|<A_APZAw?AAK<*A~9?2A׽:ABA~9?JA׽RA켙٘i)I9h@Y G Jh<JJJJ"E&K Y$U~?y~KAE<-99B)B9E[[_Pv[V~?[RA[[[[BZYY i) =F;Ii@s'= 5))55_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037314.803165 s, next control iter: 1743037315.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037315.203165 s.38J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066120< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037315.203291F (some fields omitted in printout)AQ@A@AV~? AqAH%"AAMiNA"AZAbAjArAzAAAMAQCsA!i@AQQ<AAOUA@E?AZwAu<*A9?2A%׽:AahBA9?JA%׽RAah꼙٘i)I9!i@Y G Jv<JJJJ%E&K YAU~?y LAEb77/9)B[[Oq[ǿV~?[F[[[[BZYY i) çO;Ii@Pz&= #))##*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037315.243165 s, next control iter: 1743037315.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037315.623165 s.J "J *J 2J :J %?BJ %?nJ ?5vJ [98J~,m(AAG@A"0@AKV~? A]xA%"AAciNA"AZAbAjArAzAAAfAsAi@A0,<AUÁAJ#PA>?A 1A=<*Ak9?2Aֽ:ABAk9?JAֽRA뼙٘i)I9i@Y'G J<JJJJ(E&K Y_U~?yJdLAEj7Z709:B)B elevatorAngleAction: 0.074933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037316.463310F (some fields omitted in printout)Afffff@AYm_Y@AV~? AbA%"AAiNA"AZAbAjArAzAAA..AXysAoj@A ԻACAEA@?A A„<*A9?2Awֽ:AaBA9?JAwֽRAaYPP@EyBջٓH F?Z?eʤ Mz??%?`5z?)PP@ I٘i)I9oj@YG Js<B=Jh;JJJ-E&Kw> YU~?y5MAEEb7g49AAy;A?A A<*AV9?2Azֽ:ABAV9?JAzֽRA٘i)I9Ok@Y7G J9<JJJJ3E&K Y, V~?yMAEŧ779)B[[U[[W~?[b[[[[BZYY i) S elevatorAngleAction: 0.074933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037317.723268F (some fields omitted in printout)Az @AL@At)W~? A*AR%"AAiNA"AZAbAjArAzAAAXCyz0A.sAk@Ah矻AxAuR6A ?AAʖ<*A59?2A+ֽ:A*-BA59?JA+ֽRA*-٘i)I9k@YzG Ja<JJJJ5E&K YfV~?yNAE)7b799=B)߯BFE[[V[W~?[Og[[[[BZYY i)  YIV~?yJNA+ DE77{7\=9)گB[[M[1W~?[q[[[[BZYY i) L1 elevatorAngleAction: 0.074933< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037318.983295F (some fields omitted in printout)A\ @A @Ah^W~? AA%"AA*jNA"AZAbAjArAzAAA|{ĿA9Wl tA m@AԔI<AeAmd&A`u?A`1A9Q<*A9?2A1 ׽:AeBA9?JA1 ׽RAe٘i)I9 m@YDG J<JJJJ=E&K Y_V~?yļ*OAE)7ŧ7'?9@B)ׯBME[[ªOAE{7j7@9)ԯBPE[[D[QW~?[c{[[[[BZYY i) $IP!;o!@AW~? ABA%"AAajNA"AZAbAjArAzAAAߜދ?A tAqm@AuLAjA>A ?A A̼<*A=9?2A3ֽ:A BA=9?JA3ֽRA I٘i)I9m@YG J<JJJJCE&K YV~?yǪOAE77Z7B9)ѯB[[@[aW~?[:[[[[BZYY it=) _ elevatorAngleAction: 0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037320.243293F (some fields omitted in printout)Aףp=J!@AU0=!@AW~? AA%"AA~jNA"AZAbAjArAzAAA W~? AA>%"AAכjNA"AZAbAjArAzAAAc=?A/WlntAn@AƄQA A,A?A߶޿AO<*A߶9?2AJֽ:ABA߶9?JAJֽRAYԯ@@y| RٓH`?F?;4@?ީ? ܲ? j0`?)ԯ@ I٘i)I9n@YuG J<B=JQoJJJHE&Kw> YV~?yѪPAE77RF9CB)˯BXE[[7[hW~?[[[[[BZYY i) n~ elevatorAngleAction: 0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037321.503321F (some fields omitted in printout)AR!@A*5{!@AAW~? AeʫAr%"AAjNA"AZAbAjArAzAAAksd?A96tAp@Aױ8A8AsVA0]?A :ݿAA<*Aq9?2Aֽ:ABAq9?JAֽRA٘i)I9p@YG J<JJJJME&K YV~?yp۪rQAESI7SI7I9)ïB[[3-[ W~?[[[[[BZYY i) R_))>>&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037322.363165 s, next control iter: 1743037322.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10821*, header.stamp.nsec: 0*0 temperature: 13.569268** salinity: 33.375092*, density: 1025.000000** values[0]: 0.575220*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037322.763165 s.68J~,ذ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037322.763281F (some fields omitted in printout)Ǎ"@A"@AX~? AثA`S%"AA5kNA"AZAbAjArAzAAAm};?A NtAq@AͶ#<AOAA@8?A@ڿAa<*A9?2A;ֽ:ABA9?JA;ֽRAY@4py0M@$<ٓHx??`מܿ ?d"?~?`v??)@ I٘i)I9q@YG J3<JDJJJVE&K!x> YU2W~?yRApEj7Z7GO9EB)BdE[[ [,W~?[[[[[BZYY i) ))#>#>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037322.783165 s, next control iter: 1743037323.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037323.183165 s.˲8J~,^(AJ"J*J2J:JBJnJvJA(\"@A "@A.&X~? AvݫA%"AAVkNA"AZAbAjArAzAAAWX@Az!tAMFr@A,;AA~A@|?A !ڿA<*A9?2Aֽ:A)BA9?JAֽRA)٘i)I9Fr@YtG JY<JJJJXE&K YKW~?ySAE7777Q9)B[[u[W~?[[[[[BZYY i) I))h6>h6>*YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037323.203165 s, next control iter: 1743037323.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037323.603165 s.948J~,(AAQ"@A%VF"@A;X~? AAՠ%"AAvkNA"AZAbAjArAzAAAY9@A:O1/$tAr@AsA)AھA@/?A`VٿA<*AZ9?2A9ֽ:A4,BAZ9?JA9ֽRA4,٘i)I9r@YG J<JJJJ[E&K YdW~?ySAER9GB)BhE[[[X~?[[[[[BZYY i) ))H>H>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037323.623165 s, next control iter: 1743037324.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10822 , header.stamp.nsec: 0 0 temperature: 13.568897 * salinity: 33.375111 , density: 1025.000000 * values[0]: 0.575997 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037324.023165 s.Z8J~,|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743037324.023278F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.#@A~;!#@AQX~? A/AK%"AAkNA"AZAbAjArAzAAA@A&&tAns@A|KA AλоA`?AAؿAU<*Aj9?2AUֽ:ABAj9?JAUֽRA٘i)I9s@Y8G J<JJJJ^E&K Y}W~?ySAE{7{7T9)BkE[[;/[X~?[[[[[BZYY i)  ))[>[>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037324.063165 s, next control iter: 1743037324.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037324.443165 s.:8J~,J](AAq= c#@A&V#@A5hX~? AWA%"AAmkNA"AZAbAjArAzAAAZs/n@A%W)tAx1t@A8AlA%BƾA))P*n>P*n>*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743037324.463165 s, next control iter: 1743037324.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10823, header.stamp.nsec: 00 temperature: 13.568473* salinity: 33.375134, density: 1025.000000* values[0]: 0.576805F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037324.863165 s.+8J~,>7(AJ"J*J2J:J?BJ?nJ5vJA#@AR#@A~X~? AZA%"AAckNA"AZAbAjArAzAAA-q @At+tA2t@A9%AA<A{y?AֿAx<*A9?2Aֽ:AD3BA9?JAֽRAD3YrW@`UyٓH? X? @Bֿ?@8?`?dq?)rW@ I٘i)I9t@YG J5<J>JJJcE&Kx> YqW~?yTAUEb7b7))S>S>\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037324.883165 s, next control iter: 1743037325.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037325.283165 s.CR8J~,R(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037325.283287F (some fields omitted in printout)A(\#@AjQ#@AX~? A8A \%"AAkNA"AZAbAjArAzAAA9E`3 @At>9&.tAu@AD;AǨAA~?A`ֿAS<*Az9?2Aֽ:ABAz9?JAֽRA٘i)I9u@YoG J<JJJJfE&K YW~?yTUAE77Z9)B[[?[OX~?[[[[[BZYY i) n))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037325.303165 s, next control iter: 1743037325.683188 s, wait time: 0.380023 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10824., header.stamp.nsec: 0.0 temperature: 13.568057.* salinity: 33.375153., density: 1025.000000.* values[0]: 0.577673.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037325.703165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ֺ8J~,m(AAQ$@A3.#@AX~? AA%"AA lNA"AZAbAjArAzAAA(*c@A@xk0tA0v@A@v><AJAA?A`,տA<*A9?2A׽:A!~BA9?JA׽RA!~٘i)I90v@YG JK<B=JJJJhE&K Y$W~?y4UAEŧ7b7[9)BtE[[#[cX~?[+[[[[BZYY i) .)) > > *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037325.723165 s, next control iter: 1743037326.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037326.123165 s.B8J~,(AAG:$@A˼U-$@AX~? AA%"AAClNA"AZAbAjArAzAAA-0L@A)2tAv@AF<AA҉A"?A@?PԿA$<*A9?2Aֽ:AfBA9?JAֽRAf٘i)I9v@Y>G J<C=JJJJkE&K YyX~?yZ@VAE)77]9IB)BwE[[%[TxX~?[[[[[BZYY iӨ=) l))`>`>g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037326.143165 s, next control iter: 1743037326.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037326.543165 s.I8J~,â(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.093095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037326.543281F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp$@A#c$@AxX~? AA%"AAglNA"AZAbAjArAzAAAǎi@Aw4tAw@A;AǂAdA V?AsӿAm<*A9?2A(ֽ:ABA9?JA(ֽRA٘i)I9w@YG J7<JJJJnE&K YX~?yVAE777g_9)BzE[[O[X~?[[[[[BZYY i) ))Х>Х>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037326.563165 s, next control iter: 1743037326.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10825, header.stamp.nsec: 00 temperature: 13.567620* salinity: 33.375137, density: 1025.000000* values[0]: 0.578563F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037326.963165 s.8J~,H(AAffff$@AE$]$@A7X~? A6AD%"AAlNA"AZAbAjArAzAAAa^؈@A?q6tAM;x@A/p?AAieAL?AҿA <*Ay9?2A+Fֽ:ApBAy9?JA+FֽRApY@Cy̝d/@ٓH ?U?‘`п 1?@#s?@ Y 6X~?y /WACE72a9SB)B}E[[[ءX~?[Ī[[[[ZZZZ¸>BZYY i¸>0Ω) @U< )>)))>)> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037326.983165 s, next control iter: 1743037327.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037327.383165 s.J "J *J 2J :J :?8J~BJ:?nJm5,4(AvJA($@AW$@A* Y~? AVA%"AAlNA"AZAbAjArAzAAAo%@AX*B8tAx@A -A,AԧzA T?AѿA{w<*A{9?2Aֽ:ACBA{9?JAֽRAC٘i)I9x@YG J<JJJJsE&K YCQX~?y WAE77{7b9)BE[[پ[X~?[ Ǫ[[[[ZZZZBZYY i) ))>>yE=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037327.423165 s, next control iter: 1743037327.783179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10826&, header.stamp.nsec: 0&0 temperature: 13.567184&* salinity: 33.375156&, density: 1025.000000&* values[0]: 0.579488&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037327.803165 s.tA8J~,og(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037327.803293F (some fields omitted in printout)A%@AH%@AN#Y~? APA/%"AAqlNA"AZAbAjArAzAAA~@A3+i:tAƻy@Ak4OAlAfA`*?A@пA=*A9?2Aeֽ:AJ/BA9?JAeֽRAJ/٘i)I9y@YG J<JJJJvE&K Y|lX~?yc"XAES77d9)B[[uо[HX~?[ɪ[[[[ZZZZBZYY i) ̐))A>A>y/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037327.843165 s, next control iter: 1743037328.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037328.223165 s.g9J~,H(AJ"J*J2J:JBJnJvJAzG%@A:%@A;Y~? A" Au%"AA%lNA"AZAbAjArAzAAA0@A;"< >))>>y.+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037328.263165 s, next control iter: 1743037328.623182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743037328.643165 s. 9J~,E*)(AA ףp}%@A܄{ep%@A TY~? A A[%"AA!mNA"AZAbAjArAzAAAe , @A!h=tAr{@A[h:AbwAb;A1?A`DοAo<*A9?2Avֽ:AmlBA9?JAvֽRAml٘i)I9r{@Y G J<JJJJ{E&K YX~?yYAEb77\h9)xBE[[ [X~?[Ϫ[[[[ZZZZBZYY i) ~))>>Ī*tReceived state from Gazebo (printed only once in a while):Y2 header.stamp.sec: 10827, header.stamp.nsec: 00 temperature: 13.566692* salinity: 33.375175, density: 1025.000000* values[0]: 0.580509F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743037328.663165 s, next control iter: 1743037329.043181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037329.063165 s.9J~,R D(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082913< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743037329.063288F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333%@AaTR'%@AlY~? APA)%"AAcBmNA"AZAbAjArAzAAA!`L@A"=L?tAk1|@Ay$<A3A+6&A`IX?AA̿Ak<*AΧ9?2A ~ֽ:ABAΧ9?JA ~ֽRAY}׼@g&y3@$<ٓH?.?@ Ŀ?fr???)}׼@ I٘i)I91|@Y~G J<J.=JJJ~E&KOw> YپX~?yhPYA&E777'j9)rBE[[ň[ Y~?[Ҫ[[[[ZZZZBZYY ir) Z))O>>y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037329.083165 s, next control iter: 1743037329.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037329.483165 s.t_9J~,^(AA\%@A%@AY~? AA]%"AAgmNA"AZAbAjArAzAAAK+SPy@A@tA|@Ac<AܼAoeA&}?A8oʿA<*A29?2A[kֽ:A3[;BA29?JA[kֽRA3[;٘i)I9|@YG J<JJJJE&K YX~?yYAE77k9)mBE[[[$Y~?[Ԫ[[[[ZZZZBZYY i) Oݔ)) %>%>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037329.503165 s, next control iter: 1743037329.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10828, header.stamp.nsec: 00 temperature: 13.566187* salinity: 33.375214, density: 1025.000000* values[0]: 0.581546F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037329.903165 s.9J~,y(AJ"J*J2J:JBJnJvJAQ&@Ab/&@AY~? AA%"AAmNA"AZAbAjArAzAAAp\@A[ ^BtAN}@A;0<A ,AA )?A`KȿA|<*A"9?2AMXս:A<BA"9?JAMXսRA<٘i)I9N}@Y,G J<JJJJE&K YX~?yDYAEb77m9)iBE[[[[:Y~?[֪[[[[ZZZZBZYY i)  ))>>t)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037329.923165 s, next control iter: 1743037330.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037330.323165 s.w$9J~,)(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037330.323284F (some fields omitted in printout)AGzT&@AupG&@AʷY~? AAG%"AAmNA"AZAbAjArAzAAA~@AՀ RCtA }@A;A+;A3WѽA?A`#ƿAQ3<*A9?2ALս:An<BA9?JALսRAn<٘i)I9}@YeG J]<JJJJE&K YY~?yZAE)7ŧ7o9)fBE[[[WQY~?['٪[[[[ZZZZBZYY i^) w~))p>p>yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037330.363165 s, next control iter: 1743037330.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10829*, header.stamp.nsec: 0*0 temperature: 13.565829** salinity: 33.375187*, density: 1025.000000** values[0]: 0.582245*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037330.743165 s.W+9J~,y(AJ"J*J2J:J?BJ?nJK5vJAףp=&@A2}&@AY~? AA|%"AAmNA"AZAbAjArAzAAA׼_ @AC-xDtA}@AAՖ<AҧA?APĿA;*A9?2Atս:AA<BA9?JAtսRAA<٘i)I9}@YG J <JJJJE&K Y.Y~?yBZAEb77Rq9)dB[[%[`hY~?[A۪[[[[ZZZZBZYY i) hJJJE&Ku> YJY~?yZA}E77{7s9)cBE[[U[NY~?[4ݪ[[[[BZYY iBFk) UWzu@ARyFtA~@Af5A.=Ae(AM?A5Af*A9?2Ab*ֽ:AW<BA9?JAb*ֽRAW<٘i)I9~@YG J1:JJJJE&K YgY~?y7YAE77t9SB)E[[Ds[Y~?[ߪ[[[[BZYY i) E ?)) > ?> ?y99pnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037331.603165 s, next control iter: 1743037331.983190 s, wait time: 0.380025 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10830, header.stamp.nsec: 00 temperature: 13.565633* salinity: 33.375198, density: 1025.000000* values[0]: 0.582605F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037332.003165 s.u @9J~,@4(AAR+'@Acx'@AZ~? AzA"%"AAMnNA"AZAbAjArAzAAA>@V @AׇSTGtAU}@AlA'V=AKA'?A`A8*A9?2A;Խ:AS<BA9?JA;ԽRAS<٘i)I9}@YG JJJJJE&K Y=Y~?yYAE)7b7v9)dBE[[˿_[Y~?[[[[[BZYY i) 0R4= @A3GHtAz}@AE;At=AA@9?AA:t3*A~9?2A`Խ:AYI=BA~9?JA`ԽRAYI=٘i)I9}@YkG JJJJJE&K Y}Y~?yNYAE{7{7}x9)eBE[[L[Y~?[K[[[[BZYY i) S"*A9?2Ah ս:A=BA9?JAh սRA=Y;G@9=yV_=MN<ٓH ?T2? ?@?>+豿u?I?);G@ I٘i)I9|@YG J}J=JJJE&Kt> YY~?y YA9=E|9)kBE[[$[eY~?[[[[[BZYY iGj) =Z~?[[[[[BZYY i) );Ii@< .?)).?.?yɒjժY*-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037334.543165 s, next control iter: 1743037334.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10833, header.stamp.nsec: 00 temperature: 13.565687* salinity: 33.375248, density: 1025.000000* values[0]: 0.581774F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037334.943165 s.^dn9J~,[](AJ"J*J2J:JBJnJvJAq= ף(@A̖(@AZ~? A A%"AA_oNA"AZAbAjArAzAAAxou$@A;NJtAz@AUA-=A&=Az?AA*A9?2Aս:A?=BA9?JAսRA?=٘i)I9z@YG JJJJJE&K YHZ~?y*WAEb77=9){BE[[vު[VZ~?[[[[[BZYY i) !;Iix?<  3?)) 3? 3?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037334.983165 s, next control iter: 1743037335.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037335.363165 s.u9J~,y>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057197< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037335.363280F (some fields omitted in printout)A(@A:ZՒ(@AZ~? A A %"AA%@A|JtA`Oz@AbAe=A>A|?AudAꐯ*A9?2A@ս:A+=BA9?JA@սRA+=Y~@>>y>d=yٓHW???$?Ò?@'Ql?)~@ I٘i)I9Oz@YXG J譼B=J><JJJE&Ku> YdZ~?y$WA>>E{7Z79QB)BE[[V@[ oZ~?[J[[[[BZYY i) XU;Iik?%< Ч8?))zЧ8?Ч8?NӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037335.383165 s, next control iter: 1743037335.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10834*, header.stamp.nsec: 0*0 temperature: 13.565816** salinity: 33.375286*, density: 1025.000000** values[0]: 0.581210*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037335.783165 s.X{9J~,(AJ"J*J2J:JBJnJvJA(\)@AN)@A[~? A AB%"AAoNA"AZAbAjArAzAAAqt%@AJtAºy@A:A@_=A?">A`|?A?Aټ*A>9?2AYս:A7=BA>9?JAYսRA7=٘i)I9y@YG JC=JJJJE&K YƀZ~?yVAE7777҆9)BE[[6[Z~?[[[[[BZYY iŕ) =;Ii/?< R=?)) R=?R=?>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037335.803165 s, next control iter: 1743037336.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037336.203165 s.9J~,! (AAQE)@As8)@A [~? A A%"AA$oNA"AZAbAjArAzAAANy&@A9R}JtAL%y@A܎<A\=A6>A{?A ?A4*A) :?2AԽ:Ap=BA) :?JAԽRAp=٘i)I9%y@YG J챼JJJJE&K YZ~?yVVAE779PB)BE[[b̼[wZ~?[[[[[BZYY i) :Ii?w"< ƬB?))ƬB?ƬB?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037336.243165 s, next control iter: 1743037336.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037336.623165 s.J "J *J 2J :J ?BJ ?nJ 5vJ ]9J~,v'(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037336.623293F (some fields omitted in printout)AGz)@Am)@A:[~? AG AM%"AAoNA"AZAbAjArAzAAA;*'@AOBJtAx@AV<Ac=AJ>Aw?A`RX?A3*A% :?2A^Խ:Az<BA% :?JA^ԽRAz<I٘i)I9x@YJG J3JJJJE&K YZ~?yJUAE77j7h9)BE[[^[tZ~?[[[[[BZYY i) <:Ii1?< G?))G?G?êYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037336.643165 s, next control iter: 1743037337.023182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10835 , header.stamp.nsec: 0 0 temperature: 13.565956 * salinity: 33.375263 , density: 1025.000000 * values[0]: 0.580610 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037337.043165 s.9J~,B(AA= ף)@AŪA)@AT[~? AA%"AA%pNA"AZAbAjArAzAAA4e.N'@AlItA]x@AM<AW=A<_>A`o?Aά?A*A :?2AԽ:Ay<BA :?JAԽRAy<٘i)I9x@YG J1JJJJE&K YZ~?yUAE{729OB)BE[[Qp<[Z~?[[[[[BZYY i) ޹Iiu?@< L?))L?L?y·YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037337.063165 s, next control iter: 1743037337.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037337.463165 s.f9J~,+](AJ"J*J2J:JBJnJvJAffff)@Af\)@An[~? A Aܿ%"AA^LpNA"AZAbAjArAzAAA SR(@AIہItAw@AM{:A*=A u>Ae?A/?AЖ*A<:?2Aս:A,2<BA<:?JAսRA,2y*={:ٓH?Vοu?@G??L?8ⰿ iO? )?)Ƚ< I٘i)I9w@YG JyJJJJE&Kt> YZ~?y-UAu> Eb779)BE[[ =[xZ~?[[[[[BZYY i) sIiO?e< 8Q?))'Uy8Q?8Q?ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037337.483165 s, next control iter: 1743037337.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10836, header.stamp.nsec: 00 temperature: 13.566104* salinity: 33.375294, density: 1025.000000* values[0]: 0.580044F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037337.883165 s.y9J~,Qx(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243489@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743037337.883312F (some fields omitted in printout)A(*@Ac`*@A[~? A0A%"AAspNA"AZAbAjArAzAAA\(@AL`~HtAw@AAÄ=A=>AX?A@?Aϋ*A :?2A*ֽ:A<BA :?JA*ֽRA<٘i)I9w@YZG JJJJJE&K Y [~?yTA#Eȏ9)B[[.^=[[~?[[[[[BZYY i) Ii?&|< V?)) V?V?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037337.903165 s, next control iter: 1743037338.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037338.303165 s.]9J~,g(AJ"J*J2J:JBJnJvJAQ*@A͔D*@A[~? A)A:%"AApNA"AZAbAjArAzAAANx)@A^-ZHtAv@A|YUAY#=A>AJ?A@?AƇ*A%:?2A}Խ:A<BA%:?JA}ԽRA<٘i)I9v@YG JJJJJE&K Y'[~?yxTA&E779LB)¹E[[ =[[~?[[[[[BZYY i) VIi?r< 0\?))0\?0\?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037338.323165 s, next control iter: 1743037338.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10837*, header.stamp.nsec: 0*0 temperature: 13.566212** salinity: 33.375305*, density: 1025.000000** values[0]: 0.579537*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037338.723165 s.9J~,H(AAz*@A3z*@AP[~? AA%"AApNA"AZAbAjArAzAAA5kX(*@AG:GtA#v@AX5A+=Am>A9?A`?AC%*A%:?2Aս:AB<BA%:?JAսRAB<٘i)I9#v@YG JJJJJE&K YsB[~?y TA)Ej7j7]9KB)BŹE[[D=[7[~?[X[[[[BZYY i) 晊Ii?j< z8a?))z8a?z8a?]YY+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037338.743165 s, next control iter: 1743037339.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037339.143165 s.J "J *J 2J :J N?BJ N?nJ 5vJ d/9J~,A*(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037339.143314F (some fields omitted in printout)A ףp*@A8d*@A[~? AAJ%"AA pNA"AZAbAjArAzAAAA*@A/ڥFtAu@AݵUAZ=A8>A%?A p?A*Ac$:?2A,ս:A$<BAc$:?JA,սRA$<٘i)I9u@YG JJJJJE&K Y][~?y SA+E77{7(9)BȹE[[=[P[~?[[[[[BZYY i) ũIi?޵b< gf?))gf?gf?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037339.163165 s, next control iter: 1743037339.543185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037339.563165 s.9J~,[ (AA3333*@A**@A[~? AA*%"AAqNA"AZAbAjArAzAAA _+@AazEtACu@A;A|=A+ŭ>A`o?Aq?An҅*A:?2AfCս:A\<BA:?JAfCսRA\yվ=?;ٓH ?fNտ,?@I?,?@a?5@y?h?)= I٘i)I9Cu@YFG JuJλJJJE&Kt> Yx[~?ykSA>.E{7779JB)B˹E[[] >[i[~?[[[[[BZYY i) ";ɻIi?V< 2k?))Ny2k?2k?YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037339.583165 s, next control iter: 1743037339.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10838, header.stamp.nsec: 00 temperature: 13.566294* salinity: 33.375317, density: 1025.000000* values[0]: 0.579108F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037339.983165 s.9J~,(AJ"J*J2J:JBJnJvJA\(+@A8j+@A! \~? AuAI%"AA6qNA"AZAbAjArAzAAAo+@ADtAgt@AeL<A'=A>Ak?A G?Akц*Ai:?2Atս:AQ=BAi:?JAtսRAQ=٘i)I9t@YG J JJJJE&K Y.[~?ySA1E79IB)BιE[[>[[~?[a[[[[BZYY i) Ii?PUL< Bp?)) Bp?Bp?y?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037340.023165 s, next control iter: 1743037340.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037340.403165 s.&9J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037340.403302F (some fields omitted in printout)AQ^+@ASͬQ+@A"\~? AAk%"AA@]qNA"AZAbAjArAzAAAa?ꊔ,@Ai@$ CtAHbt@A)F<Au%=A6>A?A@2?A謆*A,:?2A.Խ:A&=BA,:?JA.ԽRA&=٘i)I9bt@YG JJJJJE&K Yӭ[~?yRA3E77{79)B[[uo3>[\[~?[[[[[BZYY i) Ii,?B< u?))u?u?$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037340.423165 s, next control iter: 1743037340.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10839", header.stamp.nsec: 0"0 temperature: 13.566390"* salinity: 33.375351", density: 1025.000000"* values[0]: 0.578672"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037340.823165 s.J 9J~"J*J2J,-4(A:J#?BJ#?nJV5vJAGz+@Apwn+@A;\~? AA%"AAqNA"AZAbAjArAzAAA*8--@A*=BtAs@A4N;A =An>A@?A?AHA*A(:?2AԽ:A =BA(:?JAԽRA =٘i)I9s@YxG JJJJ"FJE&K Yw[~?yfRA6Ej7R9)BѹE[[-mH>[Ե[~?[[[[[BZYY i) Ii?!V:< &+{?))&+{?&+{?yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037340.863165 s, next control iter: 1743037341.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037341.243165 s.9J~,qO(AAףp=+@Az2+@AT\~? AA%"AAߩqNA"AZAbAjArAzAAAtD?-@Av&?AtA_s@AņA^=A4>At?Ah?A*A$#:?2A~ս:A=BA$#:?JA~սRA=٘i)I9s@Y4G JJJJJE&K Y[~?yRA9Eb779HB)BԹE[[Ջ]>[X[~?[[[[[BZYY i) #Iiً?I3< h9?))h9?h9?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037341.263165 s, next control iter: 1743037341.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037341.663165 s.J "J *J 2J :J ?BJ ?nJ 85vJ 9J~,qj(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037341.663283F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10840, header.stamp.nsec: 00 temperature: 13.566467* salinity: 33.375351, density: 1025.000000* values[0]: 0.578244F (some fields omitted in printout)A,@Ah+@Am\~? A9A%"AAqNA"AZAbAjArAzAAA].@AK?tAss@AN;A=AG>A~{?A ?A*Ah:?2AA ֽ:A=BAh:?JAA ֽRA=YOb>^q>yc=s;ٓH? _Rۿ?67? j? ? ^`i?)Ob> I٘i)I9s@YG J J1<JJJE&Ku> Y[~?y1QAq>;E7{7蟌9GB)B׹E[[]pr>[z[~?[ߪ[[[[BZYY i) 3Ii?@['< Ղ?))yՂ?Ղ?PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037341.683165 s, next control iter: 1743037342.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037342.083165 s.E9J~,.S(AA)\5,@A=(,@AƆ\~? A A%"AAqNA"AZAbAjArAzAAACRRo.@A-Y>tAr@A!PA=AO>A V?Aar?A*A:?2A`Oֽ:A4=BA:?JA`OֽRA4=٘i)I9r@YG J*JJJJE&K Y8\~?ypTQA>E{79FB)BڹE[[>[\~?[ݪ[[[[BZYY i) m|BIiu?< /x?)) /x?/x?QêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037342.123165 s, next control iter: 1743037342.483189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743037342.503165 s.9J~,74(AJ"J*J2J:J?BJ?nJ(5vJARk,@A}^,@As\~? A) AAC%"AA.rNA"AZAbAjArAzAAAX' /@A'"A /?A` N?A*AP*:?2AԽ:A=BAP*:?JAԽRA=٘i)I9-r@YeG JJJJJE&K Y/\~?yPAAE77}9)B[[_>[\~?[ڪ[[[[BZYY i) nQIiDf?^< ?))??ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037342.523165 s, next control iter: 1743037342.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10841, header.stamp.nsec: 00 temperature: 13.566571* salinity: 33.375351, density: 1025.000000* values[0]: 0.577820F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037342.923165 s.?9J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074996< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037342.923329F (some fields omitted in printout)A{G,@A=,@A\~? AfAw%"AAv@rNA"AZAbAjArAzAAAċAP0@A2 ;tAiq@A.;AÄ=A?A ?A?A^Z*A_%:?2AԽ:A^ =BA_%:?JAԽRA^ =٘i)I9q@YG JJJJJE&K YUI\~?yPACEH9CB)ܹE[[>[E4\~?[ت[[[[BZYY i") )raIiIY?/ < ˊ?))ˊ?ˊ?ʪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037342.943165 s, next control iter: 1743037343.323185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037343.343165 s.<9J~,(AJ"J*J2J:JBJnJvJAp= ,@AW"P,@AG\~? A}A%"AAzerNA"AZAbAjArAzAAA%FY0@AĤDKK9tA.q@AW'<A=A?A?A^?A[џ*A&!:?2AԽ:AjD=BA&!:?JAԽRAjD=٘i)I9.q@YG JכJJJJE&K Yb\~?y-[M\~?[֪[[[[BZYY i) pIiN?< {?)){?{?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037343.363165 s, next control iter: 1743037343.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10842&, header.stamp.nsec: 0&0 temperature: 13.566661&* salinity: 33.375389&, density: 1025.000000&* values[0]: 0.577320&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037343.763165 s.79J~,(AA -@AUm7,@Ah\~? AnA%"AA6rNA"AZAbAjArAzAAA;70@AUm7tANp@AaW<A/=A8 ?A`ʭ?A=ս:A?=BAq:?JA<>սRA?=Y俤>x ?yҶ=GW<ٓHI[?rq?n?` r? s?i`??)俤> I٘i)I9p@YwG JJp<JJJE&K8u> Y{\~?yOAx ?IE7{7ݨ9)BE[[r>[cf\~?[qӪ[[[[BZYY i) "Ii([B\~?[Ъ[[[[BZYY i) Ii+?~#; /Ӓ?)) /Ӓ?/Ӓ?y:ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037344.203165 s, next control iter: 1743037344.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037344.603165 s.;4 :J~,&(AAQx-@A3[\~?[ͪ[[[[BZYY i) E*Ii?; ,?)),?,?תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037344.623165 s, next control iter: 1743037345.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10843 , header.stamp.nsec: 0 0 temperature: 13.566797 * salinity: 33.375393 , density: 1025.000000 * values[0]: 0.576772 F (some fields omitted in printout)6\~?)6ܪ rAdjusting time to match Gazebo time: 1743037345.023165 s.Z:J~,|A(AJ"J*J2J:J?BJ?nJ5vJAHz-@Amɪ-@A/]~? AZA%"AArNA"AZAbAjArAzAAA] y1@Ai=8F1tA o@A A<=Aq?A?A`?AqZ*A:?2A#ս:A9Q=BA:?JA#սRA9Q=٘i)I9 o@Y|G JJJJJE&K Y\~?y تNAQE{7j7=9@B)ǯBE[[s>[\~?[]ʪ[[[[BZYY i) Ii?N; ??))????۪Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037345.043165 s, next control iter: 1743037345.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037345.443165 s.8:J~,B]\(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198912 time: 1743037345.443281F (some fields omitted in printout)Aq= -@A-@AF]~? AA%"AAsNA"AZAbAjArAzAAAQ1@A /tAd~n@ATAU=AS?A[?A`۰?A-*A:?2A8ս:A)=BA:?JA8սRA)=٘i)I9~n@Y'G JʦJJJJE&K Y\~?yӪ>NASE779?B)˯BE[[>[\~?[ƪ[[[[BZYY i) "NIi-?; ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037345.463165 s, next control iter: 1743037345.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10844, header.stamp.nsec: 00 temperature: 13.566941* salinity: 33.375408, density: 1025.000000* values[0]: 0.576183F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037345.863165 s.+:J~,>w(AJ"J*J2J:JBJnJvJA.@AE .@A]]~? AAT7%"AA=sNA"AZAbAjArAzAAASn2@AN,tAm@AJW,AZX=Ax$?A@ܣ?A ?A1,*A:?2AOֽ:AYc=BA:?JAOֽRAYc=YO>m@$?yU=6,ٓH@B?!, ??T?/? Ĵ@ϊ?)O> I٘i)I9m@YG JJI<JJJE&Ku> Y\~?y?ΪMA@$?VEӱ9;B)E[[w>[\~?[rê[[[[BZYY i) (Ii[>mY;  ?))} ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037345.883165 s, next control iter: 1743037346.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037346.283165 s.9R$:J~,(AA(\O.@A\QB.@At]~? AA%"AA_sNA"AZAbAjArAzAAA*߭ K2@ADCQ*tAVm@AP#AU=A)?A@mh?A`V?AV*A9?2Aս:A=BA9?JAսRA=٘i)I9Vm@YsG JJJJJE&K Y ]~?yȪ_MAYEŧ7~79)ЯB[[O>[#\~?[[[[[BZYY i)  Ii>);; m?)) m?m?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037346.303165 s, next control iter: 1743037346.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10845., header.stamp.nsec: 0.0 temperature: 13.567084.* salinity: 33.375416., density: 1025.000000.* values[0]: 0.575596.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037346.703165 s.׺*:J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037346.703278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ.@Ac^Gx.@A]~? AA%"AAsNA"AZAbAjArAzAAAD;2@Ah'tAJl@A0;A=Aq.?A@*?A+?A¼*A0 :?2A Խ:A=BA0 :?JA ԽRA=٘i)I9l@YG J~B=JJJJE&K Y]~?yêLA[E777h9:B)ԯBE[[>[G]~?[ӻ[[[[BZYY i) mIi>^; .?)).?.?]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037346.723165 s, next control iter: 1743037347.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037347.123165 s.71:J~,](AAG.@A'0֭.@A?]~? AA!%"AAsNA"AZAbAjArAzAAAV2@AVq?%tAl@AYN<A[ܭ=An3?A?A?Aɼ*A:?2AԽ:Aqw=BA:?JAԽRAqw=٘i)I9l@YG J3ƼC=JJJJE&K YW6]~?yrLA^E77398B)دBE[[?[E*]~?[[[[[BZYY i) &˻Ii>?; p?))p?p?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037347.143165 s, next control iter: 1743037347.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037347.543165 s.I8:J~,(AJ"J*J2J:JBJnJvJA= ף.@A}V.@A2]~? AK߫Au%"AAksNA"AZAbAjArAzAAA|mq'3@A~x"tAek@A@<AO=A8?A`?AI?A(*ͼ*Ah:?2A5ս:Ar=BAh:?JA5սRAr=٘i)I9ek@YDG J˼JJJJE&K YL]~?y.LAaESI7879)ݯB[[i?[ B]~?[u[[[[BZYY i) x*üIi~>D%; ռ?))ռ?ռ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037347.563165 s, next control iter: 1743037347.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10846, header.stamp.nsec: 00 temperature: 13.567292* salinity: 33.375427, density: 1025.000000* values[0]: 0.574918F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037347.963165 s.>:J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743037347.963305F (some fields omitted in printout)Affff&/@A_/@A]~? AګA%"AA|sNA"AZAbAjArAzAAA9êV3@AtAj@A;Abh=A"=?AQg?A@_?A͗ͼ*A9?2Aս:AX=BA9?JAսRAX=Y?/>?yg=R7;ٓH/}?ym?~?`Ǖ??`>s? ?)? I٘i)I9j@YG JͼB=J?<JJJE&Ku> Ya]~?y;KA>?cE77Ⱥ97B)BE[[ ?[uY]~?[[[[[BZYY i) %hʼIi9?>: ?))A5??sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037347.983165 s, next control iter: 1743037348.363185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037348.383165 s.E:J~,/(AJ"J*J2J:J?BJ?nJ;5vJA(\/@Ac`O/@A7]~? A-֫A$%"AAtNA"AZAbAjArAzAAA)3@AUtA j@AԙAR`=AiC?A`[ ?AP?A̼*A9?2Arֽ:A=BA9?JArֽRA=٘i)I9 j@YrG J~ͼC=JJJJE&K Yv]~?yJ#KAfEj7j793B)BE[[?[p]~?[y[[[[BZYY i) ڣѼIi>r: G?)) G?G?YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037348.403165 s, next control iter: 1743037348.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10847&, header.stamp.nsec: 0&0 temperature: 13.567487&* salinity: 33.375435&, density: 1025.000000&* values[0]: 0.574202&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037348.803165 s.AL:J~,g3(AA/@AW/@AC]~? AiѫAL%"AA@'tNA"AZAbAjArAzAAAV)a3@AcYtA`i@A?AZ=AH?A@?A@?A̼*A9?2Aս:A=BA9?JAսRA=٘i)I9`i@Y G J̼JJJJE&K YM]~?yWJAiE7{7^9)B[[?[]~?[[[[[BZYY i) ؼIi=9 G: j?))j?j?=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037348.823165 s, next control iter: 1743037349.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037349.223165 s.gS:J~,HN(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199352 time: 1743037349.223284F (some fields omitted in printout)J"J*J2J:JBJnJvJAz/@AcD/@A ^~? A̫A%"AAFtNA"AZAbAjArAzAAA 94@Ajp) tAh@AMAbW=AM?A|?A?ALϼ*A)9?2Aս:A=BA)9?JAսRA=٘i)I9h@Y G JͼJJJJE&K Y]~?ye6JAlE7(92B)BE[[0?[]~?[[[[[BZYY i%) iIi=閤9 ?))??nY2'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037349.263165 s, next control iter: 1743037349.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037349.643165 s.zY:J~,*i(AA ףp/@AYd/@Ae ^~? A~ǫA=?%"AAftNA"AZAbAjArAzAAA0T4@A&tAh@A޻A$9=AR?A@^B?A?A+Լ*A9?2Aս:AN=BA9?JAսRAN=٘i)I9h@Y5 G JRѼJJJJE&K Y޴]~?yrIAnE{7{791B)BE[[k$?[)]~?[[[[[ZZ¸BZYY i¸6ʩ=)  "ԼII?iBs ?))??YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10848, header.stamp.nsec: 00 temperature: 13.567701* salinity: 33.375443, density: 1025.000000* values[0]: 0.573478F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743037349.663165 s, next control iter: 1743037350.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037350.063165 s.`:J~,N (AJ"J*J2J:J?BJ?nJ5vJA333330@AaTR'&0@Ay4^~? AX«Ai%"AAӄtNA"AZAbAjArAzAAAy,4@A#tA[Pg@A';AM=AW?A`G?A*M?A׼*AI9?2Aս:A =BAI9?JAսRA =Y?W?yfM=н';ٓH0?v >?@? GG?x?d??)? I٘i)I9Pg@Y G JռJ;JJJE&Kiv> Y]~?yᔪFIAW?qEZ7Z7Ì9)B[[ *?[5]~?[O[[[[ZZBZYY i) VȼII?i75 9v?))9v?9v?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037350.083165 s, next control iter: 1743037350.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037350.483165 s.|_g:J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037350.483281F (some fields omitted in printout)A\h0@AF[0@A6H^~? AA%"AAtNA"AZAbAjArAzAAAי 4@A7uN tAf@A,<A&U=A8\?A;?A@?AZ*A89?2Aս:A"<BA89?JAսRA"<٘i)I9f@YM G J B=JJJJE&K Y_]~?yOHAtE7)7Ō9,B)BE[[/?[]~?[ڐ[[[[ZZBZYY i)  I I?i7p 8?))8?8?y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037350.523165 s, next control iter: 1743037350.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10849, header.stamp.nsec: 00 temperature: 13.567941* salinity: 33.375462, density: 1025.000000* values[0]: 0.572687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037350.903165 s.m:J~,͹(AJ"J*J2J:JBJnJvJAQ0@ASͬ0@A[^~? AAo%"AAtNA"AZAbAjArAzAAAF<5@A,Ai tAne@AR<AK?=Ab?A`R?Aറ?Ae1*A,9?2A)ս:A.<BA,9?JA)սRA.<٘i)I9e@Y G JC=JJJJ E&K Y]~?ySHAvE77Snj9)B[[Qk5?[]~?[6[[[[ZZBZYY i) 0I I?i2 ?))??y68=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037350.923165 s, next control iter: 1743037351.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037351.323165 s.rt:J~,(AAGz0@A;p0@An^~? A-A-%"AAtNA"AZAbAjArAzAAAIC'@A5@AVn tAd@A<At=Akg?A w?A1?AX*A:?2A-Cֽ:A2o<BA:?JA-CֽRA2o<٘i)I9d@YA G JJJJJ E&K Y]~?y,GAyE7Ɍ9+B)BE[[);?[ ^~?[a[[[[ZZBZYY i) II?ib\ 3?))3?3?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037351.343165 s, next control iter: 1743037351.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10850*, header.stamp.nsec: 0*0 temperature: 13.568243** salinity: 33.375473*, density: 1025.000000** values[0]: 0.571736*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037351.743165 s.W{:J~,(AJ"J*J2J:J]?BJ]?nJy5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082905< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743037351.743309F (some fields omitted in printout)Aףp= 1@A:70@AI^~? AAF%"AAftNA"AZAbAjArAzAAAځy5@AtA d@A<A~/=AYl?A?A'?A(ͼ*A:?2Axֽ:A?X;BA:?JAxֽRA?X;٘i)I9 d@Y G JB=JJJJE&K Y^~?yz`GA|Eb77ʌ9*B) BE[[@?[ ^~?[_[[[[ZZBZYY i) 藼IRI?i6# g?))g?g?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037351.763165 s, next control iter: 1743037352.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037352.163165 s.t}:J~,q (AA@1@A;21@A^~? AΦAǵ%"AAouNA"AZAbAjArAzAAAy3M5@AKԙ tAdnc@AF'Ah<Aqr?A@T?A ?A%w*A:?2A˄ֽ:AC"BA:?JA˄ֽRAC"Y9?@q?ye<U'ٓH >? @{??`ջ?Rp? K脿?)9? II٘i)I9nc@Yk G JC=J>JJJE&Kw> Y1#^~?yss elevatorAngleAction: 0.077662< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200732 time: 1743037353.003362F (some fields omitted in printout)AR1@A-y1@A^~? AAz%"AALuNA"AZAbAjArAzAAA^p6@AsAޙb@A4AZ˻Af|?AyE?A߈?A\"*At9?2Aֽ:ABAt9?JAֽRA٘i)I9b@Y G JRJJJJE&K YXD^~?y%eFAEŧ7b7HЌ9)B[[TMR?[w]^~?[nl[[[[ZZBZYY i) KqI{H?izоm ?))??(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037353.043165 s, next control iter: 1743037353.403184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743037353.423165 s.!u:J~,[(AJ"J*J2J:JBJnJvJA{G1@A]=1@A,^~? A┫A#%"AAguNA"AZAbAjArAzAAAM!žP6@A*sAab@AoA%Aр?A\?A?A<ν*A 9?2A ֽ:AABA 9?JA ֽRAA٘i)I9ab@Y G JJJJJE&K YT^~?y]FAE77{7Ҍ9#B) E[[P*X?[p^~?[e[[[[ZZBZYY i) HL]I\H?i㾉 ?))??y =)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037353.443165 s, next control iter: 1743037353.823186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10852, header.stamp.nsec: 00 temperature: 13.568563* salinity: 33.375492, density: 1025.000000* values[0]: 0.570559F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037353.843165 s.ݜ:J~,u(AAp= 2@A; 2@A^~? AA%"AAʀuNA"AZAbAjArAzAAA"Az6@A-KcsAEb@A%;A#Av?A4?A )?A*Ak9?2A׽:A"ȼBAk9?JA׽RA"ȼ٘i)I9Eb@Y G JuJJJJE&K Ye^~?yVFAE{7ӌ9!B)B[[4^?[^~?[^[[[[BZYY i) HIH?i K ?))??h0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037353.863165 s, next control iter: 1743037354.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037354.263165 s.:J~,'ؐ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077662< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199432 time: 1743037354.263278F (some fields omitted in printout)J"J*J2J:JBJnJvJAL2@A?2@A:^~? AeA%"AAݙuNA"AZAbAjArAzAAAf;6@A!&sAFb@AFKS<A~2A?A?Av?AN;*Ak9?2A0 ׽:A BAk9?JA0 ׽RA YS?G?y2p~S<ٓH@? S`}?Y?@?8i??)S? I٘i)I9Fb@Y Jn7J(JJJE&Kx> Ys^~?y3OFA?E77Ռ9B) BE[[Tc?[k^~?[W[[[[BZYY iE=i=) 7IH?i ?))??o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037354.303165 s, next control iter: 1743037354.663180 s, wait time: 0.360015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10853., header.stamp.nsec: 0.0 temperature: 13.568526.* salinity: 33.375519., density: 1025.000000.* values[0]: 0.570495.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037354.683165 s.l:J~,c(AA(\2@Au2@A!^~? AA}%"AANuNA"AZAbAjArAzAAAp$y+6@A{{sA?bb@A;<AZA?AL?A ?A;*A9?2AB׽:AsBA9?JAB׽RAs٘i)I9bb@Y G Jz;JJJJ"E&K Yʁ^~?yG&GAEj7j7s׌9) B[[Pi?[r^~?[P[[[[BZYY ii=) 'IH?i^"꽻 ?))?? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037354.683165 s, next control iter: 1743037355.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743037355.103165 s.":J~,ݚ(AJ"J*J2J:JBJnJvJAQ2@A4F2@A_~? A{A%"AAuNA"AZAbAjArAzAAA'pz7@A{sAb@Az;A8zA@?A b?A`?AoV5<*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J' <JJJJ$E&K Y^~?y?bGAE77>ٌ9)B[[o?[ ^~?[I[[[[BZYY i) 3IH?iSV˻ w?))w?w?Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037355.143165 s, next control iter: 1743037355.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037355.523165 s.:J~,|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037355.523285F (some fields omitted in printout)AHz2@A 2@A_~? AtAD{%"AAJuNA"AZAbAjArAzAAAbA7@A! msAb@A»AxAƍ?A?A3N?AL n<*A9?2Abֽ:Au BA9?JAbֽRAu ٘i)I9b@Y G JP<JJJJ'E&K Y^~?yI8GAEŧ7ŧ7 ی9B)BE[[u?[4^~?[$B[[[[BZYY i) _IH?i]' :ֻ b?))b?b?yd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037355.563165 s, next control iter: 1743037355.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10854, header.stamp.nsec: 00 temperature: 13.568388* salinity: 33.375538, density: 1025.000000* values[0]: 0.570746F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037355.943165 s.Yd:J~,F](AJ"J*J2J:JBJnJvJAq= #3@Ao3@AK&_~? A8nA%"AAuNA"AZAbAjArAzAAAn7@A輐sAac@A0OAǑAQ?A?A?A,<*A9?2Ab:ֽ:A9BA9?JAb:ֽRA9٘i)I9ac@Yc G J?<JJJJ*E&K Y9^~?y0GAE777܌9)B[[{?[^~?[:[[[[BZYY i) WIH?i-޻ R?))R?R?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037355.983165 s, next control iter: 1743037356.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037356.363165 s.:J~,}>(AAY3@ATގL3@A{4_~? AqgA,%"AA vNA"AZAbAjArAzAAAL M7@AmsAc@A0RAΗA?A..?A`?A록<*A9?2AXֽ:AFBA9?JAXֽRAFYKm? ?y˗ RٓH#$?-E??D?@=㯿@? E ?)Km? I٘i)I9c@Y G J<JbJJJ-E&Kw> Yʷ^~?y(@HA ?Eŧ7b7ތ9B)BE[[/ɀ?[^~?[2[[[[BZYY i) ʻIH?i;n 4?))4?4?g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037356.403165 s, next control iter: 1743037356.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10855&, header.stamp.nsec: 0&0 temperature: 13.568108&* salinity: 33.375530&, density: 1025.000000&* values[0]: 0.571303&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037356.783165 s.V:J~,2(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037356.783279F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\3@AO3@A8B_~? A`AF%"AA"vNA"AZAbAjArAzAAAL*7@AX4]=sA`hd@AͻAԙAʘ?A\?Ay?Az<*A9?2Aֽ:ABA9?JAֽRA٘i)I9hd@Y G J<JJJJ/E&K Y[^~?y HAEb77i9)B[[/Ń?[I^~?[+[[[[BZYY i) aIH?iCFu b?))b?b?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037356.803165 s, next control iter: 1743037357.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037357.203165 s.:J~,M(AAQ3@A3@AO_~? AYA%"AA^7vNA"AZAbAjArAzAAA7@AE;OsAcd@ABKh;AAM?A?AT?As<*A9?2Au׽:A'QBA9?JAu׽RA'Q٘i)I9d@YY G J<JJJJ2E&K Y^~?y IAE{7j739)B[[ņ?[B _~?[#[[[[BZYY i) LI˞H?izO \ ?))\ ?\ ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037357.223165 s, next control iter: 1743037357.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037357.623165 s.Z:J~,ig(AJ"J*J2J:Jl?BJl?nJ5vJAG3@A3@AQ\_~? ARA%"AA,KvNA"AZAbAjArAzAAA8@A0sAe@A0<<AAt?A?A?AC<*A9?2AJ׽:A BA9?JAJ׽RA ٘i)I9e@Y G J$<JJJJ5E&K Y|^~?yrIAE779B)BE[[]ɉ?[_~?[[[[[BZYY i) a`IAH?iVe 2?))2?2?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037357.643165 s, next control iter: 1743037358.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10856 , header.stamp.nsec: 0 0 temperature: 13.567786 * salinity: 33.375538 , density: 1025.000000 * values[0]: 0.571974 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037358.043165 s.ը:J~,"Ă(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037358.043325F (some fields omitted in printout)A= ף04@AP,#4@Ah_~? A{KA%"AAE^vNA"AZAbAjArAzAAAM[O78@A(Ƅ\sAhf@A5[<A݈A?A?A@?A}<*AQ9?2AiA׽:A%BAQ9?JAiA׽RA%٘i)I9f@Y G JK<JJJJ7E&K Y ^~?y~IA DE779B)BE[[ό?[&_~?[[[[[BZYY i) G#InH?i[; 8?))8?8?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037358.063165 s, next control iter: 1743037358.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037358.463165 s.U:J~J,㤝(A"J*J2J:J?BJ?nJ5vJAfffff4@AZY4@At_~? AJDAB*%"AApvNA"AZAbAjArAzAAA PR[8@ABsA-f@A<AڦA+?A?A@?A ز<*A9?2Aֽ:A#BA9?JAֽRA#Y ??yz6z<ٓH@?Ba iH?K? Z@?c?v?) ? I٘i)I9f@Ye G J<J޻JJJ:E&Kpx> Y^~?y#AJA?E79)ܯB[[я?[3_~?[l [[[[BZYY i) l2ϺIzH?igQ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037358.483165 s, next control iter: 1743037358.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10857, header.stamp.nsec: 00 temperature: 13.567449* salinity: 33.375530, density: 1025.000000* values[0]: 0.572736F (some fields omitted in printout)F^~?)F# rAdjusting time to match Gazebo time: 1743037358.883165 s.y:J~,<(AA(4@AP4@A_~? A=AT%"AAVvNA"AZAbAjArAzAAAs@}8@AFJƉsAEg@AI띺AAG?A#?A8?A<*A|9?2Afֽ:Ae>BA|9?JAfֽRAe>٘i)I9Eg@Y G Jt<JJJJ=E&K Y^~?yJAE777^9B)֯BE[[ؒ?[R@_~?[[[[[BZYY i) ϻ.ImH?iq[ l?))l?l?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037358.903165 s, next control iter: 1743037359.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037359.303165 s.J "J *J 2J :J ?BJ ?a:J~nJ5,g(AvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037359.303296F (some fields omitted in printout)A4@Ab4@A_~? A5AE%"AANvNA"AZAbAjArAzAAAܹ8@AisAfg@A#A.A,5?ACH?A@k?AJ<*A9?2Alֽ:AMBA9?JAlֽRAM٘i)I9g@Y G J<JJJJ?E&K Y_~?ynKAEj7j7)9B)ϯBE[[1?[VL_~?[e[[[[BZYY i) ́9I`H?ityi .?)).?.?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037359.323165 s, next control iter: 1743037359.703182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10858., header.stamp.nsec: 0.0 temperature: 13.567101.* salinity: 33.375553., density: 1025.000000.* values[0]: 0.573485.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037359.723165 s.:J~,H(AAz5@Aaۢ4@AX_~? AJ.A%"AAvNA"AZAbAjArAzAAA8@A 7AsAxh@Ad]AJ薽Aȧ?Ai?A`?A<*A9?2A'lֽ:A,BA9?JA'lֽRA,٘i)I9xh@Y| G J<JJJJBE&K Y _~?yKAEb779)ʯB[[?[W_~?[[[[[BZYY i) N:IRH?iCM^# ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037359.743165 s, next control iter: 1743037360.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037360.143165 s.W/;J~, * (AJ"J*J2J:J?BJ?nJ 5vJA ףp=5@A#d05@AQ_~? A&Af%"AAvNA"AZAbAjArAzAAAh=8@Ai)`sAi@A"AғAm?A?A?AѮ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@Y G J<JJJJEE&K Yw_~?yީKAE79 B)įBE[[T?[b_~?[[[[[BZYY i) ;IDH?i% =?))=?=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037360.163165 s, next control iter: 1743037360.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037360.563165 s.;J~,[ $(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066203< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037360.563295F (some fields omitted in printout)A3333s5@A+f5@A˨_~? ALA%"AAvNA"AZAbAjArAzAAA78@AFHdsAi@AA ϐA?A?A1?AwA<*A9?2Anֽ:ABA9?JAnֽRAY?!?yϐ]YٓHd?=`@)?@{?@W?/ Q?)? I٘i)I9i@Y/G J&<B=Jmt<JJJGE&KFx> Y_~?y֩JLA!?E779)B[[# ?[l_~?[ ߩ[[[[BZYY i) _E;Io6H?iu, @))@@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037360.583165 s, next control iter: 1743037360.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10859, header.stamp.nsec: 00 temperature: 13.566772* salinity: 33.375568, density: 1025.000000* values[0]: 0.574244F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037360.983165 s.;J~,>(AJ"J*J2J:J?BJ?nJ%5vJA\5@AӽN5@Aű_~? AA%"AAvNA"AZAbAjArAzAAA)c9@A¨sA'j@A7 <A'Aϯ?A(q?A$?A<*AV9?2AB׽:AOBAV9?JAB׽RAO٘i)I9'j@YG J|<C=JJJJJE&K Y_~?yͩLAEb77S9 B)BE[[n?[u_~?[֩[[[[BZYY i) R;I'H?i튿[1 f@))f@f@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037361.003165 s, next control iter: 1743037361.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037361.403165 s.&;J~,Y(AAQ5@Aa5@A>_~? AAI!%"AAvNA"AZAbAjArAzAAA>.9@AJsAj@A}[<AA|v?A?AaL?A2<*Ar9?2AS׽:ABAr9?JAS׽RA󼙘٘i)I9j@YG J<JJJJME&K Y$_~?yĩ MAE7779)B[[?1?[~_~?[̩[[[[BZYY i) 2;I9H?i&5 @))@@Ǿ*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037361.423165 s, next control iter: 1743037361.803180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10860", header.stamp.nsec: 0"0 temperature: 13.566442"* salinity: 33.375561", density: 1025.000000"* values[0]: 0.574934"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037361.823165 s.;J~,`t(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812J< rudderAngleAction: -0.261799"J> elevatorAngleAction: 0.066203*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500 dt: 0.420024:JBJnJ2 time: 1743037361.823340vJF (some fields omitted in printout)AGz6@Ah>n6@A5_~? A_A%"AAvNA"AZAbAjArAzAAA; F9@AesA'k@A:<ADA ?A?Aq?A”<*A=9?2A+׽:A \BA=9?JA+׽RA \󼙘٘i)I9'k@YG J<JJJJPE&K Y*_~?yUnMAE7)79)B[[}G?[ʆ_~?[é[[[[BZYY in=) r;IH?i> 8 Jm@))Jm@Jm@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037361.843165 s, next control iter: 1743037362.223189 s, wait time: 0.380024 s rAdjusting time to match Gazebo time: 1743037362.243165 s.#;J~,q(AAףp=J6@Aq5=6@A_~? AAM%"AAMvNA"AZAbAjArAzAAAU`]9@AlsAk@A `;A=ՈAO?A?A ?A6Ŕ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9k@YjG Jn<B=JJJJRE&K Y 1_~?yMAE779B)BE[[X_?[+_~?[[[[[BZYY i) F;IG?iZ : @))@@n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037362.263165 s, next control iter: 1743037362.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037362.663165 s.*;J~,q(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10861, header.stamp.nsec: 00 temperature: 13.566163* salinity: 33.375572, density: 1025.000000* values[0]: 0.575550F (some fields omitted in printout)A6@Ar6@A_~? AA]%"AACwNA"AZAbAjArAzAAAvr9@A]sAl@AdϻAAB?A`%?A?Am<*A'9?2Aֽ:AsIBA'9?JAֽRAsIY?*?yrлٓH?@@?ս?孰? y?)? I٘i)I9l@YG Jϓ<C=J`(<JJJUE&KHx> YR4_~?y*NA*?E~9B)BE[[t?[ϔ_~?[T[[[[BZYY i) g;IG?iɕA? t@))t@t@8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037362.683165 s, next control iter: 1743037363.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037363.083165 s.D1;J~, S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037363.083296F (some fields omitted in printout)A)\µ6@AQ,6@A_~? AA}%"AAu wNA"AZAbAjArAzAAAf9@AK"sAkl@AQQAA?A@N?Az?A <*A9?2Auֽ:ABA9?JAuֽRA٘i)I9l@YG J<JJJJXE&K Y7_~?y=NAEb77I9)B[[錱?[_~?[[[[[BZYY i)  ;J~,(AA{G!7@Ad:7@Am_~? A;A%"AAwNA"AZAbAjArAzAAAՌn9@AFsAm@AʸAA?A?A`q?AA<*A]9?2A&ֽ:A-*BA]9?JA&ֽRA-*٘i)I9m@YG J<JJJJ]E&K Y)>_~?y elevatorAngleAction: 0.075407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037364.343278F (some fields omitted in printout)Ap= W7@AuI7@AR_~? AK٪AK%"AA]$wNA"AZAbAjArAzAAAyW҈D9@ALsAfn@Aj-;AAG?A ?A@l?Aj<*A9?2Al+׽:ABA9?JAl+׽RA٘i)I9n@YG J،<JJJJ`E&K  9YqA_~? 9yOAE79B)BE[[?[F_~?[[[[[BZYY i) kp< YA_~?y/OA5?E7t9)B[[?[L_~?[[[[[BZYY i) qK9)B[[k?[_~?[vx[[[[BZYY i) G[ elevatorAngleAction: 0.075407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037365.603285F (some fields omitted in printout)AQ7@A+MF7@A_~? ARA&"AA7wNA"AZAbAjArAzAAAhQg,9@AGtsAXho@A;AfA|?A J?AS?AyǓ<*A9?2Azֽ:ATBA9?JAzֽRAT٘i)I9ho@YG J<JJJJhE&K YB_~?ymPAE{7j7 9B)BE[[(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: 0.084358< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037366.863292F (some fields omitted in printout)A8@Ad8@A_~? A-A &"AABwNA"AZAbAjArAzAAA2D9@AirJesAp@A]AM}A?A 6?ALq?AT<*A9?2A3Xֽ:ASdBA9?JA3XֽRASdY/? YA_~?y1SQA_~?ylJ?RAE74 9B)tBE[[7?[_~?[WH[[[[BZYY i) ^ݓ[[[[BZYY i) k elevatorAngleAction: 0.084358< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037368.123294F (some fields omitted in printout)AG:9@A-9@A_~? AA&"AA$GwNA"AZAbAjArAzAAAP}|9@AHVsAwr@A(<AeAy&?A@nA%y?A }<*Aܲ9?2A8׽:AhOBAܲ9?JA8׽RAhOI٘i)I9r@YG J<C=JJJJxE&K Y9_~?y8 SAE7{79)kB[[?[_~?[5[[[[BZYY i)  Y1_~?yy'SAD?Eb77^9B)`BE[[AI?[F_~?[![[[[BZYY i) ױ elevatorAngleAction: 0.084358< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743037369.383263F (some fields omitted in printout)J"J*J2J:JBJnJvJA(9@AS9@A_~? AxA&"AAGDwNA"AZAbAjArAzAAAi9@AlֿۻGsAXt@A0;A A?A`ѨAj?A<*A9?2Aֽ:A/BA9?JAֽRA/٘i)I9Xt@YG Jȸ<JJJJE&K Y,_~?yWTAE{7{7)9B)]BE[[k?[_~?[{[[[[BZYY i) -&Ae?A4*A-`?A1<*A89?2AFֽ:A0BA89?JAFֽRA0٘i)I9t@YG J(<JJJJE&K YE'_~?y1TAE779)XB[[|?[ _~?[[[[[BZYY i) }"@))>"@>"@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037369.823165 s, next control iter: 1743037370.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037370.223165 s.g;J~,H(AJ"J*J2J:JBJnJvJAzG:@A ::@A~_~? AhA&"AAf>wNA"AZAbAjArAzAAA+(9@A:u =sAu@ARTAA?A쳿A T?A<*A9?2Ayֽ:ABA9?JAyֽRA٘i)I9u@YG J<JJJJE&K Y!_~?y :UAEŧ7ŧ79B)RBE[[?[O_~?[[[[[BZYY i) # elevatorAngleAction: 0.084358< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037370.643312F (some fields omitted in printout)A ףp}:@AjN^dp:@A|_~? A`A~&"AAF:wNA"AZAbAjArAzAAAU`9@A g9sATv@AXGA7At?AѵAnE?AY<*A#9?2ACֽ:ABA#9?JACֽRA٘i)I9Tv@YG J<JJJJE&K Y_~?yUAE779)LB[[?[܆_~?[?[[[[BZYY i) 1 Y_~?y|#VAK?E{7j7T9)GB[[?[~_~?[[[[[BZYY i) h elevatorAngleAction: 0.084358< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037371.903310F (some fields omitted in printout)AQ;@A^G;@AK_~? AHAVR &"AA)wNA"AZAbAjArAzAAAy9@Al@m*sAbx@AD<A0AƤ?AAY ?Aڤ<*A9?2A(׽:ABA9?JA(׽RA٘i)I9bx@Y-G J<JJJJE&K Yc_~?yWAEŧ77 9B)=BE[[4?[!l_~?[[[[[ZZZZ¸>BZYY i¸>ت)  Yg^~?yҨfXAS?E77j7I&9B),B E[[Ύ?[K_~?[Ũ[[[[ZZZZBZYY i) _~?[漨[[[[ZZZZBZYY i) Y5vJA<@A!#¿<@A_~? A Ab&"AAvNA"AZAbAjArAzAAA 9@AsA}@AI%<A<A!@AпA?A <*A9?2A5ֽ:A<BA9?JA5ֽRAJJJE&Kv> Y°^~?yXYA"@E?/9B)BE[[S @[_~?[䚨[[[[ZZZZBZYY iqnz) lrAy}@A[c<A[<Ak@AпA#?Af;*A 9?2AV!ֽ:A0׷<BA 9?JAV!ֽRA0׷<٘i)I9}@YG J;B=JJJJE&K YV^~?yYAEj7 19B)E[[@[^~?[[[[[ZZZZBZYY iQy) RY _O8@))_O8@_O8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037375.683165 s, next control iter: 1743037376.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037376.103165 s.5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072009< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200642 time: 1743037376.943350F (some fields omitted in printout)Aq= ף=@ALʖ=@A_~? AA\&"AAvvNA"AZAbAjArAzAAAHz8@A3rHrA@}@AѻA[=A` @AӿAM?Asc*AB9?2ATֽ:A<BAB9?JATֽRA<٘i)I9}@Y}G JJJJJE&K Y{^~?yAYAE777i69B)BE[[; @[^~?[z[[[[BZYY i)  W(AA=@AHo=@Ak{_~? AwA&"AAvNA"AZAbAjArAzAAAع p8@AɯZrA'}@ARAAz=A @AۄԿA7?Af+*A9?2AFֽ:A1.=BA9?JAFֽRA1.=YTA?Ϧ @y@JJJE&K"x> Y8k^~?yqYA @E{7{7489 B)BE[[ @[^~?[As[[[[BZYY ih) *$E?izi- |>@))|>@|>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037377.383165 s, next control iter: 1743037377.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10876&, header.stamp.nsec: 0&0 temperature: 13.383533&* salinity: 33.391647&, density: 1025.000000&* values[0]: 0.710359&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037377.783165 s.V5vJA(\>@AkzP>@Ao_~? A>ީAy&"AA|vNA"AZAbAjArAzAAAL8@AkrAwF}@AI8Alj=Ay @A_տA?A;^*A9?2Aֽ:AB =BA9?JAֽRAB =٘i)I9F}@Y'G JBJJJJE&K Y^[^~?y|YA"E7)799)B[[O@[^~?[k[[[[BZYY i) J@A}8>@Ac_~? AשA2&"AAjvNA"AZAbAjArAzAAAI3N(8@AXrA|@ApA(=AC @AP5ֿA^?A*A9?2A tֽ:A{=BA9?JA tֽRA{=٘i)I9|@YG JwxB=JJJJE&K YK^~?y^uXA%Eb77;9 B)$BE[[@[^~?[od[[[[BZYY i) n;IrE?i<l% A@))A@A@@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037378.223165 s, next control iter: 1743037378.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037378.623165 s.T)5vJAGz>@Aym>@A) ,;IdE?i,yx `C@))`C@`C@yiҪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037378.643165 s, next control iter: 1743037379.023177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10877, header.stamp.nsec: 00 temperature: 13.383721* salinity: 33.391644, density: 1025.000000* values[0]: 0.709616F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037379.043165 s.0@A]ؚ>@AAJ_~? AɩA&"AA EvNA"AZAbAjArAzAAAʷĸ7@A${BxrA{@AL<AF=A@A ׿Aq4?A?*Ax9?2Aֽ:A=BAx9?JAֽRA=٘i)I9{@YEG JB=JJJJE&K Y+^~?yf!XA*E)7ŧ7_?9B)/BE[[@[e^~?[SV[[[[BZYY i) Ds;IWE?ima8 @D@))@D@@D@yiժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037379.083165 s, next control iter: 1743037379.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037379.463165 s.W7@AZ>@A<_~? A©Ao&"AA1vNA"AZAbAjArAzAAA@,>7@AC@rA)?{@AڸK<AԲ=A@A ؿA@?A4*AS9?2A%ֽ:Ah@=BAS9?JA%ֽRAh@=Y{!@'@y=OL<ٓH|J@u?΅?+q`v??){!@ I٘i)I9?{@YG JC=J=JJJE&Kw> Y^~?y `WA'@-E7777*A9)4B[[e@[Q^~?[}O[[[[BZYY i) +f;IXKE?i.iF< H#F@))H#F@H#F@yDN֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037379.483165 s, next control iter: 1743037379.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10878, header.stamp.nsec: 00 temperature: 13.383971* salinity: 33.391674, density: 1025.000000* values[0]: 0.708498F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037379.883165 s.y=9?2A,׽:A=BA>9?JA,׽RA=٘i)I9x@YG JyJJJJE&K Y(]~?y EVA7Eb77TH9)MB[[fj@[]~?[5[[[[BZYY i)  9IE?iXB 9E))9E|5L@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037381.183165 s, next control iter: 1743037381.543179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037381.563165 s.X Y]~?y>UA@:E7J9B)SBE[[@[]]~?[/[[[[BZYY i)  IE?iR<o hD))hD*M@D̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037381.583165 s, next control iter: 1743037381.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10880, header.stamp.nsec: 00 temperature: 13.384540* salinity: 33.391663, density: 1025.000000* values[0]: 0.706093F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037381.983165 s._(A:Jx4?BJx4?nJ==5vJAGz@@AGp@@A^~? A(A&&"AAyuNA"AZAbAjArAzAAAH<6@AtrAhv@AY<AUk=A@A@޿A0?A*A9?2AtFֽ:A~ =BA9?JAtFֽRA~ =٘i)I9v@Y1G JC=JJJJE&K Y3]~?y{,TABE)7b7O9B)dBE[[a!@[{]~?[B[[[[BZYY i) fYIfD?iLʻ ?))?9R@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037382.843165 s, next control iter: 1743037383.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037383.243165 s.sv@Ag<A=A@A@߿A c?A*A39?2Aֽ:A<BA39?JAֽRA<٘i)I9>v@YG JJJJJE&K Yk]~?yW&$TAEE77JQ9B)jBE[[%"@[]~?[[[[[BZYY i) *ID?i[Ǹ f>))f>S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037383.263165 s, next control iter: 1743037383.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037383.663165 s.z YU]~?y SA/@GE77j7S9)nB[[S$@[Sn]~?[[[[[BZYY ia) >IDD?i  7<))7<~6U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037383.683165 s, next control iter: 1743037384.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037384.083165 s.D\~?y YRARE?Z9"B)B׹E[[U**@[ ]~?[[[[[BZYY i) 2FID?i>2b 6))6&[@YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037385.363165 s, next control iter: 1743037385.743175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10884&, header.stamp.nsec: 0&0 temperature: 13.385523&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.701861&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037385.763165 s.7 Yn\~?yAQA$@UE77 \9$B)BԹE[[+@[+\~?[[[[[BZYY i) "IvD?iM 5))5\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037385.803165 s, next control iter: 1743037386.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037386.183165 s.ˢ(AJ"J*J2J:J-3?BJ-3?nJ;5vJAC@A#. C@A]~? AMA&"AAtNA"AZAbAjArAzAAAEu|~3@AerAq@A??A'=AJD+@A`>A{?A<֕*A9?2A,׽:A=BA9?JA,׽RA=Y(0@K6+@y$=[@ٓHࠁܿ? @mÖ?@f`?)(0@ I٘i)I9q@YG J:C=J1K<JJJE&Kix> Yl\~?yV$PA6+@bEj7d9,B)BǹE[[2@[o\~?[[[[[BZYY i) moID?i? g1.))g1.Nc@+ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037387.883165 s, next control iter: 1743037388.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037388.283165 s.:RUZ: !k())!k(i@vتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037389.563165 s, next control iter: 1743037389.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10888, header.stamp.nsec: 00 temperature: 13.386497* salinity: 33.391739, density: 1025.000000* values[0]: 0.697849F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037389.963165 s.}9?2A1ֽ:Aj=BA>9?JA1ֽRAj=Y#@˸1@y= [<ٓH ֿd`? :? 쳿K?@k?)#@ I٘i)I9[n@YG JحB=JgF<JJJE&Kw> Y[~?y[ܧ(NA1@pE{7{7m91B)BE[[9@[[~?[[[[[BZYY i) ܝI'D?i:>/ : |&))|&9#k@y!d۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037390.003165 s, next control iter: 1743037390.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037390.383165 s. ; ׎%))׎%ސl@~ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037390.403165 s, next control iter: 1743037390.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10889", header.stamp.nsec: 0"0 temperature: 13.386789"* salinity: 33.391739", density: 1025.000000"* values[0]: 0.696714"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037390.803165 s.yAm8; !$))!$m@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037390.823165 s, next control iter: 1743037391.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037391.223165 s.g_; C"))C"rio@qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037391.243165 s, next control iter: 1743037391.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037391.643165 s.; !L!))!L!p@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037391.663165 s, next control iter: 1743037392.043187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10890, header.stamp.nsec: 00 temperature: 13.387057* salinity: 33.391727, density: 1025.000000* values[0]: 0.695537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037392.063165 s.=J~,[ (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037392.063294F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333E@A- (&E@AG\~? AC&A &"AA5rNA"AZAbAjArAzAAA 0@AUyrA1jk@An-A=AJ8@A&A?Ah*A΍9?2Aֽ:Aڛ=BA΍9?JAֽRAڛ=Y5*@!<8@yv=J.ٓH hܓпy'?Ç?& sw?)5*@ I٘i)I9jk@YGG JJw<JJJE&Kx> Yh[~?yͧLA<8@}E777v98B)ܯBE[[W@@[d[~?[<٧[[[[BZYY i) 5¼ID?iF>;`; ))%; z))zs@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037392.503165 s, next control iter: 1743037392.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10891, header.stamp.nsec: 00 temperature: 13.387363* salinity: 33.391766, density: 1025.000000* values[0]: 0.694341F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037392.903165 s. =J~,9(AJ"J*J2J:JBJnJvJAQE@AQdE@A"\~? A. A{&!&"AArNA"AZAbAjArAzAAAqR=0@ALiurAj@Aw;AT=A3:@A@A?ACͼ*A9?2A%ֽ:Af=BA9?JA%ֽRAf=٘i)I9j@Y~G J!ɼJJJJE&K Y|2[~?yȧ KAE77{7z9)B[[vC@[k.[~?[hק[[[[BZYY i) DѼI#D?it ?; !))! u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037392.943165 s, next control iter: 1743037393.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037393.323165 s.r=J~,T(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085563< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743037393.323254F (some fields omitted in printout)AGzE@A-\oE@AǮ\~? A^A_!&"AAZrNA"AZAbAjArAzAAAUy/@AV^srA/pi@A}BR<A:=AM<@AA?AF3Լ*Ah9?2Aֽ:A=BAh9?JAֽRA=٘i)I9pi@YG JмJJJJE&K Y?[~?yƧJAES7S7J|9:B)BE[[D@[[~?[֧[[[[BZYY i) %ؼID?iN?Z; ))rv@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037393.343165 s, next control iter: 1743037393.723176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 108922, header.stamp.nsec: 020 temperature: 13.3876842* salinity: 33.3917692, density: 1025.0000002* values[0]: 0.6930562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037393.743165 s.W=J~,qo(AJ"J*J2J:JBJnJvJAףp= F@A2E@A?\~? AA!&"AA5rNA"AZAbAjArAzAAAeuQ/@AyrrAh@AFB<AM=AB`=@AZ7A?A׼*A 9?2A&(ֽ:A=BA 9?JA&(ֽRA=٘i)I9h@Y G JռJJJJE&K YZ~?y_ħ9JAE)7b7~9;B)BE[['F@[cZ~?[N֧[[[[BZYY i) &ID?i.?; AH))AHtw@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037393.763165 s, next control iter: 1743037394.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037394.163165 s.u}"=J~,q(AA@F@AI2F@A}\~? A4A1!&"AArNA"AZAbAjArAzAAA.5d.@A!4prAh@A;A=AT>@AD]A&?Aּ*A9?2Aֽ:AA=BA9?JAֽRAA=Y 0@,>@y=;ٓHNv`Ŀ6v? 0G? Ps??) 0@ I٘i)I9h@Y7 G J[׼J<<JJJE&Kx> Y*Z~?y§IA>@EZ7Z79)BE[[ G@[Z~?[֧[[[[ZZ¸BZYY i¸=) LԼIE?i9?@; y))y<;y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037394.183165 s, next control iter: 1743037394.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037394.583165 s.(=J~,R(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: 0.083938< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037394.583306F (some fields omitted in printout)A)\uF@Ap(|hF@Ad\~? AA!&"AAqNA"AZAbAjArAzAAAE7%.@A&orASg@AQAp=A@@A`AL?AXoռ*A}9?2Aֽ:A'=BA}9?JAֽRA'=٘i)I9Sg@Y G JnּJJJJ!E&K YSZ~?yFIAE77{79B)BE[[K@[Z~?[1֧[[[[ZZBZYY i) .I`+E?id?j< U))U`a}@y<=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037395.443165 s, next control iter: 1743037395.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10894, header.stamp.nsec: 00 temperature: 13.388385* salinity: 33.391750, density: 1025.000000* values[0]: 0.690199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037395.843165 s.<=J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083938< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037395.843281F (some fields omitted in printout)Ap= G@A%A G@AL\~? AAor"&"AAyqNA"AZAbAjArAzAAAVBS\,@AofkrAd@AҿAt=AC@A vAɻ?A`*A9?2Aӷֽ:A$_<BA9?JAӷֽRA$_<٘i)I9d@YN G JB=JJJJ)E&K YpZ~?yQGAE7 9)B[[L@[uZ~?[֧[[[[ZZBZYY i) FI8E?iv?< ^))^~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037395.863165 s, next control iter: 1743037396.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037396.263165 s.D=J~,(AJ"J*J2J:JBJnJvJALG@A[*?G@A[~? AAy"&"AARqNA"AZAbAjArAzAAAA-p,+@AL_\jrA$d@A!:AK1=AEE@AA N?AhѼ*Aĥ9?2Aֽ:A;BAĥ9?JAֽRA;Y@7@FE@y71=H\:ٓH _M;?@r? C 9^?@U?)@7@ I٘i)I9$d@Y G JC=J۽JJJ,E&Kx> YTZ~?y˼GAFE@Eb77Ո9?B)BE[[&*N@[S[Z~?['ק[[[[ZZBZYY ix=) (I|FE?iр?w$<  )) T@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037396.283165 s, next control iter: 1743037396.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 108952, header.stamp.nsec: 020 temperature: 13.3887392* salinity: 33.3917662, density: 1025.0000002* values[0]: 0.6886392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037396.683165 s.lJ=J~,^+(AA(\G@Au׃uG@An[~? A Ab"&"AA ,qNA"AZAbAjArAzAAA-T0'+@A UjirAc@A<A<AF@A A ?A߼*A39?2Aֽ:AXBA39?JAֽRAX٘i)I9c@Yu G JļJJJJ/E&K YV8Z~?yFcGAE7{79)#BE[[^}O@[CAZ~?[ק[[[[ZZBZYY i) [IUE?i4?-< ))ؿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037396.683165 s, next control iter: 1743037397.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037397.103165 s.Q=J~,F(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: 0.074008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037397.103299F (some fields omitted in printout)AQG@AnEG@A[~? A# A)"&"AAkqNA"AZAbAjArAzAAAGi q*@AԑhrAb@AE<A<A)G@A2#A@?A*A9?2Aɏֽ:A BA9?JAɏֽRA ٘i)I9b@Y% G JpJJJJ1E&K YZ~?y'GAE{7j9@B)(BE[[`P@[l'Z~?[ا[[[[ZZBZYY i) IVdE?ix?\6< A))An@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037397.123165 s, next control iter: 1743037397.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037397.523165 s.W=J~,{a(AAHzG@AغG@A([~? A A"&"AApNA"AZAbAjArAzAAA)e)@AɊgrAb@AM;A/ϻAqHA`6A@r?Am}0*A9?2A{ֽ:AnFnBA9?JA{ֽRAnFn٘i)I9b@Y G JcJJJJ4E&K YY~?y;FA DEb7759)+BE[[R@[ Z~?[٧[[[[ZZBZYY i=) qItE?i?D@<  )) n@yI=X(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037397.563165 s, next control iter: 1743037397.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10896, header.stamp.nsec: 00 temperature: 13.389028* salinity: 33.391735, density: 1025.000000* values[0]: 0.687509F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037397.943165 s.Xd^=J~,B]|(AJ"J*J2J:JBJnJvJAq= #H@A:H@Ad[~? AAF#&"AApNA"AZAbAjArAzAAA{T)@AI|u,grAab@A oAôAMGA@GAw?Af*A9?2A!Kֽ:A0.BA9?JA!KֽRA0.٘i)I9ab@Y G J JJJJ7E&K YY~?yFAE779AB).BE[[hS@[Y~?[ ۧ[[[[ZZBZYY i) [IE?i?EL< W ))W /˂@y,n=7)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037397.963165 s, next control iter: 1743037398.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037398.363165 s.e=J~,>(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083332< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037398.363280F (some fields omitted in printout)AYH@A?̔LH@A[~? AA#&"AA}pNA"AZAbAjArAzAAA' ۷(@AufrAOJb@AAA}dFA UA`?AE;*A9?2Aֽ:Az{ѼBA9?JAֽRAz{ѼY%=@n_FyٓH V`Y? ?~`^k٠?!53?)%=@ I٘i)I9Jb@Y G JQ^B=J9JJJ9E&Kv> YTY~?yFA_FEŧ77ˑ9)/BE[[6T@[Y~?[kܧ[[[[BZYY ik=) фJIuE?i(?5gS< ;. ));. x@y«=}3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037398.383165 s, next control iter: 1743037398.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10897&, header.stamp.nsec: 0&0 temperature: 13.389157&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.687001&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037398.783165 s.Xk=J~,(AJ"J*J2J:JBJnJvJA(\H@A*QH@Ae[~? A5A%#&"AANipNA"AZAbAjArAzAAAtAK(@A[+frARb@AS3WA4A9EA`Ap?A+n;*A9?2Aֽ:A|BA9?JAֽRA|󼙘٘i)I9Rb@Y G J:C=JJJJ9?2A)ֽ:A|BA>9?JA)ֽRA|٘i)I9zb@Y G J;JJJJ?E&K Y̎Y~?yһ8GAE77`9).BE[[PW@[ШY~?[ߧ[[[[BZYY i) 'I!E?i?d< ))Wʄ@yd=`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037399.223165 s, next control iter: 1743037399.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037399.623165 s.Zy=J~,i(AJ"J*J2J:J/?BJ/?nJp85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067739< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037399.623294F (some fields omitted in printout)AGH@ARHH@A1[~? A8A<#&"AApNA"AZAbAjArAzAAAvqI&@AerAb@A{A1fwAwBAoA??A5<*A?9?2A_zֽ:A BA?9?JA_zֽRA ٘i)I9b@Y G J&<B=JJJJAE&K YrY~?y1eGAEŧ7b7+9),B[[X@[Y~?[u[[[[BZYY i) OI?E?i ?io< B))Bn@y:=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037399.643165 s, next control iter: 1743037400.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10898 , header.stamp.nsec: 0 0 temperature: 13.389174 * salinity: 33.391743 , density: 1025.000000 * values[0]: 0.687084 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037400.043165 s.=J~,(ArY~?)1A= ף0I@A#I@A[~? AA%C#&"AA_oNA"AZAbAjArAzAAA[B&@A[g kerAc@A. ;ApA!AAsA 뤍?AA^<*Aߌ9?2Aֽ:A BAߌ9?JAֽRA ٘i)I9c@Y1 G JH<C=JJJJDE&K Y@VY~?yGAE7779CB)*B}E[[Y@[wY~?[k[[[[BZYY i) IQE?i? z<  )) @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037400.063165 s, next control iter: 1743037400.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037400.463165 s.S=J~,ۤ(AJ"J*J2J:JBJnJvJAfffffI@A1JZYI@AZ~? AAwF#&"AAoNA"AZAbAjArAzAAAv%@Av@u^erA}tc@AI<A`A?AtA.AA S<*A9?2A!ֽ:AK BA9?JA!ֽRAK Y=D@?yAJ<ٓH:s?@m?L¿Ω ޖ?`?7??)=D@ II٘i)I9tc@Yn G Jdo<JJJJGE&K)x> YM:Y~?yӽGA?E7779)'BzE[[([@[R_Y~?[[[[[BZYY ipOm=) ,IE?i?D< ))S@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037400.483165 s, next control iter: 1743037400.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10899, header.stamp.nsec: 00 temperature: 13.389079* salinity: 33.391754, density: 1025.000000* values[0]: 0.687648F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037400.883165 s.y=J~,@8(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037400.883302F (some fields omitted in printout)A(I@AK" I@AZ~? AAF#&"AAoNA"AZAbAjArAzAAAS.%@AGzIkerAc@A4<A(Aʁ>AgsA`AX<*A؏9?2A"ֽ:ABA؏9?JA"ֽRA٘i)I9c@Y G J`<B=JJJJIE&K YVY~?yUHAE779)$BwE[[o\@[&GY~?[[[[[BZYY i) ̻IYF?i?< k))kY@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037400.903165 s, next control iter: 1743037401.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037401.303165 s.Z=J~,gS(AJ"J*J2J:JBJnJvJAI@AI@AZ~? A9AyC#&"AA4}oNA"AZAbAjArAzAAA>|wfi$@A_:WZerAjd@Ap~;A4A{==AoAA <*Az9?2Axֽ:AjBAz9?JAxֽRAj٘i)I9jd@Y G J<C=JJJJLE&K YdY~?yYHAE777U9DB) BtE[[]@[J/Y~?[:[[[[BZYY i) uܭIy)F?i?୉< &))&u@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037401.323165 s, next control iter: 1743037401.703181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10900., header.stamp.nsec: 0.0 temperature: 13.388912.* salinity: 33.391743., density: 1025.000000.* values[0]: 0.688506.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037401.723165 s.=J~,Hn(AAzJ@Ab֋I@AZ~? AA6=#&"AAUoNA"AZAbAjArAzAAAi\#@AqerAd@A^xAA;A -jA`TA'<*AK9?2A+ֽ:AxXBAK9?JA+ֽRAxX٘i)I9d@Y\ G J<JJJJOE&K YrX~?yIAE77 9)BqE[[^@[Y~?[[[[[BZYY i) |5IwAF?i*?ӎ< ))Ν@ym=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037401.743165 s, next control iter: 1743037402.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037402.143165 s.\/=J~, *(AJ"J*J2J:Jd0?BJd0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037402.143295F (some fields omitted in printout)A ףp=J@A0e0J@AZ~? A4A3#&"AA.oNA"AZAbAjArAzAAAbF/#@Ak+frAe@AF@A?A:A bA@LA9j<*A9?2A ֽ:A BA9?JA ֽRA ٘i)I9e@Y G JR<JJJJRE&K Y~X~?y§xIAE777롍9)BnE[[7`@[Y~?[j[[[[BZYY i) aIiZF?i ?< G))G=@D*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037402.163165 s, next control iter: 1743037402.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037402.563165 s.=J~,[ (AA3333sJ@AF(fJ@A |Z~? AA-'#&"AA:oNA"AZAbAjArAzAAAYPC"@AfrA0f@A_DAm˚A-i9AWApA<*Aد9?2A-ֽ:AjBAد9?JA-ֽRAjY?J@UZ9yȚDٓH (?~?`Ͽ@ 6z{?\T?E?)?J@ I٘i)I90f@Y G J<Jt@JJJTE&Kw> YX~?yŧIAZ9EZ7Z79)BkE[[o{a@[OX~?[>[[[[BZYY i) $IsF?ip?< ))߉@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037402.583165 s, next control iter: 1743037402.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10901, header.stamp.nsec: 00 temperature: 13.388719* salinity: 33.391727, density: 1025.000000* values[0]: 0.689603F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037402.983165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ =J~,(AA\J@AӽNJ@A5bZ~? AA_#&"AAnNA"AZAbAjArAzAAAZi!@A +grAf@Au{AA8A@JA䶿Aش<*Aҷ9?2A}ֽ:ABAҷ9?JA}ֽRA٘i)I9f@Yw G Jw<JJJJWE&K YX~?y&ǧHJAEb7b79)B[[+b@[^X~?[2[[[[BZYY ij=) }LѺI&F?i?< '=))'=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037403.023165 s, next control iter: 1743037403.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037403.403165 s.&=J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199312 time: 1743037403.403276F (some fields omitted in printout)AQJ@A$yJ@AmHZ~? A AZ#&"AAnNA"AZAbAjArAzAAAb8Y!@A{"grA`g@AZ;AɒAd6A@Q;A`ָAuW<*AF9?2Aֽ:APBAF9?JAֽRAP٘i)I9`g@Y G J<JJJJZE&K YTxX~?yJɧJAE778K9) BhE[[c@[X~?[E[[[[BZYY i) 1IF?i?Vy< ))y @6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037403.423165 s, next control iter: 1743037403.803180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10902&, header.stamp.nsec: 0&0 temperature: 13.388483&* salinity: 33.391705&, density: 1025.000000&* values[0]: 0.690745&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037403.823165 s.J "J *J 2J :J 0?BJ 0?=J~nJk95vJ,6(AAGzK@AnK@A.Z~? A A"&"AAܑnNA"AZAbAjArAzAAAIabS @AN0hrAKg@A1<A A]e5A(AىAD<*Ao9?2A׽:ABAo9?JA׽RA󼙘٘i)I9g@Y' G J^<JJJJ\E&K Y\X~?yn˧KAEb7b79)BeE[[:e@[|X~?[t[[[[BZYY i) ,|9IF?iP@W< {B)){B<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037403.843165 s, next control iter: 1743037404.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037404.243165 s.h=J~,K(AAףp=JK@A2=K@AZ~? A A"&"AAjnNA"AZAbAjArAzAAA,! @A GjirAqh@A~O<AA4A %AI)A<*A,9?2Aֽ:AvBA,9?JAֽRAv𼙘٘i)I9qh@Yx G J<JJJJ_E&K YAX~?yͧKAE7ઍ9)BbE[[uf@[X~?[[[[[BZYY i) :IF?i@<  )) \@y=N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037404.263165 s, next control iter: 1743037404.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037404.663165 s.=J~,q*(AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198542 time: 1743037404.663286F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10903, header.stamp.nsec: 00 temperature: 13.388271* salinity: 33.391712, density: 1025.000000* values[0]: 0.691793F (some fields omitted in printout)AK@ATVrK@AY~? AA"&"AA/DnNA"AZAbAjArAzAAApH@A\jrAh@A<A!A:2AA@ ÿABv<*A>9?2A(ֽ:ABA>9?JA(ֽRAYBQ@2yj <ٓH@N?֮?޺տc@2? ?&?c?)BQ@ I٘i)I9h@Y G J <J$<JJ#FJbE&Kx> Y&X~?yЧKA2Ej7j79)B`E[[sg@[yX~?[7[[[[BZYY i) '$ ;IF?iE@m< N))N5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037404.683165 s, next control iter: 1743037405.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037405.083165 s.D=J~,RE(AA)\µK@AeK@A#Y~? AAV"&"AAnNA"AZAbAjArAzAAA^{@A9hkrA-oi@Au_A3#A1AUAĿAh7<*A9?2Aֽ:A9BA9?JAֽRA9٘i)I9oi@YG J<JJJJdE&K Ym X~?yӧ8LAEZ7Z7v9)B]E[[lh@[dX~?[[[[[BZYY i) ?H;IG?iJ @+K< ))@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037405.103165 s, next control iter: 1743037405.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037405.503165 s.=J~,P4`(AJ"J*J2J:J81?BJ81?nJ95vJARK@AyK@AY~? AA}u"&"AAmNA"AZAbAjArAzAAA@AOlrA i@AvA^qAF0ApA@pƿA5<*Ao9?2ARֽ:AyBAo9?JARֽRAy٘i)I9i@Y^G J<JJJJgE&K YW~?y֧LAE7777@9)B[[,j@[NX~?[{ [[[[BZYY i) h.;I;G?i@< O^))O^뿩G8@˵*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037405.523165 s, next control iter: 1743037405.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10904, header.stamp.nsec: 00 temperature: 13.388052* salinity: 33.391693, density: 1025.000000* values[0]: 0.692745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037405.923165 s.6=J~,{(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743037405.923306F (some fields omitted in printout)A{G!L@ARy;L@AY~? AAO"&"AAmNA"AZAbAjArAzAAA,u@Am@mrAgj@A^QAA.AAfȿA<*A9?2AtRֽ:ABA9?JAtRֽRA٘i)I9gj@YG J<JJJJjE&K YMW~?y٧LAEZ7Z7 9)BZE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #65q/A^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) +>;)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037405.943165 s, next control iter: 1743037406.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037406.343165 s.<=J~,(AJ"J*J2J:JBJnJvJAp= WL@AIL@AY~? AA&"&"AAêmNA"AZAbAjArAzAAAE@A=]- orA&j@ALnA1A-A`%A;hʿA?<*A9?2Aoֽ:A BA9?JAoֽRA ٘i)I9j@YG J<JJJJlE&K YW~?yܧLMAE7777ֳ9)BWE[[l@[p%X~?[&[[[[BZYY i=) uM;I\G?i@< w~)) w~濩=p@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037406.363165 s, next control iter: 1743037406.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10905&, header.stamp.nsec: 0&0 temperature: 13.387889&* salinity: 33.391701&, density: 1025.000000&* values[0]: 0.693689&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037406.763165 s.;=J~,0ذ(AǍL@AL@A}Y~? ACA!&"AAmNA"AZAbAjArAzAAAQ%,P@A9 Y5W~?yVMA,EZ7Z79)BTE[[nm@[X~?[1[[[[BZYY i) ;I}G?ie@uX< J)) 俩2 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037406.803165 s, next control iter: 1743037407.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037407.183165 s.=J~,N(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199372 time: 1743037407.183262F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\L@AtL@AdY~? AA!&"AA?_mNA"AZAbAjArAzAAA~@A "rrAHk@A <A-A-+A@NA#οA, <*AY:?2Aý:A#BAY:?JAýRA#٘i)I9k@Y}G J<JJJJrE&K YW~?yMAE77k9CB)BQE[[o@[W~?[V[[[[BZYY i) J~,1|(AJ"J*J2J:J1?BJ1?nJq:5vJAHz.M@AV!M@A3Y~? A5 ANc!&"AAamNA"AZAbAjArAzAAA1ٖۤ@A0 ourAl@A,<A煆A)A`ApпAv<*A:?2AȽ:A;BA:?JAȽRA;٘i)I9l@YG J|<JJJJwE&K YVW~?yNAEb791B)ͯBNE[[yq@[W~?[![[[[BZYY i) J~,J](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037408.443302F (some fields omitted in printout)Aq= cM@A-VM@AUY~? A#A,!&"AABlNA"AZAbAjArAzAAA6ijo@A;3wrAm@A߰;AA|(A@A 4ѿA<*A:?2A'˽:AdBA:?JA'˽RAd٘i)I9m@YAG J<JJJJzE&K Y=W~?yuOAE7777˼9)ɯBKE[[߫r@[W~?[L&[[[[BZYY i) E/J~,}>7(AJ"J*J2J:JBJnJvJAM@A`⏌M@AY~? A&A &"AAblNA"AZAbAjArAzAAAEr>I@AdQ yrAym@A#AҌAg='A A3ҿAi<*Aj:?2Amͽ:A1BAj:?JAmͽRA1Y"\@s5'y ь-ٓH`h"??,D|A?@?t|`p?)"\@ I٘i)I9ym@YG J*<B=JOJJJ}E&K8P> Y$W~?y_OA5'E792B)ƯBIE[[s@[W~?[*[[[[BZYY i) (>J~,R(AA(\M@At?PM@AX~? AI)A &"AAȥlNA"AZAbAjArAzAAA$)%@AxzrA$m@ARA=ďA]%A yAҿAt<*A:?2AvϽ:A L BA:?JAvϽRA L ٘i)I9m@YG Jԑ<C=JJJJE&K YX W~?yXOAEb77`91B)¯BFE[[u@[W~?[{/[[[[BZYY i) #NJ~,m(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: 0.076426< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037409.703300F (some fields omitted in printout)AQN@A2M@A:X~? A,Ax &"AAzlNA"AZAbAjArAzAAA@AsM|rAasn@ACAJbA\$A@EiATӿAu<*A:?2Awѽ:A BA:?JAwѽRA ٘i)I9sn@Y G Jf<B=JJJJE&K YV~?yPAE{7j7+9)B[[Dv@[W~?[24[[[[BZYY i) ]J~,e(AAG:N@ASAE-N@AX~? A 0A>6 &"AA}]lNA"AZAbAjArAzAAAI*@Ag`~rAn@AAKA@#A5A@ԿA<*Aru:?2A8ӽ:Ar BAru:?JA8ӽRAr ٘i)I9n@YoG Jg<C=JJJJE&K YV~?y<{PAEb77Í9)BCE[[sw@[yW~?[8[[[[BZYY i) 4mJ~,â(AA= ףpN@AƄcN@A5X~? A3A&"AA9lNA"AZAbAjArAzAAAÔ @AKrAbwo@A];AA~!AA\տA&[<*Ak:?2AUԽ:A` BAk:?JAUԽRA` ٘i)I9wo@YG J2<JJJJE&K Y/V~?yPAEŧ7b7ō9)B@E[[x@[hW~?[=[[[[BZYY i3=) m|J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743037410.963319F (some fields omitted in printout)AffffN@A<\N@AX~? Aa7A&"AAlNA"AZAbAjArAzAAA~J?c @AXSZrAno@AC<AoAA AcA`"6ֿA<*A c:?2Aս:Ag BA c:?JAսRAg Yc@ y>D<ٓHL?=?.`{? A#? r?}?)c@ I٘i)I9o@YG J<JlJJJE&K|> YiV~?y @QA E77{7Ǎ90B)B=E[[y@[WW~?[B[[[[BZYY i) ÅJ~,](AJ"J*J2J:J2?BJ2?nJO;5vJA(N@AN@A)vX~? AE;A_&"AAkNA"AZAbAjArAzAAADQ7 @Ab͊prA~p@AiNP<AݛAR0AA ׿A<*A[V:?2A-ֽ:A'BA[V:?JA-ֽRA'٘i)I9~p@Y_G Js<JJJJE&K YV~?yQAE77Vɍ91B)B>E[[z@[FW~?[G[[[[BZYY i) OJ~,sg(AAO@AɊO@A_X~? AM?Aj&"AA"kNA"AZAbAjArAzAAAe@AYwjrA`q@AP;A AAKA@׿A췥<*A~J:?2AQֽ:ABA~J:?JAQֽRA٘i)I9q@YG J<JJJJE&K Y~V~?yKRAE77{7!ˍ9)B;E[[,|@[v6W~?[ M[[[[BZYY i) 8ܔJ~*J,H(A2J:J2?BJ2?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037412.223303F (some fields omitted in printout)AzGO@A":O@A)IX~? AyCAw&"AAkNA"AZAbAjArAzAAA$}@AaoVrAq@AM3AYAuAd A ؿA@<*A?:?2AEֽ:AEVBA?:?JAEֽRAEV٘i)I9q@YG Jn<JJJJE&K YhV~?yuRAE77̍90B)B8E[[W}@[&W~?[=R[[[[BZYY i) hJ~,*)(AA ףp}O@A2dpO@A3X~? AGAo&"AARkNA"AZAbAjArAzAAA޹@A:rA*r@A1A@sA[A A`wٿAp<*An4:?2AZAֽ:ABAn4:?JAZAֽRA٘i)I9*r@YcG Jt<JJJJE&K YVQV~?yRAE7΍9)B[[~@[W~?[~W[[[[BZYY i) J~,c D(AJ"J*J2J:JBJnJvJA3333O@AG,O@AHX~? A:LAu&"AA lkNA"AZAbAjArAzAAA =@AZHtNrAr@AoYA3AAֆA BڿA3<*A*:?2Asnֽ:A,BA*:?JAsnֽRA,Yj@y/FZٓH` q?@۱?*f??1?)j@ I٘i)I9r@YG J<B=J=JJJE&Kz> YgJ~,^(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037413.483308F (some fields omitted in printout)A\O@AO@AX~? APAp&"AA:KkNA"AZAbAjArAzAAAwռ?A@krA6gs@AAAA.@A ۿAF<*AT!:?2Aֽ:ABAT!:?JAֽRA٘i)I9gs@Y$G J<C=JJJJE&K Y}'V~?y+SAE77Kҍ9/B)B1E[[k@[V~?[Xb[[[[BZYY i) }'V~?)>+ rAdjusting time to match Gazebo time: 1743037413.903165 s.]>J~,y(AJ"J*J2J:JY3?BJY3?nJ<5vJAQP@A qP@AW~? AUAg&"AA*kNA"AZAbAjArAzAAAY?A rAV t@Ai9A$㬽A\AAWۿAe<*A:?2A E׽:ABA:?JA E׽RA٘i)I9 t@YG J<JJJJE&K YV~?yj1.TAE{7ԍ90B)B3E[[U@[V~?[g[[[[BZYY i) J~,)(AAGzTP@ApwnGP@AW~? A`ZAo &"AA kNA"AZAbAjArAzAAA?AtrANt@A<AA A rAYܿA<*A:?2A׽:A{BA:?JA׽RA{٘i)I9t@YG J<JJJJE&K YU~?yR7TA Ej7Ս9)B0E[[ @[V~?[km[[[[BZYY i) CYJ~,ސ(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743037414.743340F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=P@Az6}P@A4W~? A\_A&"AAjNA"AZAbAjArAzAAA w?Am!HrAPu@AY<AOAA@L^A`]ݿA<*A:?2A׽:A ABA:?JA׽RA A٘i)I9Pu@YNG J<JJJJE&K YU~?y9=UAE77׍9/B)B,E[[&@[V~?[s[[[[BZYY i) J~,q(AAP@AmP@AW~? AydAH&"AAjNA"AZAbAjArAzAAA߬?A8hrA]u@Aם(<A_AbAA޿AD<*A:?2Aei׽:A~BA:?JAei׽RA~Y3p@bqy]C)<ٓH`ET???` |c@h? Md??*?)3p@ I٘i)I9u@YG J<JTJJJE&Kiy> YU~?yCUAqEb7b7vٍ9)B[[@[rV~?[x[[[[BZYY i) eJ~,S(AJ"J*J2J:J3?BJ3?nJ<5vJA)\P@AP@A(W~? AiA#&"AA\jNA"AZAbAjArAzAAAyi &?A. dMrAv@A&:AX"A AfA`޿A<*A9?2AX׽:ABA9?JAX׽RA٘i)I9v@YG J[<JJJJE&K YU~?yJJVAE7Aۍ9)zB)E[[N@[AV~?[~[[[[BZYY i) J~,H4(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085484< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037416.003311F (some fields omitted in printout)AR+Q@Ax N}Q@AW~? AoA{&"AAjNA"AZAbAjArAzAAA x?A~̒rA:\w@AAPrA'AgoA 4߿A<*A9?2Amֽ:ABA9?JAmֽRA٘i)I9\w@YG J <B=JJJJE&K YU~?yPyVAEZ7SI7 ݍ90B)uB*E[[@[sV~?[a[[[[BZYY i) IJ~J,(A"J*J2J:J.4?BJ.4?nJ<5vJA{GaQ@A:TQ@AzW~? AtA&"AA1sjNA"AZAbAjArAzAAA~ʈZ?A`rAex@AR4TAI?AAnAGA <*A9?2Aֽ:ABA9?JAֽRAI٘i)I9x@YG J<C=JJJJE&K Y:U~?y\WVAE7777ލ9/B)oB'E[[s@[ V~?[@[[[[ZZZZ¸>BZYY i¸>) EJ~,5(AAp= Q@A4JQ@AgW~? A%zA&"AAkVjNA"AZAbAjArAzAAAꩿAm3UrAvx@Az>A/AwIA A sAq<*A9?2Axֽ:A;BA9?JAxֽRA;٘i)I9x@YqG J<JJJJE&K Y[U~?y]jWAE779)hB$E[[@[V~?[([[[[ZZZZBZYY i) ^@J~,P(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037417.263304F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AUm7Q@ALUW~? AA7&"AA6:jNA"AZAbAjArAzAAA:ri1ѿApuүrAy@A7A AM A@RmA@A==*A9?2A׽:ATBA9?JA׽RATY+/w@i yٓH@:?`?4`L?U?#q?)+/w@ I٘i)I9y@YG J<J;JJJE&Kx> YyU~?yeWA E7777k9)bB[[@[LV~?[/[[[[ZZZZBZYY i) &IJ~,k(AA(\R@A!VQ@AGCW~? AA.&"AAjNA"AZAbAjArAzAAAi޿Ah arAz@A );AWژA AA@A:=*A9?2A=׽:ABA9?JA=׽RA٘i)I9z@YwG J=JJJJE&K YiU~?ylVXA!E{7j769.B)ZB!E[[)@[vV~?[@[[[[ZZZZBZYY i) 'RJ~,(AJ"J*J2J:JBJnJvJAQ8R@A{E+R@A1W~? AA`T&"AAjNA"AZAbAjArAzAAA#:eA{7OrAzV{@A|P<AkOuAA A`q߿A pA!<*AJ:?2Ai@׽:AXBAJ:?JAi@׽RAX٘i)I9V{@YG J<JJJJE&K YmXU~?y4sXA#E7779/B)UB"E[[I@[kV~?[[[[[[ZZZZBZYY i) DZJ~,B|(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083493< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037418.523321F (some fields omitted in printout)AHznR@A8 aR@Ai W~? AA^&"AAiNA"AZAbAjArAzAAAKώAp>rA/|@A}\<Ax1AA`޿AA!<*Aw:?2A׽:A+jBAw:?JA׽RA+j٘i)I9|@YlG J<JJJJE&K YGU~?yNzAYA&E9)NBE[[&L@[^aV~?[[[[[ZZZZBZYY i) hbJ~,J](AJ"J*J2J:J05?BJ05?nJ=5vJAq= ףR@A3mʖR@AW~? A֗A6h&"AABiNA"AZAbAjArAzAAAa4uADurA|@AQ;A%X׼AīA` ޿A@AԪ<*A:?2A׽:A*&;BA:?JA׽RA*&;٘i)I9|@YG J(<JJJJE&K Y$7U~?yhYA)E779)IB[[=܇@[0WV~?[[[[[ZZZZBZYY i) kJ~,y>(AAR@AR@A%V~? AA&"AAiNA"AZAbAjArAzAAAmaA@AHrA8}@AKAA`AAݿA`_A̳<*A9?2A ׽:A֢<BA9?JA ׽RA֢JJJE&K y> Y(U~?yYA`+Ej7SI7a9.B)DBE[[m@[?MV~?[[[[[ZZZZBZYY i)  5vJ V>J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.064909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037419.783290F (some fields omitted in printout)A(\S@AYvQS@A!V~? AyAs&"AAjiNA"AZAbAjArAzAAA}w)AU,rA}@A?)AS;AAJܿA`AA<*A9?2A׽:AH{<BA9?JA׽RAH{<٘i)I9}@Y[G Jqn<JJJJE&K YU~?yYA.Eŧ7b7,9/B)BBE[[O@[CV~?[F[[[[ZZZZBZYY i) KYmJ~, (AAQES@A 8S@AV~? AAR&"AAoiNA"AZAbAjArAzAAA"ԁArAY}@A5PA<AA`ۿA Ag;*Aw9?2Ao׽:A+<BAw9?JAo׽RA+<٘i)I9}@YG Jv<JJJJE&K YI U~?yEYA1E{7j79)@BE[[@[:V~?[[[[[ZZZZBZYY i) YJ~,z'(AJ"J*J2J:JBJnJvJAGzS@A1]mS@A_V~? AAw&"AAniNA"AZAbAjArAzAAA="0|A&4 "rA}@AQA=AhxAڿA6=A:*A19?2Aֽ:A2<BA19?JAֽRA2<٘i)I9}@YG J;JJJJE&K YT~?y䟨YA3E77779)?B[[T @[1V~?[Ȩ[[[[BZYY i) EJ~,B(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037421.043292F (some fields omitted in printout)A= ףS@A*WxS@AV~? A-A&"AAhWiNA"AZAbAjArAzAAA,~#A&T3rAL}@Ax:AH4=AS1A.ڿA΁AR*AU9?2Aֽ:ACa<BAU9?JAֽRACa<٘i)I9}@YG J/ JJJJE&K YT~?yYA6E79*B);BE[[ޯ@[i)V~?[fΨ[[[[BZYY i) 82J~, ](AJ"J*J2J:JBJnJvJAffffS@AZaS@AVV~? AA s&"AA_AiNA"AZAbAjArAzAAAgIU~AѡRrA}@AG<A\SZ=AA*dٿA@Al*A9?2A[ֽ:A?=BA9?JA[ֽRA?=Y@yPZ=Ł<ٓHu~ڿ?S@ڿ4@F`??)@ I٘i)I9}@Y}G JB=J7>JJJE&Kw> YT~?yYA9Eŧ7ŧ7W9)J~,Mx(AA(T@AԚT@AzV~? AũAb&"AA,iNA"AZAbAjArAzAAA;osA=|rA}@A]<Ay=AEA̕ؿAzA7*Ao9?2A^Jֽ:A] =BAo9?JA^JֽRA] =٘i)I9}@YVG JC=JJJJE&K YFT~?yfYA;E7{7!9)>BE[[*Ћ@[V~?[_ۨ[[[[BZYY i) J~,g(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056584< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037422.303334F (some fields omitted in printout)J"J*J2J:JBJnJvJAQT@ADT@AV~? A̩Ah&"AAOiNA"AZAbAjArAzAAAhpoAO>rAR<}@AF)<A9و=A]A ׿A_CAo*A9?2A}ֽ:Ac=BA9?JA}ֽRAc=٘i)I9<}@Y G J SJJJJE&K YT~?yYA>E77779)B)@BE[[_@[pV~?[[[[[BZYY iE) EJ~,H(AAzT@Ap`rzT@AV~? AөA&"AAOiNA"AZAbAjArAzAAA`AMAzrA|@Ai:A =AA`ֿAـAh*AG9?2Aֽ:A 7=BAG9?JAֽRA 7=٘i)I9|@YG JJJJJE&K YT~?yǨXAAE79)CB[[@[ V~?[o[[[[BZYY i) Q;Ii̓@M(= ))@yMhƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037422.763165 s, next control iter: 1743037423.123181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037423.143165 s.S/>J~,)(AJ"J*J2J:JBJnJvJA ףpT@AtJ~,[ (AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037423.563289F (some fields omitted in printout)A3333T@A*T@ArV~? AA+&"AAohNA"AZAbAjArAzAAAEA׶lrA{@ATA7=AA7տAAN雼*Aj9?2AF׽:A =BAj9?JAF׽RA =Y"^@y瓙=CUٓHhԿS?DӇ ; hԿ`@< -L`I?)"^@ I٘i)I9{@YHG J{JS=JJJE&K|x> YT~?yר#XAFEj7j7L9)JBE[[: @[U~?[[[[[BZYY i) <;Ii@+= ))5.@<ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037423.603165 s, next control iter: 1743037423.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10922, header.stamp.nsec: 00 temperature: 13.384896* salinity: 33.391426, density: 1025.000000* values[0]: 0.708921F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037423.983165 s.>J~,(AJ"J*J2J:JBJnJvJA\(U@AsU@AgV~? A7A{>&"AAhNA"AZAbAjArAzAAAdɏa,A"rAR{@AƯ<Aכ=AA@[ԿA@+Aw*A;9?2A ׽:AA =BA;9?JA ׽RAA =٘i)I9R{@YG JJJJJE&K Y T~?yNWAIEŧ7b79)NB[[@[*U~?[8[[[[BZYY i) ;IiJ@!+= sK))sK@d֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037424.023165 s, next control iter: 1743037424.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037424.403165 s.&?J~,(AAQ^U@A5lQU@A \V~? AA_&"AAlhNA"AZAbAjArAzAAAS}EG A] frAz@Al₻Aǜ=AzAӿA^ANƬ*A9?2Aֽ:At =BA9?JAֽRAt =٘i)I9z@YG JvJJJJE&K  9YT~? 9yUWALEZ7SI79)RB[[q)@[U~?[[[[[BZYY i) M;Ii @,= ))lK@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037424.423165 s, next control iter: 1743037424.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10923", header.stamp.nsec: 0"0 temperature: 13.385098"* salinity: 33.391422", density: 1025.000000"* values[0]: 0.708030"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037424.823165 s. ?J~,24(AJ"J*J2J:JA5?BJA5?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037424.823294F (some fields omitted in printout)AGzU@AnU@AyQV~? AA &"AAhNA"AZAbAjArAzAAA ey- A~rA#1z@Aj;A=AA bҿA@AK*A9?2A9~ֽ:Ad1 =BA9?JA9~ֽRAd1 =٘i)I91z@YFG JJJJJE&K YT~?yVANE77779)WBE[[u@[U~?[ [[[[BZYY i) p;Ii&@&F.= ـ))ـp٨@qתYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037424.843165 s, next control iter: 1743037425.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037425.243165 s.?J~,dO(AAףp=U@AP0U@A`GV~? A]A)&"AAKhNA"AZAbAjArAzAAA- A]rAy@AE:I<A#=AjlAѿAA(4*A9?2AZֽ:A =BA9?JAZֽRA =٘i)I9y@YG JJJJJE&K YT~?ySVAQEj7j7v9(B)[BE[[D@[/U~?[+[[[[BZYY i) 0:Ii\@/= UG}))UG}f@ժYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743037425.263165 s, next control iter: 1743037425.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037425.663165 s.?J~,qj(AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10924, header.stamp.nsec: 00 temperature: 13.385329* salinity: 33.391403, density: 1025.000000* values[0]: 0.707011F (some fields omitted in printout)AV@Au:U@A=V~? AA)&"AAShNA"AZAbAjArAzAAA A&<sA$y@A/L<A=AAпA@A*A9?2Axֽ:A` =BA9?JAxֽRA` =YB@y=L<ٓHQ̿1?l̿鱿х??)B@ I٘i)I9y@YG JJtBJJJE&K3x> YT~?y VATEA9)`B[[,Ӑ@[U~?[[[[[BZYY i) J9Ii@50= x))x'@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037425.683165 s, next control iter: 1743037426.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037426.083165 s.D!?J~,S(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037426.083301F (some fields omitted in printout)A)\5V@Anض(V@A4V~? AqAj&"AA}hNA"AZAbAjArAzAAA({ ~ AvxsAEjx@AD;AL=A$A0ϿA[Aͮ*Ao9?2A^ֽ:A2=BAo9?JA^ֽRA2=٘i)I9jx@Y1G JmJJJJE&K Yo{T~?y UAVEb7b7 9)dB[[,a@[ U~?[[[[[BZYY i)  Ii'@0= et))et'@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037426.103165 s, next control iter: 1743037426.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037426.503165 s.'?J~,a4(AJ"J*J2J:J4?BJ4?nJ=5vJARkV@AMy^V@A ,V~? AA&"AAohNA"AZAbAjArAzAAA- ?OAr] sAw@A@gAr=A&rA@$ οA@A$*A9?2Ak׽:Azc=BA9?JAk׽RAzc=٘i)I9w@YG JJJJJE&K Y,uT~?ySUAYE)7ŧ7 9)iBE[[@[U~?[V$[[[[BZYY i) +ZIiԊ@1= o))o@W˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037426.523165 s, next control iter: 1743037426.903182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10925, header.stamp.nsec: 00 temperature: 13.385593* salinity: 33.391403, density: 1025.000000* values[0]: 0.705986F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037426.923165 s.?.?J~,(AA{GV@AvT5AV@A#V~? AA3A&"AAbhNA"AZAbAjArAzAAA)&AA.63sA^Pw@A79A.=AݿA@I̿AHgA"*A9?2AL׽:A<BA9?JAL׽RA<٘i)I9Pw@YG JB=JJJJE&K YnT~?yTA\E77 9'B)mBE[[T|@[oU~?[+[[[[BZYY i) Ii@'2= ]k))]kO@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037426.943165 s, next control iter: 1743037427.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037427.343165 s.<5?J~,(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066051< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037427.343290F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= V@AV@AVV~? A{%A &"AAWhNA"AZAbAjArAzAAAiuATsAv@AkWAI܎=AX%ۿArʿA@GA*AU9?2A3B׽:A:<BAU9?JA3B׽RA:<٘i)I9v@Y5G JC=JJJJE&K YhT~?y@$TA^E77l 9)qB[[E @[U~?[1[[[[BZYY i) = YIi@|$4= $g))$g@+@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037427.363165 s, next control iter: 1743037427.743182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10926&, header.stamp.nsec: 0&0 temperature: 13.385814&* salinity: 33.391399&, density: 1025.000000&* values[0]: 0.705050&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037427.763165 s.:;?J~,,(AA W@A%tV@A@V~? AB-A^ &"AAKhNA"AZAbAjArAzAAAe'<A5"1sAIv@A&A=AؿAȿAA{6*A9?2As׽:Ao<BA9?JAs׽RAo Y5eT~?y,'TAؿaEŧ7b779)uB[[ϖ@[SU~?[8[[[[BZYY im) 3aIi@R4= b))bʸ@+ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037427.783165 s, next control iter: 1743037428.163180 s, wait time: 0.380015 s 5eT~?) , rAdjusting time to match Gazebo time: 1743037428.183165 s.B?J~,g (AJ"J*J2J:JBJnJvJA(\BW@A 5W@AV~? A5A{ &"AAxAhNA"AZAbAjArAzAAAAS=;AqsA7u@Ao:A=AֿAƿA -Al*A9?2Alֽ:AC<BA9?JAlֽRAC<٘i)I9u@YG J6JJJJE&K YaT~?y5SAdE779)yBE[[+$@[TU~?[V?[[[[BZYY i) %8Ii3@G4= M^))M^&F@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037428.203165 s, next control iter: 1743037428.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037428.603165 s.<4I?J~,Ú&(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037428.603283F (some fields omitted in printout)AQxW@A~EkW@AV~? A<A &"AA7hNA"AZAbAjArAzAAAA!|=#sAGu@Aa.!<A=A@ӿAĿA)AR*A9?2A}ֽ:A.[=BA9?JA}ֽRA.[=٘i)I9Gu@YHG J'JJJJE&K YX^T~?yx>jSAfE7{79)}B[[i@[U~?[F[[[[BZYY i) yɻIi@ c5= Y))Ydӭ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037428.623165 s, next control iter: 1743037429.003182 s, wait time: 0.380017 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10927 , header.stamp.nsec: 0 0 temperature: 13.386013 * salinity: 33.391365 , density: 1025.000000 * values[0]: 0.704178 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037429.023165 s.ZP?J~,{A(AJ"J*J2J:JBJnJvJAHzW@A!A W@A V~? ADA;H &"AA/hNA"AZAbAjArAzAAA'=A4\(sAt@AY<A/=AпAÿAAԕ*A9?2A+zֽ:A*=BA9?JA+zֽRA*=٘i)I9t@YG JJJJJE&K YZT~?y6G SAiEŧ7b79)B[[g>@[xU~?[L[[[[BZYY i) Iig@wF6= {U)){Ub`@y9JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037429.043165 s, next control iter: 1743037429.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037429.443165 s.5V?J~,5]\(AAq= W@A,W@AU~? ALA &"AA&hNA"AZAbAjArAzAAAf'vUA"!l,sA[Lt@A <A%;=AOοA@C2A@rA*A9?2Aֽ:A|=BA9?JAֽRA|=٘i)I9Lt@YG JB=JJJJE&K YzWT~?yORAlE{7j7b9)B[[ ˕@[U~?[S[[[[BZYY i) fIiG@f7= Q))Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037429.463165 s, next control iter: 1743037429.843177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10928", header.stamp.nsec: 0"0 temperature: 13.569447"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.576411"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037429.863165 s.+]?J~,>w(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037429.863306F (some fields omitted in printout)J"J*J2J:JBJnJvJAX@Ad X@A~U~? ATA &"AAhNA"AZAbAjArAzAAAc#A11sA[s@AϏ:A=A˿A ˖A-Aɾ*AL9?2AS׽:A=BAL9?JAS׽RA=Yf%@˿y=t#:ٓH`a`Z?zd`+7 }9Q?`n?)f%@ I٘i)I9s@YfG JC=J+eJJJE&K|x> YVT~?yXPRA˿nEb77,9(B)BE[[X@[U~?[lZ[[[[BZYY i) :Ii@@A\7= L))Ly@ܽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037429.883165 s, next control iter: 1743037430.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037430.283165 s.8Rd?J~,(AA(\OX@A)PBX@AU~? A\Av &"AA2hNA"AZAbAjArAzAAA, A=9*6sA]s@A+At4=AȿA`ºAQ@A*A9?2AKB׽:A"o=BA9?JAKB׽RA"o=٘i)I9]s@YG J'JJJJE&K YYVT~?yaQAqE79)B[[uȿ[U~?[5a[[[[BZYY i) k"Iig@7= GH))GHGHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037430.303165 s, next control iter: 1743037430.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10929., header.stamp.nsec: 0.0 temperature: 13.569692.* salinity: 33.374966., density: 1025.000000.* values[0]: 0.575837.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037430.703165 s.ٺj?J~J,(A"J*J2J:Jj?BJj?nJ5vJAQX@A <xX@A U~? AdA&"AAhNA"AZAbAjArAzAAAɌA|̅;sApr@AUA =AtIƿA`ﶿASPA*A9?2AdQ׽:AZ=BA9?JAdQ׽RAZ=٘i)I9r@YG J2B=JJJJE&K YUT~?yajQAtE{7j79)B[[{wƿ[=U~?[g[[[[BZYY i) 1Ii@%7= C))CCªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037430.723165 s, next control iter: 1743037431.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037431.123165 s.:q?J~,i(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037431.123298F (some fields omitted in printout)AGX@AխX@A U~? AlA3>&"AAhNA"AZAbAjArAzAAAn Aȁl@sAsr@As5A7=AÿA !A@]ABi*A9?2A.$׽:A=BA9?JA.$׽RA=٘i)I9sr@YG JC=JJJJ E&K Y9UT~?y.s:QAvE779)BE[[[EĿ[U~?[n[[[[BZYY i) aoAIiD@x8= z?))z?z? ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037431.143165 s, next control iter: 1743037431.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037431.543165 s.Ix?J~,(AJ"J*J2J:JBJnJvJA= ףX@A'X@AU~? AtAB&"AA hNA"AZAbAjArAzAAAP룊'An̊UEsA q@AaWAWn=A[*A AehA피*A9?2ADֽ:Ak=BA9?JADֽRAk=٘i)I9q@YFG JB=JJJJE&K YTT~?y{PAyEj7j7W9)B[[¿[U~?[u[[[[BZYY i) IPIi@49= g;))g;g;ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037431.563165 s, next control iter: 1743037431.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10930, header.stamp.nsec: 00 temperature: 13.569914* salinity: 33.374985, density: 1025.000000* values[0]: 0.575284F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037431.963165 s.~~?J~, (AAffff&Y@Aǻ#cY@AU~? A|A&"AAMhNA"AZAbAjArAzAAAe8O>A>AJsANzq@A0;A(n=AA(A pA*A[9?2A|ֽ:A =BA[9?JA|ֽRA =Yg@%yjm=;ٓHݴ?@?9t ʹ?`n{iZy?@?)g@ II٘i)I9zq@YG JJf5<JJJE&Kx> YVT~?yĄzPA|E777"!9)B[[+῿[;U~?[?|[[[[BZYY i) 5`IiƐ@O9= {6)){6{6ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037432.003165 s, next control iter: 1743037432.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037432.383165 s.؅?J~,+(AJ"J*J2J:J2?BJ2?nJX5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075019< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037432.383313F (some fields omitted in printout)A(\Y@A(>OY@A}U~? A섪Af&"AAhNA"AZAbAjArAzAAALRjNAip-OsAp@AM<Aj =AA/A vA؄*A59?2A{Wֽ:A* =BA59?JA{WֽRA* =٘i)I9p@YG JʞC=JJJJE&K YFYT~?yPA~E{7{7"9)B[[[U~?[[[[[BZYY i˫) roIi@bJ9= KN2))KN2KN2ͪYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743037432.403165 s, next control iter: 1743037432.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10931&, header.stamp.nsec: 0&0 temperature: 13.570189&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.574688&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037432.803165 s.uA?J~,sg3(AAY@A[ӼY@AU~? AA&"AAhNA"AZAbAjArAzAAA+XADTsA:lp@AH<A7H=AK}A ُA`TzAzң*A^9?2A=tֽ:AR =BA^9?JA=tֽRAR =٘i)I9lp@YSG JʢB=JJJJE&K Y[T~?yPOAE7$9)BE[[|[U~?[[[[[BZYY i) ׶~Ii@s9= K-))K-K-ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037432.843165 s, next control iter: 1743037433.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037433.223165 s.g?J~,HN(AJ"J*J2J:J ?BJ ?nJ/5vJAzY@AqY@A\U~? AA@+&"AA;hNA"AZAbAjArAzAAAh\A%O( YsAo@AՒ;AJ=A-ѶA'AA5{A*A9?2Aֽ:A?=BA9?JAֽRA?=٘i)I9o@YG JC=JJJJE&K Y]T~?yQOAE{7&9)B[[J[U~?[m[[[[BZYY i) IiG@9= )))))ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037433.243165 s, next control iter: 1743037433.623182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037433.643165 s.|Й?J~, *i(AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037433.643300F (some fields omitted in printout)A ףpY@AxwdY@AU~? A'A&"AA&hNA"AZAbAjArAzAAAEy`YAw0]sA]o@AXA=AA\?AyAH*A}9?2A׽:A=BA}9?JA׽RA=٘i)I9]o@YG J@JJJJE&K Y2`T~?yܧNAEb77L(9)B[[[gU~?[[[[[BZYY i) gIiБ@-:= #%))#%#%yīӪYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10932, header.stamp.nsec: 00 temperature: 13.570440* salinity: 33.375000, density: 1025.000000* values[0]: 0.574056F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037433.663165 s, next control iter: 1743037434.043181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037434.063165 s.?J~,c (AJ"J*J2J:JBJnJvJA33333Z@Ab('&Z@A^U~? A:A&"AAhNA"AZAbAjArAzAAA5-PAկvbsAn@A+<Aװ=ApA`f?A ;uA1*Aӻ9?2A.E׽:A=BAӻ9?JA.E׽RA=Y@y-=6=ٓH`O? Vt??^`}?␳@~?)@ I٘i)I9n@Y]G JJ=0<JJJE&K]x> YZeT~?yNAEb7*9)B)BE[[贿[U~?[˝[[[[BZYY i) Iip@):= o ))o o fתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037434.083165 s, next control iter: 1743037434.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037434.483165 s.x_?J~,(AA\hZ@A/-[Z@AU~? AKA:R&"AAmhNA"AZAbAjArAzAAAqU@AO@gsA0On@ARA!џ=AѮA ަ?A@XnAS}*Aj9?2A0׽:AK=BAj9?JA0׽RAK=٘i)I9On@Y G JJJJJ!E&K YjT~?y+NAEŧ77+9,B)B[[񶲿[2U~?[t[[[[BZYY i) AIi@@9= ^))^^۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037434.523165 s, next control iter: 1743037434.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10933, header.stamp.nsec: 00 temperature: 13.570683* salinity: 33.374962, density: 1025.000000* values[0]: 0.573426F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037434.903165 s.ȭ?J~,͹(AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743037434.903335F (some fields omitted in printout)AQZ@A=[Z@AU~? AYAд&"AAhNA"AZAbAjArAzAAAm*AlsAgm@AFA=ACEAs?A@dA %*AV9?2Aֽ:Ayx=BAV9?JAֽRAyx=٘i)I9m@YG JJJJJ#E&K YoT~?yMAE7ŧ7-9)B[[[%U~?[[[[[BZYY i) 7Ii>@9= 3))33YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037434.943165 s, next control iter: 1743037435.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037435.323165 s.x?J~,-(AAGzZ@AfJoZ@AU~? AdA&"AA hNA"AZAbAjArAzAAAA,| Ad YT~?y۩nLAE77 39)ίB[[{['U~?[޾[[[[BZYY i) 1oIi=@9=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037436.183165 s, next control iter: 1743037436.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037436.583165 s.?J~,R%(AJ"J*J2J:JBJnJvJA)\u[@Abh[@AU~? AfժA-B&"AAhNA"AZAbAjArAzAAAˌߑACMsA,Kk@A <Ar\=AAF?A'Aż*A9?2ADsֽ:AR2=BA9?JADsֽRAR2=٘i)I9Kk@Y4G J#żJJJJ.E&K YމT~?yKAEj7j749)ӯB[[E[U~?[hũ[[[[BZYY i) ¼Ii@2r9= p))ppYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037436.603165 s, next control iter: 1743037436.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10935, header.stamp.nsec: 00 temperature: 13.571245* salinity: 33.374985, density: 1025.000000* values[0]: 0.572050F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037437.003165 s.v ?J~,D4@(AAR[@A{[@AU~? AZݪA%"AA\hNA"AZAbAjArAzAAAJ[AzT'sAj@A19Aŭ=APQA+ ?AdAfż*A9?2Aֽ:A)n=BA9?JAֽRA)n=٘i)I9j@YG J<ƼJJJJ1E&K YБT~?yuKA DE7)769/B)گBE[[![MV~?[˩[[[[BZYY i) )ʼIi@79= g ))g g YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037437.043165 s, next control iter: 1743037437.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037437.423165 s.u?J~,[(AJ"J*J2J:JX?BJX?nJt5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743037437.423283F (some fields omitted in printout)A{G[@Av1<[@AxV~? AFA %"AAw%hNA"AZAbAjArAzAAA7AsAMi@Al A)"=AA B?A IAż*A9?2A׽:Aޔ=BA9?JA׽RAޔ=٘i)I9i@YiG JƼJJJJ3E&K YT~?yKAEb77l89)߯BE[[O\[jV~?[hҩ[[[[BZYY i) _ѼIi@99= Q))QQYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037437.443165 s, next control iter: 1743037437.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10936", header.stamp.nsec: 0"0 temperature: 13.571548"* salinity: 33.374992", density: 1025.000000"* values[0]: 0.571253"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037437.843165 s.?J~,u(AAp= \@Ax{ \@AV~? A*A*q%"AA]-hNA"AZAbAjArAzAAASA}ΎsAWi@A.DWA=AA@?AAnǼ*A9?2A)׽:A=BA9?JA)׽RA=٘i)I9Wi@YG JgƼJJJJ6E&K YT~?yWJAE77{77:9)B[[U*[ V~?[ة[[[[BZYY i8) 2ؼIi@x9= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037437.883165 s, next control iter: 1743037438.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037438.263165 s.?J~,<ؐ(AJ"J*J2J:JBJnJvJAL\@A%r?\@A V~? AAu%"AA6hNA"AZAbAjArAzAAA YZT~?y{,JAE77<9)B[[[V~?[Bߩ[[[[BZYY i) ߼Ii.@O8= ))龩\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037438.283165 s, next control iter: 1743037438.663185 s, wait time: 0.380020 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 109372, header.stamp.nsec: 020 temperature: 13.5718212* salinity: 33.3749852, density: 1025.0000002* values[0]: 0.5705132F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037438.683165 s.l?J~,g(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: 0.4199742 time: 1743037438.683275F (some fields omitted in printout)A(\\@Aeu\@AV~? AA>%"AA?hNA"AZAbAjArAzAAA#}DAn]sA5h@Ah/ASR=A:ޔA}?AAϼ*A9?2Aֽ:A)=BA9?JAֽRA)=٘i)I9h@Y4 G J4ͼJJJJ;E&K YT~?y IAE7=90B)B E[[ǜ[V~?[[[[[ZZ¸BZYY i¸ 1=) ӼIi@x7= ))ྩ_YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037438.683165 s, next control iter: 1743037439.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743037439.103165 s.?J~,(AJ"J*J2J:JBJnJvJAQ\@AfF\@AV~? AA\%"AAIhNA"AZAbAjArAzAAAu+AisAkQg@A^;AN=A)_AjO?ACAm+ּ*AJ9?2AT0ֽ:A=BAJ9?JAT0ֽRA=٘i)I9Qg@Y G JҼJJJJ>E&K YT~?y>IAE{7{7?91B)B!E[[/[g"V~?[[[[[ZZBZYY i) ǼIiL@k7= 5ؾ))5ؾ5ؾyV$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037439.123165 s, next control iter: 1743037439.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037439.523165 s.?J~,|(AAHz\@Abg \@A #V~? AP A%"AAThNA"AZAbAjArAzAAA"(AߙҡsAf@AP<A=AHՏA`h?A\A*A͔9?2A ֽ:A=BA͔9?JA ֽRA=٘i)I9f@YN G JJJJJAE&K YNT~?yHAEbA9)B[[a[K*V~?[J[[[[ZZBZYY i) .껼Ii!@~57= &hϾ))&hϾ&hϾys=tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037439.543165 s, next control iter: 1743037439.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10938, header.stamp.nsec: 00 temperature: 13.572130* salinity: 33.374966, density: 1025.000000* values[0]: 0.569723F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037439.943165 s.[d?J~,O](AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037439.943286F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #]@A]@A+V~? AAx%"AAz`hNA"AZAbAjArAzAAATfAd6sAe@AA<A.H=A7Aj?A@5Ap*A9?2A1ֽ:A<BA9?JA1ֽRA<٘i)I9e@Y G JJJJJCE&K YT~?y&OHAE777-C92B)B$E[[.[2V~?[[[[[ZZBZYY i) ꯼Ii&@t;7= 6ƾ))6ƾ6ƾy=qԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037439.963165 s, next control iter: 1743037440.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037440.363165 s.@J~,>)AAY]@AsFL]@A3V~? AA%"AAlhNA"AZAbAjArAzAAA4B* Ahl9&sAd@A ;Av=AA@!?A@ Au7*A9?2Adֽ:As<BA9?JAdֽRAs Y:T~?y-GAE77D9) B[[[;V~?[[[[[ZZBZYY i) IiC@p6= ν))νν㫪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037440.383165 s, next control iter: 1743037440.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10939&, header.stamp.nsec: 0&0 temperature: 13.572513&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.568718&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037440.783165 s.[ @J~,2)AJ"J*J2J:J?BJ?nJ5vJA(\]@AQۆQ]@AbIi@35= ~))~~zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037440.803165 s, next control iter: 1743037441.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037441.203165 s.@J~,M)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743037441.203269F (some fields omitted in printout)AQ]@A]@A#FV~? A*A-%"AADhNA"AZAbAjArAzAAA A~*YXsAtc@A4TA<AGA@?A`Ay٤*Aµ9?2Azkֽ:ABAµ9?JAzkֽRA٘i)I9tc@Yn G J6JJJJLE&K YT~?yf=VGAE77H9)B[[/[YMV~?[ [[[[ZZBZYY i) VIi @4= )))))5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037441.223165 s, next control iter: 1743037441.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037441.623165 s.T@J~,Pg)AJ"J*J2J:JBJnJvJAG]@A]@A%PV~? A2A&*%"AAhNA"AZAbAjArAzAAA!/0 A$FLsAb@AVPcA"<A|A@"?A@يA&z*AO9?2Ab\ֽ:A&qBAO9?JAb\ֽRA&q٘i)I9b@Y" G JÔJJJJNE&K Y U~?y-EGAE777WJ9)B[[\[WV~?[9[[[[ZZBZYY i) ڂIi@4= P))PPwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037441.643165 s, next control iter: 1743037442.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 10940 , header.stamp.nsec: 0 0 temperature: 13.572813 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.567895 F (some fields omitted in printout) U~?)-E rAdjusting time to match Gazebo time: 1743037442.043165 s. @J~,Â)AA= ף0^@AgC#^@AZV~? A|9AV%"AAhNA"AZAbAjArAzAAA%Hp AdsA\b@AUA޺AAg?A ZAn0*A,9?2A!lֽ:AĀBA,9?JA!lֽRAĀ٘i)I9b@Y G J[JJJJQE&K YIU~?yLFAE)7b7"L94B)B+E[[i%[aV~?[H[[[[ZZBZYY i) +oIi@3= u))uu(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037442.083165 s, next control iter: 1743037442.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037442.463165 s.S'@J~,ۤ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083101< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037442.463276F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff^@A[Y^@AeV~? A@A %"AAʶhNA"AZAbAjArAzAAAʮe AЀsA]b@A,c ;AAzA@:G?A`u&A.ӻ*A9?2Aֽ:ABA9?JAֽRAY~@Wzykj ;ٓH??y̓?܏?٢?dla?`Q?)~@ I٘i)I9]b@Y G JJCJJJTE&K7x> Y )U~?yJTFAzE777M95B)"B,E[[[OkV~?[F[[[[ZZBZYY iVr=)  ]Ii@ 2= ^))^^)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037442.483165 s, next control iter: 1743037442.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10941, header.stamp.nsec: 00 temperature: 13.572936* salinity: 33.374992, density: 1025.000000* values[0]: 0.567433F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037442.883165 s.y-@J~,/)AA(^@A~^@AqV~? A HA{%"AAhNA"AZAbAjArAzAAAZAuGGsA>b@A.<AjxAwuA7$?APAy *A9?2AUֽ:AvμBA9?JAUֽRAvμ٘i)I9>b@Y G J)JJJJVE&K Y8U~?y[FAE)7ŧ7O96B)$B/E[[縆[uV~?[:#[[[[BZYY i=) JIi@y1= È))ÈÈ5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037442.903165 s, next control iter: 1743037443.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037443.303165 s.Z4@J~,g)AJ"J*J2J:J<?BJ<?nJJ5vJA^@AQ1^@A}V~? A6OA%"AAzhNA"AZAbAjArAzAAAd/\A: bsA>b@A{lY<A6AspA?A@ZA.A;*A9?2Acֽ:A'?BA9?JAcֽRA'?弙٘i)I9Y G J 9JJJJYE&K YHU~?ybGAEb77Q9)[[c[V~?[#)[[[[BZYY i) 8Ii@a0= ))u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037443.323165 s, next control iter: 1743037443.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10942., header.stamp.nsec: 0.0 temperature: 13.572960.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.567328.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037443.723165 s.;@J~,H)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037443.723275F (some fields omitted in printout)Az_@AE^@ApV~? AMVAc%"AAhNA"AZAbAjArAzAAAu";luAӈsAF`b@AX<A[ATMkA~?Af~A;*AŒ9?2Aֽ:A BAŒ9?JAֽRA ٘i)I9`b@Y G J;JJJJ\E&K YRXU~?yIj GAE777MS97B)2E[[F[cV~?[/[[[[BZYY i) L&Iiy@/= m))mmyǟ=U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037443.743165 s, next control iter: 1743037444.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037444.143165 s.Y/B@J~,* )AJ"J*J2J:JBJnJvJA ףp=_@A?d0_@AMV~? AP]A%"AAhNA"AZAbAjArAzAAA_=A;VCsAb@AA%zA=fAQ<JCJJJaE&Kw> YzU~?ygxGAaEŧ77V9)!B6E[[{[V~?[:[[[[BZYY ish=) Ii@.= nJ))nJnJ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037444.583165 s, next control iter: 1743037444.963183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10943, header.stamp.nsec: 00 temperature: 13.572838* salinity: 33.374996, density: 1025.000000* values[0]: 0.567581F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037444.983165 s.O@J~,>)AJ"J*J2J:JL?BJL?nJ[5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037444.983294F (some fields omitted in printout)A\_@A}_@AaV~? AkA%"AAM'iNA"AZAbAjArAzAAAiAو>sAUcc@AzEbA͒A\AA?AAҊ<*A9?2AIս:A-(BA9?JAIսRA-(٘i)I9cc@Yd G J=<B=JJJJdE&K Y!U~?y0GAEb7X9)B[[#:w[cV~?[+@[[[[BZYY i) X0Ii@,=  8)) 8 8X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037445.023165 s, next control iter: 1743037445.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037445.403165 s.&V@J~,Y)AAQ_@A![_@AV~? AqAE%"AAv elevatorAngleAction: 0.056751< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743037446.243278F (some fields omitted in printout)Aףp=J`@A7n1=`@ASV~? AAuA%"AAhiNA"AZAbAjArAzAAANb@7KA"R`sAd@AN;A;)AYLA?A@A<*A9?2A4ֽ:Ah BA9?JA4ֽRAh ٘i)I9d@Y\ G J<JJJJlE&K Y0U~?y IAEj7 ^9;B)B=E[[i[jV~?[P[[[[BZYY ir=) Ii@R:*= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037446.263165 s, next control iter: 1743037446.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037446.663165 s.j@J~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10945, header.stamp.nsec: 00 temperature: 13.572241* salinity: 33.375011, density: 1025.000000* values[0]: 0.568790F (some fields omitted in printout)A`@A~sr`@AV~? AA%"AAiNA"AZAbAjArAzAAA3T0A+w%UsA@e@AZ<A)AOFAl?AVA1<*A9?2A׽:ABA9?JA׽RAY-@Fy͙[<ٓH0?j?3 ``2? @?@xZ?^??)-@ I٘i)I9e@Y G J<JJJJnE&K6x> YQU~?yqIAFE7ŧ7_9 elevatorAngleAction: 0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743037447.503299F (some fields omitted in printout)AR`@AXy`@A) W~? A8A%"AAFiNA"AZAbAjArAzAAADkAv_IsAƮf@A;AӖAu<A?AAAl<*A9?2A+ֽ:AwBA9?JA+ֽRAw٘i)I9f@Ye G J<JJJJtE&K YU~?y AJAEb7b7mc9)BCE[[p\[*W~?[`[[[[BZYY i) :,ϺIit@a%=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037447.523165 s, next control iter: 1743037447.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10946, header.stamp.nsec: 00 temperature: 13.571901* salinity: 33.375027, density: 1025.000000* values[0]: 0.569509F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037447.923165 s.:~@J~,)AA{G!a@AG?a@AW~? AdA O%"AAZiNA"AZAbAjArAzAAA FQAW@wRsA?g@AlA^Ao7A@?AA<*AL9?2AOֽ:ASBAL9?JAOֽRASI٘i)I9?g@Y G J<B=JJJJwE&K YV~?y:JAE7{78e9=B)BFE[[7W[W~?[f[[[[BZYY i) sy-Ii@$= %n))%n%nyk=E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037447.943165 s, next control iter: 1743037448.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037448.343165 s.<@J~,)AJ"J*J2J:JBJnJvJAp= Wa@A;Ia@A/W~? AuA%"AA iNA"AZAbAjArAzAAAk Rq A?sAg@ALAAZ2A@@Z?AwAp<*Aƾ9?2A.ֽ:AK)BAƾ9?JA.ֽRAK)٘i)I9g@Y G J<C=JJJJyE&K Y&V~?yfKAEŧ77g9>B)BGE[[qS[W~?[$k[[[[BZYY i) 9Ii @#= &))&&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037448.383165 s, next control iter: 1743037448.743179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10947&, header.stamp.nsec: 0&0 temperature: 13.571547&* salinity: 33.375050&, density: 1025.000000&* values[0]: 0.570245&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037448.763165 s.8@J~,#0)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037448.763287F (some fields omitted in printout)Ǎa@Aea@A@W~? AkAb%"AASiNA"AZAbAjArAzAAA1RQ;eArsA6_h@ASA4ЎAy$-A P?A %A<*A9?2A:Lֽ:A}BA9?JA:LֽRA}Yo@F,y$͎iTٓH?H?ί})?`D{?ձ? | h?)o@ I٘i)I9_h@Ym G J<Jg<JJJ|E&Kx> Y = :))::*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037449.223165 s, next control iter: 1743037449.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037449.603165 s.?4@J~,Кf)AAQa@AjIa@AdW~? AA}%"AA3jNA"AZAbAjArAzAAApy״+A/}tAji@A2Z;AAhm"A ?A`zAk<*AP9?2Aֽ:ABAP9?JAֽRA٘i)I9ji@YG J7<JJJJE&K YhV~?yª1LAE77bl9)B[[E[MW~?[z[[[[BZYY i) dI;Iix@2= F<))F<F<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037449.643165 s, next control iter: 1743037450.003185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10948, header.stamp.nsec: 00 temperature: 13.571187* salinity: 33.375057, density: 1025.000000* values[0]: 0.570966F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037450.023165 s.Z@J~, |)AJ"J*J2J:J*?BJ*?nJD5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066137< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037450.023308F (some fields omitted in printout)AHz.b@A΍ !b@AwW~? AA%"AAOjNA"AZAbAjArAzAAA(U?AӍ' tA{i@A+;<AχAA?A!Aj:<*AY9?2A׽:A#dBAY9?JA׽RA#d񼙘٘i)I9i@Y[G J <JJJJE&K Y~V~?ylȪLAEb7-n9)BPE[[lA[E]W~?[~[[[[BZYY i) o;Ii0v@= x<))x<x<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037450.063165 s, next control iter: 1743037450.423183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743037450.443165 s.5æ@J~,5])AAq= cb@A{Vb@AW~? AA'%"AAUljNA"AZAbAjArAzAAAWX?A}ց tA]j@A<^<AF~AA _b?A߿AQM<*A9?2Ab׽:ABA9?JAb׽RA9٘i)I9]j@YG J$<JJJJE&K Y V~?yͪLAE7o9AB)BSE[[<[mW~?[[[[[BZYY i) W/;Iit@= B=))B=B=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037450.463165 s, next control iter: 1743037450.843176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10949", header.stamp.nsec: 0"0 temperature: 13.570864"* salinity: 33.375072", density: 1025.000000"* values[0]: 0.571614"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037450.863165 s.+@J~,>)AJ"J*J2J:JU?BJU?nJq5vJAb@A>b@A&W~? AxA7%"AA~jNA"AZAbAjArAzAAA` ?AITtAj@A' <AԒAA?A޿A<*Au9?2Aֽ:ArBAu9?JAֽRArYd@!yi <ٓH?Y??h`fT?؜?*??H?)d@ I٘i)I9j@YG J<J/<JJJE&Kx> YȬV~?yҪKMAE77{7q9BB)BUE[[g]8[[~W~?[=[[[[BZYY i=) t;IiWq@~u= =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037450.903165 s, next control iter: 1743037451.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037451.283165 s.;R@J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743037451.283303F (some fields omitted in printout)A(\b@At?Pb@AW~? AūA,%"AA/jNA"AZAbAjArAzAAAw7?AoT%tAFk@ADxA$لA A O?A^!޿A陌<*A9?2Aֽ:A$BA9?JAֽRA$٘i)I9Fk@Y1G Jr<JJJJE&K YV~?y}תMAEŧ77s9CB)BXE[[ 3[OW~?[ˌ[[[[BZYY i) ;Iifn@A= ֩=))֩=֩=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037451.303165 s, next control iter: 1743037451.683182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10950., header.stamp.nsec: 0.0 temperature: 13.570564.* salinity: 33.375076., density: 1025.000000.* values[0]: 0.572233.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037451.703165 s.Ժ@J~,)AJ"J*J2J:JBJnJvJAQc@Aިb@A W~? AʫAj%"AAdjNA"AZAbAjArAzAAA|ub?A~tAk@A"AݳA>A`N?AfݿA|<*A9?2ATֽ:ApBA9?JATֽRAp٘i)I9k@YyG J<JJJJE&K Y elevatorAngleAction: 0.077402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743037452.543327F (some fields omitted in printout)A= ףpc@AXcc@AAW~? AԫAq%"AAOkNA"AZAbAjArAzAAAsyy?A݂"tAl@AU(AAM[AX?AۿAc<*A9?2Aֽ:AgBA9?JAֽRAg٘i)I9l@YG J4<JJJJE&K Y W~?yNAE)7ŧ7x9)߯B[[&[*W~?[[[[[BZYY i) 8))@ >@ >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037452.563165 s, next control iter: 1743037452.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10951, header.stamp.nsec: 00 temperature: 13.570260* salinity: 33.375107, density: 1025.000000* values[0]: 0.572845F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037452.963165 s.{@J~,=)AAffffc@A\c@AVX~? Ap٫AI%"AA"kNA"AZAbAjArAzAAA= ?A%kstAm@A!A)A Aw+?AۿA;<*A9?2Aֽ:A;BA9?JAֽRA;Y@=y _ٓH@p?`,?(ݿ@?:??CW?)@ I٘i)I9m@YLG JM<JAJJJE&K?x> Y$W~?y OAEb77z9)ܯBaE[[Ï![/W~?[/[[[[BZYY i) .))`>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037452.983165 s, next control iter: 1743037453.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037453.383165 s. @J~,fX)AJ"J*J2J:J?BJ?nJ5vJA(c@Afc@AX~? A ޫAf%"AA*CkNA"AZAbAjArAzAAAw@AL!tAm@A2<AAA`q?A`NڿAT<*AX9?2AQ׽:A4BAX9?JAQ׽RA4٘i)I9m@YG J<JJJJE&K Y>W~?yiOAE7777|9EB)ٯBdE[[/[W~?[J[[[[BZYY i) tI>))N0>N0>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037453.403165 s, next control iter: 1743037453.783251 s, wait time: 0.380086 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10952", header.stamp.nsec: 0"0 temperature: 13.569948"* salinity: 33.375099", density: 1025.000000"* values[0]: 0.573459"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037453.803165 s.yA@J~,gs)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743037453.803328F (some fields omitted in printout)Ad@A@d@Aj/X~? AAݕ%"AAckNA"AZAbAjArAzAAA4@A8$tAm@A,Z<A@ŎA;BܾAz?A@ٿA v<*A9?2A1׽:A~QBA9?JA1׽RA~Q٘i)I9m@YG J<JJJJE&K Y0WW~?yOAE)7ŧ7M~9GB)ׯBhE[[b[=W~?[P[[[[BZYY i) M))B>B><*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037453.823165 s, next control iter: 1743037454.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037454.223165 s.J "J *J 2J :J ?BJ ?nJ 5vJ g@J~,H)AAzGd@A:d@AdEX~? AA@%"AA܄kNA"AZAbAjArAzAAAi@AbGs0'tApnn@A~=<A AѾA ?A`iؿAH<*A9?2AU׽:ABA9?JAU׽RA٘i)I9nn@YG J<JJJJE&K YYpW~?y!PA Ej7j79)ԯBkE[[[>X~?[?[[[[BZYY i) X]))/U>/U>*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743037454.243165 s, next control iter: 1743037454.623185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037454.643165 s.y@J~,*)AA ףp}d@Aepd@A[X~? AA%"AA[kNA"AZAbAjArAzAAA,|@A2/2)tAn@A o;Aj4A=ǾA4?Av׿Aז<*A9?2AYֽ:A BA9?JAYֽRA ٘i)I9n@YhG Jؑ<JJJJE&K YW~?y~PA E77ぎ9)ЯB[[g [!X~?[[[[[BZYY i) zl))нg>нg> *YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10953, header.stamp.nsec: 00 temperature: 13.569629* salinity: 33.375111, density: 1025.000000* values[0]: 0.574074F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037454.663165 s, next control iter: 1743037455.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037455.063165 s.@J~,J )AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743037455.063326F (some fields omitted in printout)A3333d@AF(d@A*rX~? A Ax%"AACkNA"AZAbAjArAzAAA@A5,tAko@A$ʻAA Ap?A@׿A<*A9?2ARֽ:AleBA9?JARֽRAleY4@y;˻ٓH@+?`-?<`׿?ز?`?y^yI?)4@ I٘i)I9ko@YG Jݚ<JAJJJE&Kw> YףW~?y PAE{7{79HB)̯BnE[[G [4X~?[ʱ[[[[BZYY i) |))Pz>Pz>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037455.083165 s, next control iter: 1743037455.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037455.483165 s.y_@J~,)AA\d@AEkd@AX~? AAN%"AAkNA"AZAbAjArAzAAAZP @Ac.tABo@AlQAGAA?A@;ֿA.<*A9?2A)ֽ:AIBA9?JA)ֽRAI٘i)I9o@Y G JW<JJJJE&K Y)W~?y8JQAE77x9)ȯBqE[[[HX~?[f[[[[BZYY i) ))M>M> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037455.503165 s, next control iter: 1743037455.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10954, header.stamp.nsec: 00 temperature: 13.569260* salinity: 33.375122, density: 1025.000000* values[0]: 0.574727F (some fields omitted in printout)*)W~?)*8 rAdjusting time to match Gazebo time: 1743037455.903165 s.!@J~, )AJ"J*J2J:JBJnJvJAQe@A)e@AX~? AA%"AA? lNA"AZAbAjArAzAAA[/ @AVW0tAPp@AZPAAB(A?AcտAӪ<*A 9?2AFֽ:ABA 9?JAFֽRA٘i)I9p@YaG J$<JJJJE&K Y{W~?ygQAE7C9)įBtE[[3C[\X~?[긪[[[[BZYY i) Y"))P>P>p*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037455.923165 s, next control iter: 1743037456.303185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037456.323165 s.wAJ~,))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037456.323295F (some fields omitted in printout)AGzTe@A[nGe@A9X~? ANA%"AAN0lNA"AZAbAjArAzAAA ]c@A'§3tAIq@AûA]A_vAv?AuԿAR<*A9?2Aޙֽ:A[BA9?JAޙֽRA[٘i)I9q@YG Ja<JJJJE&K YW~?yRAEb77 9IB)BwE[[.[pX~?[V[[[[BZYY i<=) #)))>)>P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037456.343165 s, next control iter: 1743037456.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 10955*, header.stamp.nsec: 0*0 temperature: 13.568902** salinity: 33.375122*, density: 1025.000000** values[0]: 0.575468*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037456.743165 s.W AJ~,m/)AJ"J*J2J:JBJnJvJAףp=e@A]L3}e@AX~? AAv%"AASlNA"AZAbAjArAzAAA@A725tAq@A&;A`AܤA\O?AӿAK<*A9?2Ahֽ:AxVBA9?JAhֽRAxV٘i)I9q@YG J <JJJJE&K Y" X~?y |RAE؊9)B[[M[eX~?[[[[[BZYY i) %D))iS>iS>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037456.763165 s, next control iter: 1743037457.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037457.163165 s.w}AJ~,qJ)AAe@A4fe@AqX~? AA4%"AA~wlNA"AZAbAjArAzAAAg@A|t77tA/r@A?<A0A8鈾A?A@ҿA֧<*A9?2A'׽:ABA9?JA'׽RAYv@ay-@<ٓH? ? [п@P?`v6???d?)v@ I٘i)I9/r@YfG J<JJJJE&K@x> YZ(X~?y RAaEŧ7b79)BzE[[}[X~?[ª[[[[BZYY i) ))59>9>'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037457.183165 s, next control iter: 1743037457.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037457.583165 s.AJ~,"Se)AJ"J*J2J:JBJnJvPublished command to Gazebo (printed only once in a while):vJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252365> elevatorAngleAction: 0.086863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037457.583297F (some fields omitted in printout)A)\e@Ae@A_X~? A;AJ%"AAlNA"AZAbAjArAzAAAG@AQ$9tAcr@AhZ<AAa|A ?A ѿA1C<*A9?2A<׽:A?BA9?JA<׽RA?٘i)I9r@YG Jw<JJJJE&K YCX~?ypSSAE{7j7m9)B}E[[(ݾ[ӮX~?[Ū[[[[BZYY i) p-)) >>yӱ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037457.603165 s, next control iter: 1743037457.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10956, header.stamp.nsec: 00 temperature: 13.568535* salinity: 33.375149, density: 1025.000000* values[0]: 0.576234F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037458.003165 s.z AJ~,U4)AAR+f@A%Zxf@AY~? A<A %"AAlNA"AZAbAjArAzAAAyn5@A:tANs@AJ<ATAhAN?AпAؾ<*A9?2Aeս:ABA9?JAeսRA٘i)I9Ns@YG JŬ<JJJJE&K Y^X~?ySA"E)7789KB)BE[[Ӿ[X~?[Ȫ[[[[BZYY i) ))^>^>Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037458.023165 s, next control iter: 1743037458.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037458.423165 s.u&AJ~,)AJ"J*J2J:JBJnJvJA{Gaf@A-=Tf@A.Y~? A A%"AAlNA"AZAbAjArAzAAA6&Y:\@A ))>>}*Y,#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037458.443165 s, next control iter: 1743037458.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10957, header.stamp.nsec: 00 temperature: 13.568153* salinity: 33.375175, density: 1025.000000* values[0]: 0.576965F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037458.843165 s.,AJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037458.843303F (some fields omitted in printout)Ap= f@Ad6f@AUGY~? A ARI%"AA mNA"AZAbAjArAzAAAu*@A1]>tAt@Au*ACAAA /?A|οA<*A9?2A'nս:A%BA9?JA'nսRA%٘i)I9t@YG J&<JJJJE&K Y:X~?ypTA'E77{7Γ9)BE[[[6X~?[|Ϊ[[[[BZYY i) !))U>U>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037458.863165 s, next control iter: 1743037459.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037459.263165 s.4AJ~, )AJ"J*J2J:JBJnJvJAf@Anf@A`Y~? AVA%"AA.mNA"AZAbAjArAzAAAĆҰ@A?tA/*u@A`AWA_,AAU?Aq̿A<*A9?2Aս:AzBA9?JAսRAzY:@q+y%"aٓH@pp?@y?@ɴAſ?#Z?@?{@?):@ I٘i)I9*u@Y7G J<J.JJJE&Kv> Y X~?y UAq+*E{7j79LB)BE[[5d[Y~?[Ѫ[[[[BZYY i) ))~>>*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037459.283165 s, next control iter: 1743037459.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 109582, header.stamp.nsec: 020 temperature: 13.5677172* salinity: 33.3751792, density: 1025.0000002* values[0]: 0.5778192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037459.683165 s.l:AJ~,o)AA(\g@Aff@AxY~? AAw%"AAlTmNA"AZAbAjArAzAAA@A*DbAtAUu@AT!AಯAvAx?AeʿAR<*A|9?2A?ս:ABA|9?JA?սRA٘i)I9u@YG JK<B=JJJJE&K YX~?y_UA-E77c9)B[[뭾[Y~?[Ӫ[[[[BZYY i) )) )4>)4>U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037459.683165 s, next control iter: 1743037460.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743037460.103165 s.AAJ~,)AJ"J*J2J:J?BJ?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037460.103302F (some fields omitted in printout)AQ8g@ADmF+g@A͑Y~? AA)%"AA'zmNA"AZAbAjArAzAAA<# @A|AgBtA}v@AUA䔱A"A`ݜ?A` ȿAL<*A9?2ADս:ABA9?JADսRA٘i)I9}v@YG J;<C=JJJJE&K YX~?yUA/EZ7Z7.9)BE[[d[1Y~?[ժ[[[[BZYY i) ]))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037460.123165 s, next control iter: 1743037460.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037460.523165 s.GAJ~,|!)AAHzng@A( ag@AY~? A A%"AAmNA"AZAbAjArAzAAAu=@ADtA(w@AЍ <AvAٽA?A*ǿAZ<*A$9?2AFս:ArBA$9?JAFսRAr٘i)I9(w@YnG J<JJJJE&K Y}Y~?yMhVA2E77{79)BE[[ Ϛ[GY~?[8ت[[[[BZYY i) ))P>P>~*YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037460.543165 s, next control iter: 1743037460.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10959, header.stamp.nsec: 00 temperature: 13.567287* salinity: 33.375195, density: 1025.000000* values[0]: 0.578673F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037460.943165 s.WdNAJ~,>]<)AJ"J*J2J:J#?BJ#?nJV5vJAq= ףg@AWʖg@A.Y~? AAf%"AAGmNA"AZAbAjArAzAAAhNo@A=_@/EtAw@Au]<A,aAA?A@ SſAR(<*Aܚ9?2Aս:A'eBAܚ9?JAսRA'e٘i)I9w@YG J<JJJJE&K YN Y~?yVA5E777Ü9)BE[[-[_^Y~?[\ڪ[[[[BZYY i) W)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086863< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037461.363290F (some fields omitted in printout)Ag@Ap!g@AY~? AAB%"AAmNA"AZAbAjArAzAAALgo@Al BFtAx@A(8<A9A A`?AN{ÿAc<*Au9?2Aս:AhBAu9?JAսRAhY@y6Z9<ٓH?а?@?5u ߶???)@ I٘i)I9x@YAG JC<B=Jr6JJJE&Klu> YsBZYY i¸>4) >z@AxsQA툛A%A`F/?A@9ỿA1=*AN9?2AIdԽ:A¼BAN9?JAIdԽRA¼٘i)I9z@YG J=JJJJE&K YݐY~?yXA?Eŧ7b79)|BE[[+PU[Y~?[[[[[ZZZZBZYY i) O!@AItAN{@ACA9yA\K<A2@?A2A%<*A9?2AԽ:AwBA9?JAԽRAw٘i)I9{@Y=G J2=JJJJE&K YY~?yCYABE{7Z79)uB[[A[?Y~?[[[[[ZZZZBZYY i) $ YEY~?yhYA%=EEj7j79)nBE[[[.[Y~?[f[[[[ZZZZBZYY i) :A@{?AMzA ;*AJ9?2ATZս:A<BAJ9?JATZսRAy/=kٓH?``jq? ??@A\z?7b?)MS@ I٘i)I9c~@YG J֊;B=J7>JJJE&Kt> YiVZ~?yGZA>REŧ7b7y9QB)^BE[[5[bZ~?[[[[[BZYY itOk) iUAC{?AVU?A ߺ*AC9?2Azս:Ax<BAC9?JAzսRAx<٘i)I9g~@YG J9C=JJJJE&K YurZ~?yZAUE7777C9)E[[^[B{Z~?[[[[[BZYY i^5)  CAz?A@l?A~ѻ*A9?2ArԽ:A'<BA9?JArԽRA'<٘i)I9L~@YG JzJJJJE&K YZ~?yYAXE{7j79)[[̺[Z~?[[[[[BZYY i) n2A@u?Ag?A%*A9?2AԽ:A=BA9?JAԽRA=٘i)I9~@YG JJJJJE&K YZ~?yYAZE{7ٵ9PB)`BE[[-x[ڬZ~?[ [[[[BZYY i) _ An?Aת?AL`*A69?2AԽ:A =BA69?JAԽRA =٘i)I9}@YsG J@JJJJE&K YZ~?y[YA]Ej7j79)bBE[[;[Z~?[[[[[BZYY i) #sA@e?A`?A~*A_9?2A޵Խ:Ai=BA_9?JA޵ԽRAi=Ym<:o>y=!<ٓH ?cͿ@A? ?b"?jN{?-? T?)m< I٘i)I9\}@Y4G JUwJz=JJJE&Ks> YZ~?yQ:YA:o>`E)7ŧ7n9OB)eBE[[<[Z~?[[[[[BZYY i[Pj) -A@X?A ش?Aj*Af9?2AԽ:A=BAf9?JAԽRA=٘i)I9|@YG J^JJJJE&K YZ~?yGXAbEŧ7b799)hBE[[t4=[Z~?[[[[[BZYY i) ;Ii?`ׄ< PT?))2셾PT?PT?4ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037468.103165 s, next control iter: 1743037468.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037468.503165 s.AJ~,n4 )AJ"J*J2J:J1?BJ1?nJp5vJARkk@A $}^k@AO[~? AAм%"AApNA"AZAbAjArAzAAA=6E<)@Ai~ItA@Z|@A 3<AI=A͋>APL?A`ZŸ?A*A:?2A ӽ:Am{=BA:?JA ӽRAm{=٘i)I9Z|@YG JJJJ$FJE&K Y[~?y>xXAeE77{79NB)lBùE[[=[[~?[K[[[[BZYY i) ;Ii?< rgY?)) rgY?rgY?ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037468.523165 s, next control iter: 1743037468.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10967, header.stamp.nsec: 00 temperature: 13.565038* salinity: 33.375309, density: 1025.000000* values[0]: 0.582558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037468.923165 s.5AJ~,;)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037468.923279F (some fields omitted in printout)A{Gk@AW;k@A[~? AAU%"AApNA"AZAbAjArAzAAAt)@AQ@gHtAP{@AA;A=AG>A(AL)?A?AÒ*A :?2ARLս:AE=BA :?JARLսRAE=٘i)I98{@YG JJJJJE&K YO[~?y*WAjEŧ7b79LB)rBŹE[[=[1C[~?[[[[[BZYY i) w;Ii?{o< 6c?))6c?6c?dժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037469.363165 s, next control iter: 1743037469.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10968&, header.stamp.nsec: 0&0 temperature: 13.565178&* salinity: 33.375309&, density: 1025.000000&* values[0]: 0.581994&F (some fields omitted in printout):O[~?):* rAdjusting time to match Gazebo time: 1743037469.763165 s.9AJ~,'p)AA l@AAk@Ao[~? A,A%"AApNA"AZAbAjArAzAAA.tq+@AX$GtAVz@A_A=Aa>A@?A?A[*Ap:?2Aս:Ae=BAp:?JAսRAe=YU={>yg=d`ٓH %? տ`?? 7?@$?dj?)U= I٘i)I9z@YG JzJ&'<JJJE&Kt> Yj[~?yG PWA>mES77cŽ9KB)vBȹE[[:=[2\[~?[[[[[BZYY i) ~N;Ii?~c< h?))A?A ?AL[*A:?2Aj ֽ:A\4<BA:?JAj ֽRA\4<٘i)I9z@Y5G J$JJJJE&K YT[~?ydVApE77.Ď9JB)zB˹E[[l>[Yu[~?[[[[[BZYY iJ) ;Ii4? X< m?))q܅m?m?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037470.203165 s, next control iter: 1743037470.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037470.603165 s.64AJ~,)AAQxl@AfIkl@Ab\~? AAB%"AA8IqNA"AZAbAjArAzAAA@D,@AJEtAȅy@A'A=A|Ͽ>A`?A ?A'*A5:?2A<Խ:A<BA5:?JA<ԽRA<٘i)I9y@YG JQB=JJJJE&K Y[~?yVArE777Ŏ9)}BιE[[%(>[[~?[[[[[BZYY i) 8:Ii?N< Rs?)) Rs?Rs?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037470.643165 s, next control iter: 1743037471.003179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10969, header.stamp.nsec: 00 temperature: 13.565336* salinity: 33.375336, density: 1025.000000* values[0]: 0.581409F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037471.023165 s.ZAJ~, |)AJ"J*J2J:J?BJ?nJ5vJAHzl@A؀l@A.\~? AAf%"AAoqNA"AZAbAjArAzAAAnQ,@AsACtAx@A8;A3B=A>AF?A}?A*A+6:?2As^Խ:A<BA+6:?JAs^ԽRA<٘i)I9x@YG JIC=JJJJ E&K Y[~?yVAuEb77ǎ9IB)BѹE[[M=>[[~?[g[[[[BZYY i)  9Ii?F< .Px?)).Px?.Px?ĪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037471.043165 s, next control iter: 1743037471.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037471.443165 s.8AJ~,B])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743037471.443274F (some fields omitted in printout)Aq= l@A~kl@AG\~? AA&%"AAqNA"AZAbAjArAzAAAV_XOw-@A!V&BtAlx@AP<AЊ=A>A`?A}F?A*AV6:?2AdԽ:A<BAV6:?JAdԽRA<٘i)I9lx@Y3G JAJJJJ E&K Y[[~?yUAxEj7j7Ɏ9HB)BԹE[[R>[i[~?[[[[[BZYY i)  Ii”?h><  }?)) }? }?y䇽WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037471.463165 s, next control iter: 1743037471.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10970, header.stamp.nsec: 00 temperature: 13.565475* salinity: 33.375340, density: 1025.000000* values[0]: 0.580832F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037471.863165 s.+AJ~,>)AJ"J*J2J:J?BJ?nJ5vJAm@A: m@A`\~? A}AY%"AAqNA"AZAbAjArAzAAAE^.@A4j:AtAKw@A{W<A=A >A@·?A?A[*A5:?2A"ս:A<BA5:?JA"սRAlp>y=AW<ٓH?ڿ@ʰ??U ?{I?f@L?R?)k~\> I٘i)I9w@YG JJJJJE&Kt> Y[~?y[UAp>zEŧ77Yˎ9)B[[f>[x[~?[![[[[BZYY i) ]ºIil?v2< a?))Lwa?a? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037471.903165 s, next control iter: 1743037472.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037472.283165 s.=RBJ~,)AA(\Om@AQBm@Ay\~? AA%"AAqNA"AZAbAjArAzAAACإ.@Axln?tA fw@Ao;AP=Ať>A c?A`!?A*A4:?2Aս:A>?<BA4:?JAսRA>?<٘i)I9fw@YG JJJJJE&K Y\~?yQTA}Ej7j7#͎9GB)B׹E[[e{>[[~?[?ު[[[[BZYY i) Ii?`'< ?)) ??cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037472.303165 s, next control iter: 1743037472.683182 s, wait time: 0.380017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10971., header.stamp.nsec: 0.0 temperature: 13.565604.* salinity: 33.375370., density: 1025.000000.* values[0]: 0.580286.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037472.703165 s.Һ BJ~,-)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066374< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743037472.703270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQm@Axm@A\~? A A%"AArNA"AZAbAjArAzAAA/e;/@A}2>tAkv@A_A=AP->A=?A ?AP押*A(M:?2AԽ:A <BA(M:?JAԽRA <٘i)I9v@YIG JJJJJE&K Y<"\~?yTAEŧ7b7Ύ9FB)BڹE[[Ko>[ \~?[0ܪ[[[[BZYY i)  ^Iiv?< ?))??۴YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037472.723165 s, next control iter: 1743037473.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037473.123165 s.=BJ~,vG)AAGm@A+ԭm@A\~? A AuI%"AA,rNA"AZAbAjArAzAAAo/@AÉA?AE?A烼*AJ:?2ADս:A<BAJ:?JADսRA<٘i)I9{v@YG JJJJJE&K Y;\~?yITAE77Ў9)BݹE[[>[&\~?[٪[[[[BZYY i) 1&Ii4i?V@< cL?))cL?cL?ӲY/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037473.143165 s, next control iter: 1743037473.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037473.543165 s.IBJ~,b)AJ"J*J2J:JBJnJvJA= ףm@A IJm@A\~? AA%"AAQrNA"AZAbAjArAzAAAW20@A|&:tAdv@AJbAf8=A*?A?A 6&?Aת*AG:?2A ս:A<BAG:?JA սRA<٘i)I9v@YG JJJJJE&K Y}U\~?y2SAE7777Ҏ9BB)߹E[[OƝ>[`?\~?[ת[[[[BZYY iS) {KIi]? < ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037473.563165 s, next control iter: 1743037473.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10972, header.stamp.nsec: 00 temperature: 13.565694* salinity: 33.375393, density: 1025.000000* values[0]: 0.579821F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037473.963165 s.wBJ~,})AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037473.963297F (some fields omitted in printout)Affff&n@Al\n@A\~? AA>%"AAvrNA"AZAbAjArAzAAAj8m{0@AQ"8tAnu@A A"=A ?A?A@$?AN*AD:?2Aս:A^<BAD:?JAսRA^?y!= ٓHy?S s~? G?@?`EB?u!`n j?)> I٘i)I9u@YG JJAJJJE&Ku> Ym\~?ySA?E7{7NԎ9)B[[C^>[6X\~?[Ԫ[[[[BZYY i) ̻IiK?< ~?))x~?~?籪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037473.983165 s, next control iter: 1743037474.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037474.383165 s.%BJ~,+)AJ"J*J2J:Ja?BJa?nJ5vJA(\n@A&BOn@A\~? AA%"AA^rNA"AZAbAjArAzAAAɫw0@A(_7tA5u@A:AI=Ap$?A _?A?A*A=:?2Aս:A<BA=:?JAսRA<٘i)I95u@Y>G JJJJJ E&K Y\~?y6ASAEb7b7֎9AB)BE[[ >[q\~?[>Ҫ[[[[BZYY i) FIi_:?; iK?)) iK?iK?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037474.403165 s, next control iter: 1743037474.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10973", header.stamp.nsec: 0"0 temperature: 13.565763"* salinity: 33.375397", density: 1025.000000"* values[0]: 0.579415"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037474.803165 s.A,BJ~,g)AAn@A uXn@A~ ]~? AkA4%"AArNA"AZAbAjArAzAAA=\ 1@A^t4tAt@A&<A,A=A0?A\?A?A>*AaO:?2AC1Խ:Ac=BAaO:?JAC1ԽRAc=٘i)I9t@YG JJJJJ#E&K Yk\~?yߪRAE77׎9[\~?[RϪ[[[[BZYY i) ]Iis+?t; ?))??yd贪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037474.843165 s, next control iter: 1743037475.203183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743037475.223165 s.g3BJ~,H)AJ"J*J2J:JE?BJE?nJy5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199332 time: 1743037475.223293F (some fields omitted in printout)Azn@A}n@A#]~? AAv%"AArNA"AZAbAjArAzAAA"? T1@A`Y2tA0Wt@Ad<A}3=A?A &*?A?A*AI:?2AԽ:A-=BAI:?JAԽRA-=٘i)I9Wt@YG J$JJJJ%E&K Y\~?y;۪RAE777َ9;B)BE[[[>[Ң\~?[7̪[[[[BZYY i) IiQ?O; IJ?))IJ?IJ?LYZ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037475.263165 s, next control iter: 1743037475.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037475.643165 s.z9BJ~,*)AA ףpn@AYen@Ai:]~? AWA%"AAsNA"AZAbAjArAzAAAԚ1@AD0tA)s@A<*<Ao=AQ?AT?Ao?A*AB:?2Awս:A=BAB:?JAwսRA=٘i)I9s@YqG JJJJJ(E&K Y \~?y֪=RAEyێ9)B[[>[\~?[Ȫ[[[[BZYY i) ^%Ii?%; m?))m?m?YYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10974, header.stamp.nsec: 0]:0 temperature: 13.565866* salinity: 33.375408, density: 1025.000000* values[0]: 0.578955F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743037475.663165 s, next control iter: 1743037476.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037476.063165 s.@BJ~,t  )AJ"J*J2J:JBJnJvJA33333o@A&&o@AQ]~? AA%"AAK*sNA"AZAbAjArAzAAA΂1@Aנ\.tA'ss@A$:A=A"?A@f?A,G?Aab*A;:?2A~ս:A=BA;:?JA~սRA=Y1>g"?y=:ٓH@? +???ܣ?:W?`j?)1> I٘i)I9ss@Y+G JJ'<JJJ+E&K7u> Y\~?yѪQA"?E77j7Dݎ9:B)BE[[ga>[\~?[Ū[[[[BZYY i) 4Ii?; G ?))/{G ?G ?ȽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037476.103165 s, next control iter: 1743037476.463185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743037476.483165 s.{_GBJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245148@ elevatorAngleAction: -0.075993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037476.483303F (some fields omitted in printout)A\ho@AR[o@A_h]~? AAXN%"AA#MsNA"AZAbAjArAzAAA,&2@A Oh+tAs@AyWAŒ=AA(?A`?A?Az*A4:?2Akֽ:A =BA4:?JAkֽRA =٘i)I9s@YG JEJJJJ-E&K Y\~?yH̪QA DE)7ŧ7ߎ96B)E[[sF>[0\~?[[[[[BZYY i) dDIic>?; ٞ?)) ٞ?ٞ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037476.523165 s, next control iter: 1743037476.883182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10975, header.stamp.nsec: 00 temperature: 13.565973* salinity: 33.375416, density: 1025.000000* values[0]: 0.578527F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037476.903165 s.MBJ~,9 )AJ"J*J2J:JBJnJvJAQo@A5!o@A~]~? AAޛ%"AAosNA"AZAbAjArAzAAAj2@Arۂ)tAӎr@A@_Arˏ=AaE-?A@vA?A@?Ab`*A~D:?2ALս:Ah=BA~D:?JALսRAh=٘i)I9r@YG JJJJJ0E&K Y=]~?yǪ'QAE7795B)BE[[{@>[d]~?[[[[[BZYY i) |SIi}>{;  ?)) ? ?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037476.923165 s, next control iter: 1743037477.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037477.323165 s.~TBJ~,GT )AAGzo@A/Xno@AH]~? ArA+%"AAsNA"AZAbAjArAzAAAsBV2@A}xf2&tAr@AAAߒ=AS2?A ?A?AU[*A>:?2Abxս:Aƨ=BA>:?JAbxսRAƨ=٘i)I9r@YXG JJJJJ3E&K Y)]~?yPAE9)B[[/N>[]~?[[[[[BZYY i) gcIi;>-[; y[?))y[?y[?ɪYZ+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037477.343165 s, next control iter: 1743037477.723184 s, wait time: 0.380019 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10976&, header.stamp.nsec: 0&0 temperature: 13.566077&* salinity: 33.375443&, density: 1025.000000&* values[0]: 0.578056&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037477.743165 s.J "J *J 2J :J ?BJ ?nJ +5vJ "W[BJ~,o )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037477.743318F (some fields omitted in printout)Aףp= p@A-?2o@AU]~? AA"?%"AAIsNA"AZAbAjArAzAAAԆ#/2@A~gP$tATq@A'sA=AfU7?A?A ތ?AP٘*A8:?2A{ս:AG =BA8:?JA{սRAG =٘i)I9q@Y G JJJJJ5E&K Y@]~?ymPAE{7j7n94B)BE[[u6?[v4]~?[ﵪ[[[[BZYY ix) QrIi>M?; (#?))(#?(#?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037477.763165 s, next control iter: 1743037478.143182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037478.163165 s.}}bBJ~,q )AA@p@Aa2p@A]~? AݫA%"AAsNA"AZAbAjArAzAAAŴHm.33@A!tAq@A;A+=AVA(; ?))??EѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037478.183165 s, next control iter: 1743037478.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037478.583165 s.hBJ~,S )AJ"J*J2J:J?BJ?nJ5vJA)\up@A=Ghp@A]~? A٫A%"AANsNA"AZAbAjArAzAAA>kYJt3@A5tAp@A[V<Az=AmA?AU; ?))??ZԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037478.623165 s, next control iter: 1743037478.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10977, header.stamp.nsec: 00 temperature: 13.566176* salinity: 33.375450, density: 1025.000000* values[0]: 0.577547F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037479.003165 s.{ pBJ~,Y4 )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037479.003316F (some fields omitted in printout)ARp@AS{p@A]~? AYԫAG%"AAtNA"AZAbAjArAzAAANDz3@AtA:p@AT<A=AmF?A@?A {?Av*A:?2Aս:A\j=BA:?JAսRA\j=٘i)I9p@YG JƧC=JJJJ=E&K Y]~?y鬪WOAE)7b79/B)E[[ ?[&{]~?[S[[[[BZYY i) VIiV>*Z ; J?))J?J?y4}תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037479.023165 s, next control iter: 1743037479.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037479.423165 s.uvBJ~, )AJ"J*J2J:J?BJ?nJ5vJA{Gp@AmFAp@A^~? A~ϫA%%"AA5tNA"AZAbAjArAzAAAӴ3@A3SMntASso@A,;Aǟ=AL?A` ?A/?A*AC:?2A{ֽ:A=BAC:?JA{ֽRA=٘i)I9so@YG JJJJJ@E&K Y]~?yNAESI7SI79.B)BE[[?[/]~?[q[[[[BZYY i) &yIinI>; ^_?))^_?^_?۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037479.443165 s, next control iter: 1743037479.823177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10978", header.stamp.nsec: 0"0 temperature: 13.566351"* salinity: 33.375431", density: 1025.000000"* values[0]: 0.576970"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037479.843165 s.|BJ~, )AAp= q@A q@A!^~? AʫA %"AATtNA"AZAbAjArAzAAA.UB14@A/EtAn@A݉A"=AnxQ?A@\?A`Db?Ao*AM :?2AZ׽:AE=BAM :?JAZ׽RAE=٘i)I9n@YdG JJJJJCE&K Yb]~?ytNAEb7b7d9-B)BE[[iT!?[]~?[e[[[[BZYY i) 2:IiC>٥: "2?))"2?"2?ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037479.883165 s, next control iter: 1743037480.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037480.263165 s.BJ~,, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743037480.263270F (some fields omitted in printout)J"J*J2J:JBJnJvJALq@A /?q@AR)^~? AdūAg%"AAstNA"AZAbAjArAzAAAK %o4@A!tARn@An(CA<ѥ=A V?A@ ?A !?AYȭ*A:?2AT׽:A,=BA:?JAT׽RA,=Y?V?y8Υ=CٓHS?@"? /?_?3p?d?)? II٘i)I9Rn@Y G JXJ=JJJFE&KI> YA]~?yꛪ/NAV?EZ7Z7/9)B[[&&?[վ]~?[J[[[[BZYY i) Ii>: ?))ܥt??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037480.283165 s, next control iter: 1743037480.663180 s, wait time: 0.380015 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 109792, header.stamp.nsec: 020 temperature: 13.5665162* salinity: 33.3754692, density: 1025.0000002* values[0]: 0.5763682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037480.683165 s.lBJ~,g+ )AA(\q@A<uq@A)=^~? A&A%"AAtNA"AZAbAjArAzAAA`13FN4@A%ƤtAm@A]A=A]!\?A`"?AN?A+*A9?2ApW׽:Ae=BA9?JApW׽RAe=٘i)I9m@YG JJJJJHE&K Y]~?y_MAE7779,B)BE[[fw,?[]~?[[[[[BZYY i) Ii_=/: ú?)) ú?ú?5YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037480.683165 s, next control iter: 1743037481.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037481.103165 s.BJ~,F )AJ"J*J2J:JBJnJvJAQq@Ao~Dq@AP^~? AǺA@4%"AAtNA"AZAbAjArAzAAA/a4@AsHiL tAv%m@ALtA=Aa?Ai?A g?Aj׻*A:?2A~ ս:A=BA:?JA~ սRA=٘i)I9%m@YUG JᶼJJJJKE&K Y]~?yԎPMAE)7ŧ79)B)BE[[a2?[#]~?[[[[[BZYY i) 7]Ii<%9 ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037481.123165 s, next control iter: 1743037481.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037481.523165 s.BJ~,{a )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037481.523297F (some fields omitted in printout)AHzq@A\Wq@Ac^~? AIA/%"AA9tNA"AZAbAjArAzAAAf 5@AobVtAl@A:A{Ǯ=Ae?A@?A8"?Aqż*A:?2AԽ:AI=BA:?JAԽRAI=٘i)I9l@YG JJJJJNE&K Y]~?yILAESI7SI79(B)ïBE[[7?[m]~?[؈[[[[BZYY i) oIxI?iw漉 `?))`?`?YHYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037481.543165 s, next control iter: 1743037481.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10980, header.stamp.nsec: 00 temperature: 13.566689* salinity: 33.375465, density: 1025.000000* values[0]: 0.575731F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037481.943165 s.WdBJ~,>]| )AJ"J*J2J:JBJnJvJAq= #r@A,r@Av^~? AAZ %"AAtNA"AZAbAjArAzAAA2[Y5@ANtAk@A9,<A=A>j?A?Acv?A( μ*AZ:?2AԽ:Ai=BAZ:?JAԽRAi=٘i)I9k@YG JhɼB=JJJJPE&K Y^~?yrLAEj7Z7Y9&B)ȯBE[[ )AAYr@A(\Lr@A^~? AAx%"AA:uNA"AZAbAjArAzAAA%@f95@A|* tAf+k@Ad<A=AUo?As?AK?AsӼ*A/:?2A-ս:Ax=BA/:?JA-սRAx=Y#8?8 Yi!^~?yzKA  9Y]r^~? 9yVIA,?E779B)BE[[q_?[^~?[\[[[[ZZ¸BZYY i¸ɩ=) UݼIQH?il i?))i?i?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037484.503165 s, next control iter: 1743037484.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10983, header.stamp.nsec: 00 temperature: 13.567388* salinity: 33.375515, density: 1025.000000* values[0]: 0.573469F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037484.883165 s.yBJ~,48 )AA(s@Au? s@AW^~? AYA<%"AAJuNA"AZAbAjArAzAAA}6@A_ULsAf@AUA=A,҇?A@'?A?A*5ݼ*A9?2A2ֽ:A5T=BA9?JA2ֽRA5T=٘i)I9f@Y G JټJJJJcE&K Y^~?yO%IAEŧ7b79B)BE[[e?[֛^~?[U[[[[ZZBZYY i) ѼIH?iӾ\ H?))H?H?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037484.903165 s, next control iter: 1743037485.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037485.303165 s.SBJ~,jgS )AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037485.303272F (some fields omitted in printout)As@AVs@A^~? A~A%"AANuNA"AZAbAjArAzAAA,h6@A*[sA)f@Aqp;AB!=AQ?A?A`\?A*A 9?2Aaֽ:A <BA 9?JAaֽRA <٘i)I9)f@Y G JMJJJJfE&K Y^~?yGHAE77j79)B[[;{k?[^~?[N[[[[ZZBZYY i) hļIWH?i 꾉ʕ ?))??&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037485.323165 s, next control iter: 1743037485.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10984., header.stamp.nsec: 0.0 temperature: 13.567671.* salinity: 33.375511., density: 1025.000000.* values[0]: 0.572640.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037485.723165 s.BJ~,Hn )AAzt@As@A%_~? ATxA9%"AAuNA"AZAbAjArAzAAA/$7@A~kܼsADe@AET<Ao=Aތ?A?AR3?A*AH9?2Am[ֽ:A w<BAH9?JAm[ֽRA w<٘i)I9De@Y G JJJJJhE&K Y)^~?y?/HAE{7{7y9B)BE[[Xq?[о^~?[G[[[[ZZBZYY i) +帼IH?i뺡 ~?))~?~?y/*=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037485.743165 s, next control iter: 1743037486.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037486.143165 s.Z/BJ~,* )AJ"J*J2J:JBJnJvJA ףp=t@Ae0t@A_~? AqAڹ%"AAeuNA"AZAbAjArAzAAAݝQ7@AE޾sAgd@AG<A'pu=A}?A7?Ax?Ab*A9?2Aֽ:AVo<BA9?JAֽRAVo<٘i)I9gd@Y G JJJJJkE&K Ym^~?yZ8GAE777D9)B[[;w?[^~?[)@[[[[ZZBZYY i) #ӬI[H?i* b?))b?b?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037486.163165 s, next control iter: 1743037486.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037486.563165 s.BJ~,R )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082904< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037486.563288F (some fields omitted in printout)A3333st@A)ft@A8+_~? AjA<%"AAuuNA"AZAbAjArAzAAA ~}7@A`h2sAc@A&;AK 0=A%?Al?A`?A+<Ӽ*A9?2Aֽ:A&;BA9?JAֽRA&;Y>l?+?y 0=>;ٓHv?oH?Q?`? ?@s?X?)>l? I٘i)I9c@Y G JgJwJJJnE&Kw> Y1^~?yU0yGA+?E77 9B)BE[["}?[^~?[8[[[[ZZBZYY i{=) IhH?i6 t@A9_~? AdA%"AAvNA"AZAbAjArAzAAA27@AKdsAb@AAy <AȔ?Ag?A?AP*A9?2A6ֽ:Ar$BA9?JA6ֽRAr$٘i)I9b@Y' G Ja¼JJJJqE&K Y^~?yP(>GAE77{7 9B)BE[[1?[^~?[1[[[[ZZBZYY i) >IH?i\̻ Y?))Y?Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037487.003165 s, next control iter: 1743037487.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037487.403165 s.&BJ~, )AAQt@A)t@AF_~? A/]A?Au*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J8JJJJsE&K Y^~?yJ GAE777 9)B[[z?[^~?[4)[[[[ZZBZYY i) 8sIH?i *ٻ ?))??dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037487.423165 s, next control iter: 1743037487.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 10986", header.stamp.nsec: 0"0 temperature: 13.568238"* salinity: 33.375523", density: 1025.000000"* values[0]: 0.570872"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037487.823165 s.BJ~,y )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072703< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037487.823314F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzu@Aʉvu@AS_~? A.VA%%"AA=vNA"AZAbAjArAzAAA-*7@Ax8?yJYo;ٓHJ?[NymMJ?`͋?r5?b?@?)+? I٘i)I9a@Ys G JłJ5JJJ{E&K}x> YT^~?yFA8?E{7j79B)BE[[q?[a)_~?[[[[[BZYY ipi=) @\IH?i`Eʤ ?))??ysl=,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037488.683165 s, next control iter: 1743037489.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037489.083165 s.ECJ~,?SE )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057023< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743037489.083313F (some fields omitted in printout)A)\µu@AYکu@Aw_~? A@Aap%"AAuvNA"AZAbAjArAzAAA=d8@AĔ sA.a@A=5<A/A ?Al?A'?A;:*A9?2AK&׽:AVPBA9?JAK&׽RAVP漙٘i)I9a@Yq G JUJJJJ~E&K Yj^~?yFAE779B)BE[[Qr?[`6_~?[[[[[BZYY i)=)  JIXH?iGPL d?))d?d?y\(=k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037489.103165 s, next control iter: 1743037489.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037489.503165 s.CJ~,D4` )AJ"J*J2J:JBJnJvJARu@Aj1xu@A_~? A`9Ai%"AAvNA"AZAbAjArAzAAA U8@ApOsA_a@Ab<AIVA炤?A 1?A@\?A4;*A9?2A(׽:A`WBA9?JA(׽RA`W٘i)I9a@Y G J;JJJJE&K Y_~?y.GAE{7{79)B[[v?[B_~?[>[[[[BZYY i) Q9IH?i+Yd h?))h?h?y b=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037489.523165 s, next control iter: 1743037489.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10988, header.stamp.nsec: 00 temperature: 13.568304* salinity: 33.375542, density: 1025.000000* values[0]: 0.570503F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037489.923165 s.7CJ~,{ )AA{G!v@A;v@AW_~? A1Aύ%"AA8vNA"AZAbAjArAzAAA}LA}8@A#(&θsA(b@AD2<AtA?Au?Ap?A|&<*A9?2Aֽ:AUBA9?JAֽRAU٘i)I9(b@Y G J<JJJJE&K Y _~?y;GAEb77d9 B)BE[[~?[N_~?[[[[[BZYY i) ,'IH?i `gc ?))??yƬ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037489.943165 s, next control iter: 1743037490.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037490.343165 s.<%CJ~, )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: 0.066973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037490.343331F (some fields omitted in printout)Ap= Wv@A%Jv@Aw_~? A*A%"AAvNA"AZAbAjArAzAAAd].8@A~OؿBsAyb@A:AoAh?Ad?A C?A`<*Al9?2Aֽ:A'q BAl9?JAֽRA'q ٘i)I9yb@Y G JA<JJJJE&K Y_~?ywfGAE7/9 B)BE[[ ?[Y_~?[[[[[BZYY i) \IQyH?id| ?))??^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037490.383165 s, next control iter: 1743037490.743179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10989&, header.stamp.nsec: 0&0 temperature: 13.568144&* salinity: 33.375553&, density: 1025.000000&* values[0]: 0.570811&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037490.763165 s.8+CJ~,#ذ )AǍv@AUm7v@A_~? A #Am%"AAvNA"AZAbAjArAzAAA_h8@A ­sAb@A #A⪏A!?A?A?At<*A9?2A)Gֽ:AzBA9?JA)GֽRAzY*,?x8?yq#ٓH ?>/I? ?갿]?Ga`r?)*,? I٘i)I9b@Y G Jw<JJJJE&Kw> Y_~?yݩGA8?E{7j79)B[[ԍ?[_d_~?[J[[[[BZYY i i=) IglH?i\p ^?))^?^?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037490.783165 s, next control iter: 1743037491.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037491.183165 s.2CJ~,Z )AJ"J*J2J:JBJnJvJA(\v@A8ӄv@AB_~? A{AC%"AAAvNA"AZAbAjArAzAAA )'8@AԎ{sA[c@AiA* A7?A( ?A=?A6<*Ai9?2A4;ֽ:A5BAi9?JA4;ֽRA5٘i)I9[c@Y_ G J4<JJJJE&K YL _~?yMթ'HAEZ79)B[[6?[An_~?[vݩ[[[[BZYY i) UQI^H?iy uC@))uC@uC@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037491.203165 s, next control iter: 1743037491.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037491.603165 s.549CJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037491.603282F (some fields omitted in printout)AQv@AFv@A_~? AA%"AAvNA"AZAbAjArAzAAADd9@A]hsA4c@A6A'˙AsU?A`I?A9<A%Aq?A@?A`?Ay<*A9?2A4׽:A\BA9?JA4׽RA\٘i)I9e@Ya G J<C=JJJJE&K Y:3_~?yIIAE7%#9B)BE[[Ũ?[_~?[]©[[[[BZYY i) =1I4H?io<* @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037492.463165 s, next control iter: 1743037492.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10991, header.stamp.nsec: 00 temperature: 13.567590* salinity: 33.375542, density: 1025.000000* values[0]: 0.572029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037492.863165 s.+MCJ~,>7 )AJ"J*J2J:Jp?BJp?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056908< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743037492.863309F (some fields omitted in printout)Aw@ABw@A_~? AA%"AAvNA"AZAbAjArAzAAAF]9@A{W fCsAe@A4c<A\ЗAlf?A?AE?Acx<*A9?2AZS׽:AqBA9?JAZS׽RAqY`8?D?y̗c<ٓHk?2s?e?@>??@!?Zf??)`8? I٘i)I9e@Y G J<J JJJE&Kx> Y6_~?yвIAD?EZ7SI7$9)ۯB[[ӫ?[2_~?[:[[[[BZYY i) }iI%H?i0 B@))B@B@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037492.883165 s, next control iter: 1743037493.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037493.283165 s.;RTCJ~,R )AA(\w@APw@Ar_~? AA2%"AA5wNA"AZAbAjArAzAAAfq9@A}sAz"f@AM<AAY?A`?A?AV<*A9?2A 0׽:AQBA9?JA 0׽RAQ٘i)I9"f@Y G J5<JJJJE&K Y-:_~?yJAEŧ7ŧ7&9B)ԯBE[[?[_~?[[[[[BZYY i$[=) N-IH?iD5 @))@@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037493.303165 s, next control iter: 1743037493.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 10992., header.stamp.nsec: 0.0 temperature: 13.567295.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.572744.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037493.703165 s.պZCJ~, m )AJ"J*J2J:JBJnJvJAQx@A!!w@A_~? AA%"AA wNA"AZAbAjArAzAAA4h9@AcsAf@Ai٘;AA?A@ ?A?A<*AM9?2AUֽ:A-BAM9?JAUֽRA-٘i)I9f@Yf G J<B=JJJJE&K Y=_~?yVzJAE)7(9)ЯB[[?[_~?[[[[[BZYY i) 0wIH?i𐿉N9 F @))F @F @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037493.723165 s, next control iter: 1743037494.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037494.123165 s.8aCJ~,a )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037494.123285F (some fields omitted in printout)AG:x@Aj-x@A!_~? AAe%"AAwNA"AZAbAjArAzAAAWNX9@A<߉sAG?iܒ; ; @)); @; @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037494.143165 s, next control iter: 1743037494.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037494.543165 s.IhCJ~,â )AJ"J*J2J:JBJnJvJA= ףpx@Aݗcx@A5_~? A.ݪA@%"AAwNA"AZAbAjArAzAAA^ 9@AsAg@A SAA?A=V?Ax?A<*A9?2Awֽ:ABA9?JAwֽRA٘i)I9g@Y G J0<JJJJE&K YD_~?yޏFKA E77,9B)ůBE[[o+?[_~?[ۓ[[[[BZYY i) 9I[G?i= pR @))pR @pR @ya=һ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037494.563165 s, next control iter: 1743037494.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10993, header.stamp.nsec: 00 temperature: 13.566988* salinity: 33.375587, density: 1025.000000* values[0]: 0.573428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037494.963165 s.{nCJ~, )AAffffx@AW\x@A_~? A9ժA^%"AA8"wNA"AZAbAjArAzAAAmH9@A4 -sAJh@A~[AAz2?A ?A.?AG[<*A9?2Aֽ:AlBA9?JAֽRAlYC?aO?y'[ٓH1?6a j?? YѰ?o ?)C? I٘i)I9Jh@Y` G J<Jd<JJJE&KZx> Y6E_~?yKAO?Eb7-9)B[[5B?[_~?[j[[[[BZYY i) q:IG?iB V@))V@V@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037494.983165 s, next control iter: 1743037495.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037495.383165 s.uCJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743037495.383248F (some fields omitted in printout)J"J*J2J:JBJnJvJA(x@Ax@A_~? A<ͪA7&"AA(wNA"AZAbAjArAzAAACrľ9@AL{sA#h@Au޻AhA?A?A CA?A%<*A9?2A6ֽ:ABA9?JA6ֽRA󼙘٘i)I9h@Y G J<JJJJE&K YE_~?yA~KAE77j7/9)B[[[?[_~?[ꀩ[[[[BZYY i) ;IVG?i&FF X@))X@X@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037495.403165 s, next control iter: 1743037495.783173 s, wait time: 0.380008 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 10994&, header.stamp.nsec: 0&0 temperature: 13.566710&* salinity: 33.375576&, density: 1025.000000&* values[0]: 0.574087&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037495.803165 s.A|CJ~,g )AAy@A~y@AM_~? A9ŪA@&"AA.wNA"AZAbAjArAzAAA*d9@A&civsA @i@Aj_;AAj?A *H?A R?Am<*A9?2Ap/׽:A|{BA9?JAp/׽RA|{٘i)I9@i@Y G J<B=JJJJE&K YmF_~?yruULAE)7ŧ7z19)B[[tx?[̭_~?[\w[[[[BZYY i) BC;IiG?iKUI >@))>@>@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037495.843165 s, next control iter: 1743037496.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037496.223165 s.J "J *J 2J :J ?BJ ?nJ .5vJ gCJ~,I)AAzGy@Aǵ:y@AF_~? A1Ao&"AAr3wNA"AZAbAjArAzAAAo f9@A9pہqsAi@AA<AƀA`;?Ao?A@0`?Ag<*A9?2A;_׽:AқBA9?JA;_׽RAқ꼙I٘i)I9i@Y:G J?<C=JJJJE&K YG_~?ylLAEj7j7E39B)BE[[?[?_~?[m[[[[BZYY i) ;IdG?id[J [i@))[i@[i@`*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037496.243165 s, next control iter: 1743037496.623180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037496.643165 s.uЉCJ~,*))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066092< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037496.643289F (some fields omitted in printout)A ףp}y@Aaripy@A_~? A$A &"AA7wNA"AZAbAjArAzAAA9@AGlsAAj@Ae<A6A ?A`v4?A k?AB|<*A(9?2A~U׽:AMBA(9?JA~U׽RAM꼙٘i)I9j@Y{G Ji<B=JJJJE&K YG_~?yc MAEŧ7b759)B[[?[_~?[-d[[[[BZYY i=) #;IYG?iroJ T@))T@T@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037496.663165 s, next control iter: 1743037497.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10995, header.stamp.nsec: 00 temperature: 13.566460* salinity: 33.375591, density: 1025.000000* values[0]: 0.574650F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037497.063165 s.CJ~,R D)AJ"J*J2J:J?BJ?nJA5vJA3333y@APs'y@A_~? AA9&"AA:wNA"AZAbAjArAzAAAU 9@A gsAQj@A><A[ Abk?A֖?A`qt?A'~<*A}9?2A׽:ABA}9?JA׽RAYL?8Y?yC<ٓH@ł `??\5?@X?`?)L? I٘i)I9j@YG J|<C=J];JJJE&Kkx> Y_E_~?y [`MAY?E777769)B[[#?[_~?[Z[[[[BZYY i) 6;IG?iӡ|#O y@))y@y@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037497.083165 s, next control iter: 1743037497.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037497.483165 s.v_CJ~,^)AA\y@A/1y@A_~? AAG&"AAq=wNA"AZAbAjArAzAAA$9@ACfbsAj@AԎAA6?A :?Aez?A<*A9?2A"ֽ:AZBBA9?JA"ֽRAZB٘i)I9j@YG J}<JJJJE&K YC_~?yERMAE{789)B[[o?[_~?[P[[[[BZYY i) 9;IMpG?i) !R *@))*@*@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037497.523165 s, next control iter: 1743037497.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 10996, header.stamp.nsec: 00 temperature: 13.566251* salinity: 33.375576, density: 1025.000000* values[0]: 0.575147F (some fields omitted in printout):C_~?):ER rAdjusting time to match Gazebo time: 1743037497.903165 s.ȝCJ~,y)AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJ8 propOmegaAction: 25.132812nJ< rudderAngleAction: -0.261799vJ> elevatorAngleAction: 0.075718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037497.903289F (some fields omitted in printout)AQz@Aiz@A_~? A휪A{&"AA/?wNA"AZAbAjArAzAAAsqCc9@A]sA3\k@A(A9A.z?A ?A}?A<*A9?2Aֽ:A3BA9?JAֽRA3٘i)I9\k@Y>G J<JJJJE&K Y@_~?y}I NA!Eo:9B)BE[[[?[_~?[]G[[[[BZYY i) ;I^G?is~S @))@@y=5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037497.923165 s, next control iter: 1743037498.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037498.323165 s.uCJ~,!)AAGzTz@A ףpGz@A5_~? AהAJ&"AA!@wNA"AZAbAjArAzAAA,g9@A>4XsAk@AhAi$A ?A [?A@?APL<*A<9?2Azֽ:A̓BA<9?JAzֽRA̓٘i)I9k@YG J<JJJJE&K Y>_~?y@bNA#Eb77:<9)B[[=3?[<_~?[=[[[[BZYY i) '9)B[[T?[,_~?[(4[[[[BZYY i)  elevatorAngleAction: 0.075718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743037499.163305F (some fields omitted in printout)Az@A*9'z@AJ_~? AA&"AA?wNA"AZAbAjArAzAAA5c9@AOsA6l@ASTʺA҈A a?A A y?A<*A9?2A׽:ABA9?JA׽RAYX?ld?y҈"ʺٓHM&ǿqx@?Tf?70ǿి?JY ?)X? I٘i)I9l@Y G JZ<J%JJJE&Kex> Y-7_~?yB/OAd?)E77?9B)BE[['u?[]_~?[*[[[[BZYY i) w.wNA"AZAbAjArAzAAA'`9@AB[JsAm@A <A✋A?AwIAs?A<*A9?2AMO׽:ABA9?JAMO׽RA٘i)I9m@YNG Jׄ<JJJJE&K Y2_~?y&pOA+E7A9)B[[?[̟_~?[![[[[BZYY i) > elevatorAngleAction: 0.075718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037500.423286F (some fields omitted in printout)A{Ga{@A ;T{@A_~? A~lA&"AA8wNA"AZAbAjArAzAAAhZE9@Au?@sAm@AND<AAfQ?AβA _?Ah<*Aa9?2A1׽:ABAa9?JA1׽RA٘i)I9m@YG J<C=JJJJE&K Y'_~?yF(PA1E{7j7/E9)B[[)?[i_~?[[[[[BZYY i) Y] Y_~?y)PAj?6EZ7H9)B[[ ?[_~?[R[[[[BZYY i) ({ elevatorAngleAction: 0.085007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743037501.683287F (some fields omitted in printout)A(\|@AF ;{@A_~? AvTAwm &"AA*wNA"AZAbAjArAzAAA ;b9@AV1sAo@AC)YARKA?A A@7.?A~<*A9?2A$Mֽ:AġBA9?JA$MֽRAġ٘i)I9o@YG J<B=JJJJE&K Y_~?yOQA9E7)7J9)B[[C?[}_~?[[[[[BZYY i) hyESI7SI7%N9B)|BE[[f?[k_~?[ߨ[[[[BZYY i) Ɵ elevatorAngleAction: 0.085007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037502.943279F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף|@ALʖ|@A_~? A<A> &"AAwNA"AZAbAjArAzAAA&M9@Ah!#sA&q@A;A1{A?A PĿAK?AQ<*A9?2A׽:AۃBA9?JA׽RAۃ٘i)I9&q@YG J8<JJJJE&K Y"^~?y[RAAE7b7O9)wB[[:?[`_~?[֨[[[[BZYY i) *4)AA|@A͎|@A_~? A4A &"AA wNA"AZAbAjArAzAAAc9av9@ABsAnq@A;E<AUAW?A` ƿA`#?A֪<*AF9?2AO׽:AfBAF9?JAO׽RAfY6i?u?yC:F<ٓH%ؿ5??W%ؿ~߱`=? ? ?)6i? I٘i)I9q@YG Jl<J|JJJE&Kgx> Y^~?y4ڨRAu?DEb77Q9)sB[[?[U_~?[ͨ[[[[BZYY i) S 9/@))9/@9/@x*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037503.803165 s, next control iter: 1743037504.183181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037504.203165 s.DJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037504.203259F (some fields omitted in printout)AQE}@Am8}@A_~? A7%AD &"AAQvNA"AZAbAjArAzAAAN,M9@A2}sAr@Aji<A䪽A@?A`P@ʿA ?A7<*Ap9?2Aֽ:A;KBAp9?JAֽRA;K٘i)I9r@YG J<JJJJE&K YB^~?yɨSAIEPU9)kB E[[@[==_~?[軨[[[[BZYY i) d?A<*Ap9?2A'ֽ:A?BAp9?JA'ֽRA?٘i)I9"t@YG JQ<B=JJJJE&K Y^~?yTANEŧ77X9B)bBE[[ @[K"_~?[[[[[BZYY i) / elevatorAngleAction: 0.085007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743037505.463275F (some fields omitted in printout)Affff}@ABA)Z}@A{_~? A.A&"AA(vNA"AZAbAjArAzAAA٬9@AINsAt@AxgAZA&@A 5ϿAy?A<*A$9?2A ֽ:A8BA$9?JA ֽRA8Y0n?>@yxUWhٓHݿ+I?*?ݿA`#?}?)0n? I٘i)I9t@YG J<C=JrJJJE&Kx> Y͸^~?yӱUA@QEj7Z7Z9)]B[[@[_~?[;[[[[BZYY i) =h elevatorAngleAction: 0.085007< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037506.723284F (some fields omitted in printout)Az~@AI+z~@A_~? AA&"AA4vNA"AZAbAjArAzAAA>k8@A rAKv@Az<Af#A}@AŀҿA@?Am$<*A9?2A2׽:A'BA9?JA2׽RA'٘i)I9v@YAG J<JJJJE&K Y'^~?yVAYE7)7`9)NB[[V @[^~?[[[[[BZYY i)  x@A1><AﵽAR @A]?ԿA'?AW<*A%9?2ABֽ:ABA%9?JABֽRAYu?A @y쵽?<ٓHշ9?~?``r6@뵶?"܇?$?)u? I٘i)I9>x@YG J5<J஻JJJE&K3x> YBt^~?yptWAA @^E77{7c9B)FBE[[l @[L^~?[y[[[[ZZZZ¸>BZYY i¸>`o) A@))>@>@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037508.003165 s, next control iter: 1743037508.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037508.403165 s.&FDJ~,)AAQ^@AQ@A0c_~? AکA&"AAivNA"AZAbAjArAzAAA4g&8@Ao;'rAy@A_eAM쮽A @A տA`?A+*=*A9?2A~4ֽ:ABA9?JA~4ֽRA٘i)I9y@YG J <JJJJE&K YT^~?y|iXAdE77;g9);B[[@[^~?[j[[[[ZZZZBZYY i) &=*A9?2A !ֽ:A嫼BA9?JA !ֽRA嫼٘i)I9z@YG JX=JJJJE&K Y:E^~?yuXAfE7{7i9 B)6BE[[ @[z^~?[~c[[[[ZZZZBZYY i) 5vJ ZDJ~,qj)AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11008, header.stamp.nsec: 00 temperature: 13.384028* salinity: 33.391655, density: 1025.000000* values[0]: 0.708272F (some fields omitted in printout)A@A@A<_~? AũAP`&"AA0vNA"AZAbAjArAzAAAØ7@A];vQrA;=|@AEAO.A@A`+eؿA`?Aq<*A9?2A]ֽ:A BA9?JA]ֽRA YƵ@@y.ciٓH`^?`֤?saI;?(s?)Ƶ@ I٘i)I9=|@YG J<B=J=JJJE&Kv> Y#^~?yfgYA@lE77l9B),BE[[@[b^~?[PU[[[[ZZZZBZYY i) CE?i9& D@))D@D@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037509.683165 s, next control iter: 1743037510.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037510.083165 s.DaDJ~,S)AA)\5@A(@A._~? AA&"AAKvNA"AZAbAjArAzAAA T7@Aܲ#rA/|@A;AU3μA @AN5ٿAM?A<*Ai9?2A[ֽ:A (;BAi9?JA[ֽRA (;٘i)I9|@YG J<C=JJJJE&K Y^~?y`YAnEj7j7en9)'B[[@[M^~?[qN[[[[ZZZZBZYY i) |ֽ:A5l<BA9?JA >ֽRA5l<٘i)I9}@YgG JYM<JJJJ E&K Yw]~?ySFZAtEq9B)#BE[[@[##^~?[BA[[[[ZZZZBZYY i) {<BA29?JANbֽRA><٘i)I9}@YG J;JJJJ E&K Yq]~?y5LZAwE7s9B)E[[.0@[2 ^~?[:[[[[ZZZZBZYY i) PfJJJE&K x> YH]~?yFUZA?@yE77{7u9B)$BE[[0@[]~?[4[[[[BZYY ik) +T5vJA(\B@AoK5@A^~? AƝAm&"AAuNA"AZAbAjArAzAAA.a/|6@A;TrAZ}@A8A 1=A/@A= ݿAXe?A *A:9?2Aֽ:AN<BA:9?JAֽRAN<٘i)I9}@Y JMb8C=JJJJE&K Y$]~?y?)ZA|E{7[w9)[[8@[]~?[.[[[[BZYY i䉽) ]iCw)AJ"J*J2J:JBJnJvJA@AVG @A^~? AJAP&"AAFuNA"AZAbAjArAzAAA5@AD& rA|@AA%<A=A@A A*)?A.*Al9?2Auֽ:A=BAl9?JAuֽRA=Y@@y=6W&<ٓHUᨿu?@? B ?2?)@ I٘i)I9|@YG J {C=Jۻ=JJJE&Kfw> Y`]~?y'CYA@Eb7b7~9B)2BE[[D6#@[]~?[[[[[BZYY izj) o;IWE?i.߻ g>))g>N T@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037513.903165 s, next control iter: 1743037514.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037514.283165 s.4RDJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037514.283277F (some fields omitted in printout)A(\O@A}.PB@A^~? ApA&"AA+uNA"AZAbAjArAzAAA=1Z5@ADRՍrAq|@A6m<A=A@AWA ?Amћ*A9?2AZս:Ap=BA9?JAZսRAp=٘i)I9q|@YG JJJJJE&K YJ]~?y4"XAE77P9B)8B޹E[[$@[h]~?[[[[[BZYY i) ;IfE?i\&Ի  <)) <U@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037514.303165 s, next control iter: 1743037514.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 110132, header.stamp.nsec: 020 temperature: 13.3839732* salinity: 33.3916822, density: 1025.0000002* values[0]: 0.7087682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037514.703165 s.պDJ~, )AJ"J*J2J:JBJnJvJAQ@An/x@A{^~? AyAH5&"AAhuNA"AZAbAjArAzAAAF5h5@AW rA{@Aj8<Ao=AWK @A3A?Aƨ*A9?2A8ֽ:A.=BA9?JA8ֽRA.=٘i)I9{@YRG JB=JJJJ"E&K Y4]~?yXAE)7)79)5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743037515.543278F (some fields omitted in printout)A= ף@Aa @AV^~? AnA&"AAtNA"AZAbAjArAzAAAп;A4@AR{CrAz@APAܚ=A"@ASZA?A*Ay9?2A ֽ:A̖=BAy9?JA ֽRA̖=٘i)I9z@YG JHJJJJ'E&K Y]~?yWAE77779!B)KBعE[[X)@[]~?[[[[[BZYY i) Ą;IND?iߥ y8))y8<Z@JժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037515.583165 s, next control iter: 1743037515.943175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11014, header.stamp.nsec: 00 temperature: 13.384241* salinity: 33.391701, density: 1025.000000* values[0]: 0.707661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037515.963165 s.yDJ~,)AAffff&@AZ@AB^~? A3iAE{&"AAtNA"AZAbAjArAzAAA#'4@AQW@rAD4z@A |fA=AyS$@AA@'?A !*A9?2AO׽:Am=BA9?JAO׽RAm=Y<@@B$@yݻ= gٓH V_@ [?q^? Bόj?)<@ I٘i)I94z@YHG JbJ<JJJ*E&KJx> Y\~?y YWAB$@ DE77{9#B)QB׹E[[L*@[T]~?[[[[[BZYY i) |M;ID?i1H ^6))^6W[@pҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037515.983165 s, next control iter: 1743037516.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037516.383165 s.DJ~,])AJ"J*J2J:JBJnJvJA(\@AapO@A.^~? AcA0&"AAtNA"AZAbAjArAzAAAE4@A+)BƞrAy@AUOAi=A%@AA)?A] *A;9?2Akֽ:A|<BA;9?JAkֽRA|<٘i)I9y@YG JޫJJJJ-E&K Y7\~?yVAE7777F9$B)WBԹE[[,@[s\~?[[[[[BZYY i`) i;ID?iKᾉ 0  5)) 5\@SΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037516.403165 s, next control iter: 1743037516.783183 s, wait time: 0.380018 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11015", header.stamp.nsec: 0"0 temperature: 13.384516"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.706481"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037516.803165 s.xADJ~,g3)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037516.803292F (some fields omitted in printout)A둃@AC℃@A^~? A^AH&"AA~tNA"AZAbAjArAzAAAGPB4@APѤrAQy@A+A=A&@AJAn?Ax*A9?2Aֽ:A:<BA9?JAֽRA:<٘i)I9y@YG J檼JJJJ/E&K Y\~?yJVAE{79&B)]BѹE[[-@[l\~?[[[[[BZYY i) 1r:I>D?iʾs z3))z3;z^@?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037516.823165 s, next control iter: 1743037517.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037517.223165 s.gDJ~,HN)AJ"J*J2J:JBJnJvJAzǃ@A @Aa^~? AYA&"AA>`tNA"AZAbAjArAzAAA6<4@A{O#rAx@A;Aa=As$(@AA`?AԦ*A9?2Aacֽ:Aj<BA9?JAacֽRAj<٘i)I9x@YBG JިJJJJ2E&K Yԩ\~?y%VAE{7ی9'B)cBιE[[L.@[O\~?[8[[[[BZYY i) ~a9ID?iܯUa +2))+2&_@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037517.243165 s, next control iter: 1743037517.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037517.643165 s.yDJ~,*i)AA ףp@A8d@A]~? ATAL &"AAAtNA"AZAbAjArAzAAA3@A1rAw@A"W<A:=Aj)@A@AK?A*AU9?2ABֽ:AdK<BAU9?JABֽRAdK<٘i)I9w@YG JJJJJ5E&K Y"\~?yUAE779)gB[[-f0@[!\~?[[[[[BZYY i) ID?ig&: 0))0la@y&YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11016, header.stamp.nsec: 00 temperature: 13.384807* salinity: 33.391693F, density: 1025.000000F* values[0]: 0.705334F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037517.663165 s, next control iter: 1743037518.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037518.063165 s.DJ~,t )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037518.063312F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A ,&@A]~? A2PAUj&"AAg!tNA"AZAbAjArAzAAA9 #:3@ASrAuw@A>%^<Ak=A*@A`&A@K+?AK*AW9?2A_ֽ:Ac2<BAW9?JA_ֽRAc2 Yx\~?ydUA*@E77q9)B)mB˹E[[p1@[x\~?[[[[[BZYY i) 4źI'D?icV$ ;/));/b@պYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037518.103165 s, next control iter: 1743037518.463187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743037518.483165 s.s_DJ~,)AA\h@A#)[@A2]~? AKA&"AAEtNA"AZAbAjArAzAAA#.5oE3@Avk rAv@A`;AԄ=A ,@AamA`a?A{P*A9?2A<ֽ:A:{<BA9?JA<ֽRA:{<٘i)I9v@YNG JZC=JJJJ:E&K Y_\~?y UAE{7j7;9*B)sBȹE[[ZJ3@[e\~?[|[[[[BZYY i) f;!IDD?iWg 4-))4-[d@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037518.503165 s, next control iter: 1743037518.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11017, header.stamp.nsec: 00 temperature: 13.385058* salinity: 33.391705, density: 1025.000000* values[0]: 0.704263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037518.903165 s.DJ~,͹)AJ"J*J2J:JBJnJvJAQ@A-@A]~? AGA&"AAsNA"AZAbAjArAzAAArM3@AC '-rAh}v@AAfAт=Aoe-@A A?A<(*A$9?2A׽:A<BA$9?JA׽RA<٘i)I9}v@YG J$JJJJ=E&K YF\~?yTAE779-B)yBĹE[[Q4@[J\~?[[[[[BZYY i) ߈_I D?i%"Ժ M,))M,e@]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037518.943165 s, next control iter: 1743037519.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037519.323165 s.tDJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066415< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037519.323296F (some fields omitted in printout)AGzԄ@A\mDŽ@A]~? ABAt&"AAsNA"AZAbAjArAzAAA!2@ArAA v@AkDA=Aӻ.@A@AW?Ai*A9?2A3׽:A<BA9?JA3׽RA<٘i)I9 v@YG JJJJJ@E&K Y-\~?ySTAEŧ7b7Е9.B)~BE[[%6@[(0\~?[[[[[BZYY i) 8鎻ID?iٽ E *))*Fg@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037519.343165 s, next control iter: 1743037519.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11018*, header.stamp.nsec: 0*0 temperature: 13.385296** salinity: 33.391720*, density: 1025.000000** values[0]: 0.703304*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037519.743165 s.WDJ~,`)AJ"J*J2J:J 4?BJ 4?nJ<5vJAףp= @Ax1@AP]~? A>A&"AA!sNA"AZAbAjArAzAAA6r'}2@ACϺrAu@AchAd=Ao 0@Ar4A ?A*As9?2A"+׽:Aݼ<BAs9?JA"+׽RAݼ<٘i)I9u@Y~G J,JJJJBE&K Ye\~?ySAE)7ŧ79)B[[?7@[b\~?[[[[[BZYY iu) ID?i1L9 e)))e)h@ıYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037519.763165 s, next control iter: 1743037520.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037520.163165 s.x}EJ~,q )AA@@AM2@An]~? A:A&"AA9|sNA"AZAbAjArAzAAA$ h92@ANrAw4u@A'A\=A>S1@AqA?A񇀼*A9?2Aֽ:A?W<BA9?JAֽRA?W Y[~?yqSAJ1@Ej7Z7f90B)BE[[8@[5[~?[E[[[[BZYY i) FͻID?ip߻ Z'))Z'[-j@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037520.183165 s, next control iter: 1743037520.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037520.583165 s.+EJ~,TS%)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743037520.583323F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AǺh@AX]~? A6Axf&"AAYsNA"AZAbAjArAzAAAF9*Y1@A#rAt@A=1:A=A<2@AݫA@I?A\*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JYJJJJHE&K Y[~?y?ߧKSAE777191B)BE[[f:@[[~?[2[[[[BZYY i) >IfD?i=|9 9&))9&|k@^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037520.603165 s, next control iter: 1743037520.983196 s, wait time: 0.380031 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11019, header.stamp.nsec: 00 temperature: 13.385491* salinity: 33.391724, density: 1025.000000* values[0]: 0.702415F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037521.003165 s.| EJ~,]4@)AAR@A!y@A@]~? A2A&"AA;7sNA"AZAbAjArAzAAAĒ1@AdkЀrA[t@A+<A(=A3@AA @s?A*A 9?2AYֽ:Ag=BA 9?JAYֽRAg=٘i)I9[t@YG JtJJJJJE&K Yh[~?y ܧRAE77{793B)BE[[,;@[[~?[Rާ[[[[BZYY i) HID?i޴=ʃg: )%)))%m@yӠ^YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037521.023165 s, next control iter: 1743037521.403182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037521.423165 s.uEJ~,[)AJ"J*J2J:JBJnJvJA{G@A=>ԅ@A)]~? A>/A&"AA,sNA"AZAbAjArAzAAAh1@A7H~rAs@A5l<A=AW#5@AA?Aʆ*Af9?2A)Rֽ:A=BAf9?JA)RֽRA=٘i)I9s@YtG JeB=JJJJME&K Y[~?yاRAEƞ94B)BE[[#5=@[ʨ[~?[ܧ[[[[BZYY i) D ID?iX>p: #))#n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037521.443165 s, next control iter: 1743037521.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11020, header.stamp.nsec: 00 temperature: 13.385729* salinity: 33.391724, density: 1025.000000* values[0]: 0.701554F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037521.843165 s.EJ~,u)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200742 time: 1743037521.843346F (some fields omitted in printout)Ap= @A @A<]~? A+A0? &"AArNA"AZAbAjArAzAAAU 1@AM||rAys@AK0<A;=A u6@ANA@?A>**A9?2Ahֽ:A[G=BA9?JAhֽRA[G=٘i)I9ys@Y/G JC=JJJJPE&K Y[~?yէGRAE779)B[[>@[ҍ[~?[)ۧ[[[[BZYY i) @%ID?iY>8@ ; 0"))0" o@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037521.863165 s, next control iter: 1743037522.243191 s, wait time: 0.380026 s rAdjusting time to match Gazebo time: 1743037522.263165 s.$EJ~, ؐ)AJ"J*J2J:JBJnJvJAL@A?@A\~? Ar(A &"AArNA"AZAbAjArAzAAA;&0@A%X uzrAcs@AV:AH=A7@A$A`?A$S*A9?2Aֽ:AN=BA9?JAֽRAN=Y)@7@y>=Si:ٓHCx ѿ@v ?@|˓?@8/ X?`?))@ I٘i)I9s@YG J҆JM%<JJJRE&K]x> Yu[~?yNӧQA7@E7[95B)BE[[%?@[r[~?[٧[[[[BZYY i) EN5ID?iр>0$; V ))V _\q@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037522.283165 s, next control iter: 1743037522.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 110212, header.stamp.nsec: 020 temperature: 13.3859432* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.7006682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037522.683165 s.l*EJ~,|)AA(\@Au@A\~? AF%A0 &"AArNA"AZAbAjArAzAAA4ĖN0@AdxrAr@AV A^=A%9@AA?A]7*AW9?2A-׽:A=BAW9?JA-׽RA=٘i)I9r@YG J'JJJJUE&K YIZ[~?yЧQAE77&97B)BE[[FC; V))Vr@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037522.683165 s, next control iter: 1743037523.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743037523.103165 s.1EJ~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076039< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743037523.103312F (some fields omitted in printout)AQ@AnE@As\~? AB"A &"AA}rNA"AZAbAjArAzAAA= G0@Az6vrA;&r@AfAg=Ay:@ACAK?Ä*A\9?2A?A׽:A=BA\9?JA?A׽RA=٘i)I9&r@YaG JJJJJXE&K Y?[~?yΧ2QAEZ7SI799B)BE[[B@[&<[~?[ק[[[[BZYY i) VTID?i>_f; ))4t@AŪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743037523.123165 s, next control iter: 1743037523.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037523.523165 s.7EJ~,|)AAHz@A| @A\~? AeA>7!&"AA_rNA"AZAbAjArAzAAAـ/@AL_trAOq@AFA|=A;@A`: A!,?Aێ*A9?2An׽:AK=BA9?JAn׽RAK=٘i)I9q@YG J,JJJJZE&K Y#[~?yȨPAE7779:B)BE[[N#D@['![~?[ק[[[[BZYY i) #cID?i >; 6))6u@zɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037523.543165 s, next control iter: 1743037523.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11022, header.stamp.nsec: 00 temperature: 13.386175* salinity: 33.391712, density: 1025.000000* values[0]: 0.699767F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037523.943165 s.[d>EJ~,O])AJ"J*J2J:JBJnJvJAq= #@A@A\~? AAm!&"AA:rNA"AZAbAjArAzAAA4tf/@A뒥GsrA?6q@AzA?[=A-=@A x2A@Ɏ?Ay*AX9?2A2ֽ:As =BAX9?JA2ֽRAs =٘i)I96q@YG JJJJJ]E&K Y[~?yɧyPAE779;B)BE[[E@[X[~?[֧[[[[BZYY i翮) asI?; 1))1w@pͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037523.963165 s, next control iter: 1743037524.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037524.363165 s.EEJ~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743037524.363282F (some fields omitted in printout)AY@AL@A\~? A!AS!&"AArNA"AZAbAjArAzAAAgx.@AӠjqrAp@AS;AǗ=AH>@AEXA@[?ASg*Au9?2AWֽ:A=BAu9?JAWֽRA=YJ0@P>@yGƗ=$;ٓHv@sſ@lh@(U? D? Wཱz? W?)J0@ I٘i)I9p@YG J{J2<JJJ`E&Kw> YZ~?ysȧPAP>@Eŧ77Q9B)BE[[ėI@[Z~?[է[[[[BZYY i) dIE?i? ; m))mH>{@yi\תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037525.223165 s, next control iter: 1743037525.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037525.623165 s.UYEJ~,Tg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743037525.623277F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A:w@A5\~? AfA)"&"AAOqNA"AZAbAjArAzAAA2ɲ -@AМmrAo@A~;AX=Az2B@A@0A}D?AL*AN9?2Aֽ:AK^=BAN9?JAֽRAK^=٘i)I9o@YG JԨJJJJhE&K Y=Z~?y ħNAEj7j79?B)ƯBE[[TJ@[Z~?[֧[[[[BZYY i) WIH E?i/?; O|))O|f|@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037525.643165 s, next control iter: 1743037526.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11024 , header.stamp.nsec: 0 0 temperature: 13.386672 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.697770 F (some fields omitted in printout)=Z~?) ħ rAdjusting time to match Gazebo time: 1743037526.043165 s.`EJ~,Â)AA= ף0@Af#@A\~? AzA Q"&"AA$~qNA"AZAbAjArAzAAACR)p,@AykplrAn@A`A1A=AC@A@/Ab?A穼*A(9?2A׽:A=BA(9?JA׽RA=٘i)I9n@Y*G JJJJJkE&K Yg}Z~?y§|NAE77{7{9@B)̯BE[[EL@[Z~?[e֧[[[[BZYY i) tIE?ivA?Ρ; ))~@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037526.063165 s, next control iter: 1743037526.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037526.463165 s.SgEJ~,ۤ)AJ"J*J2J:J|2?BJ|2?nJ(;5vJAfffff@A`Y@AZ\~? AA'u"&"AAWqNA"AZAbAjArAzAAAQ+@AN_\krAm@A?HA@a=AD@AA~?A&*AI9?2A6׽:A=BAI9?JA6׽RA=Y6@D@y^=BlIٓH Cϴװ? p|`^ ?)6@ I٘i)I9m@YG JB=J`<JJJmE&K/x> Y:aZ~?y NAD@Ej7Z7F9AB)ѯBE[[4M@[fZ~?[֧[[[[BZYY i) 림IE?iOL?< Ե))Եi@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037526.483165 s, next control iter: 1743037526.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11025, header.stamp.nsec: 00 temperature: 13.386944* salinity: 33.391739, density: 1025.000000* values[0]: 0.696661F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037526.883165 s.ymEJ~,D)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743037526.883325F (some fields omitted in printout)A(@Am@A[~? AA"&"AA?1qNA"AZAbAjArAzAAAs<+@AVAbjrA3am@AMdA=A{5F@AD A o?AU*A9?2Al"׽:AA=BA9?JAl"׽RAA=٘i)I9am@YyG J]C=JJJJpE&K YEZ~?ygMAEŧ7ŧ79BB)ׯBE[[N@[KZ~?[ק[[[[BZYY i) MIU+E?iX? < S))Se@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037526.923165 s, next control iter: 1743037527.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037527.303165 s.UtEJ~,sg)AJ"J*J2J:JBJnJvJAш@A$aĈ@AI[~? A A"&"AA qNA"AZAbAjArAzAAAYT*@A53K(irAl@AfAŮ=AzG@A/ A` {?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@YG JJJJJsE&K Y(Z~?y/MAEb7b7۷9CB)ݯBE[[JP@[1Z~?[jا[[[[BZYY i) 4I7E?iQg? < ))d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037527.323165 s, next control iter: 1743037527.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11026., header.stamp.nsec: 0.0 temperature: 13.387223.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.695535.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037527.723165 s.{EJ~,H)AAz@A/@A[~? Af A"&"AApNA"AZAbAjArAzAAAي>*@AghrA:)l@AB:Af=AH@A2A?A!ü*A9?2A]ֽ:AG=BA9?JA]ֽRAG=I٘i)I9)l@YG JQJJJJuE&K Y Z~?y>LAEZ7Z79DB)BE[[Q@[Z~?[j٧[[[[BZYY i) IEE?itw?^< ))NƁ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037527.743165 s, next control iter: 1743037528.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037528.143165 s.Y/EJ~,* )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: -0.085327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037528.143282F (some fields omitted in printout)A ףp=@AGve0@A[~? AH A"&"AAȼpNA"AZAbAjArAzAAAdi)@ATI hrAPk@A2<A䑰=AJ%HABA?A̼*A9?2A ֽ:An=BA9?JA ֽRAn=٘i)I9k@YUG JǼJJJJxE&K YY~?yPLAEj7q9)B[[dR@[Y~?[ڧ[[[[BZYY i) `uļIUSE?i?>)< 4 ))4 u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037528.163165 s, next control iter: 1743037528.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037528.563165 s.EJ~, $)AA3333s@Az0)f@A[~? AS A"&"AApNA"AZAbAjArAzAAA=.C(@A#*vgrAj@Aڈj<A$=AFA tPAC?A% Ҽ*Aފ9?2Aֽ:Az=BAފ9?JAֽRAz=YcQ=@1Fy =lk<ٓH@V?*Z*@R`? <P?@1?)cQ=@ I٘i)I9j@YG J[ϼJr<JJJ{E&Kw> YgY~?yKAFE{7<9AB)BE[[%?T@[8Y~?[ۧ[[[[BZYY i) |˼I1bE?i*?0< ) ))) F$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037528.603165 s, next control iter: 1743037528.963184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11027, header.stamp.nsec: 00 temperature: 13.387523* salinity: 33.391747, density: 1025.000000* values[0]: 0.694337F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037528.983165 s.EJ~,>)AJ"J*J2J:J1?BJ1?nJb:5vJA\@Aꛉ@A4i[~? AA #&"AAnpNA"AZAbAjArAzAAA_I0(@AY|frA!j@Aʕ'<AH<=AEA \Abt?A^Ӽ*Al9?2AMֽ:Ai=BAl9?JAMֽRAi=٘i)I9!j@YG J0ӼB=JJJJ}E&K Y5Y~?yJaKAEŧ7b79BB)BE[[U@[Y~?[eݧ[[[[BZYY i) VҼIqE?i?9< Cz ))Cz ҃@YYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743037529.023165 s, next control iter: 1743037529.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037529.403165 s.&EJ~,Y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085327< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037529.403309F (some fields omitted in printout)AQމ@AD3Oщ@ALO[~? AA#&"AAYGpNA"AZAbAjArAzAAAzWP0'@Aq2frAoi@AUM:A=A-DAreA@55?AҼ*A29?2Aֽ:A;=BA29?JAֽRA;=٘i)I9oi@YG JӼC=JJJJE&K YY~?yJAE779)BE[[pV@[kY~?[ ߧ[[[[BZYY i) MڼIE?iɗ? JB< w ))w @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037529.443165 s, next control iter: 1743037529.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11028", header.stamp.nsec: 0"0 temperature: 13.387824"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.692984"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037529.823165 s.EJ~,2t)AJ"J*J2J:JBJnJvJAGz@A6Ko@AZ5[~? ApA$#&"AA pNA"AZAbAjArAzAAAiB&@A#OfrA8h@AjaA=ABA9lA@ y?A2Ѽ*A9?2A5 ׽:Av=BA9?JA5 ׽RAv=٘i)I9h@Y G JVҼJJJJE&K YY~?yrJAE7779CB)BE[[*X@[sY~?[[[[[BZYY i) QI@E?i?;L< )).@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037529.863165 s, next control iter: 1743037530.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037530.243165 s.EJ~,u)AAףp=J@A1=@Ac[~? A$A,#&"AAoNA"AZAbAjArAzAAA=kX&@Ax~!frAh@AygA?ֵ=AJ}AA XpAڈ?AB)Ҽ*A9?2A׽:AS=BA9?JA׽RAS=٘i)I9h@Y< G JѼJJJJE&K YcY~?y:IAE7fď9)B}E[[sY@[Y~?[[[[[ZZ¸BZYY i¸=) RռIeE?i֨?"X< uj))ujڅ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037530.263165 s, next control iter: 1743037530.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037530.663165 s.EJ~,q)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037530.663283F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11029, header.stamp.nsec: 00 temperature: 13.388175* salinity: 33.391708, density: 1025.000000* values[0]: 0.691676F (some fields omitted in printout)A@A*r@Ah[~? AAl0#&"AA]oNA"AZAbAjArAzAAA$%@Ab frAW]g@A@A=A3@AqAq?A7ռ*A09?2A>ֽ:A%=BA09?JA>ֽRA%=YC@D@yN=AٓH`?.@u`{϶@?)C@ I٘i)I9]g@Y G J}ӼB=JB;JJJE&Kx> YGY~?yo§IAD@E71Ə9)BzE[[Z@[gY~?[[[[[ZZBZYY i) @ɼI&E?iX?)_<  )) U@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037530.683165 s, next control iter: 1743037531.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037531.083165 s.DEJ~,S)AA)\µ@A4@AnZ~? A A1#&"AAoNA"AZAbAjArAzAAA87`%@AqHfrAf@ATA@G=A>A@nA ŃA*AF9?2Aֽ:A<BAF9?JAֽRA<٘i)I9f@YV G JC=JJJJE&K Y+Y~?yçIAEŧ7b7Ǐ9DB)BwE[[| \@[NY~?[[[[[ZZBZYY i) 1IE?i?Ng< C))C'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037531.103165 s, next control iter: 1743037531.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037531.503165 s.EJ~,P4)AJ"J*J2J:J0?BJ0?nJ}95vJAR@Atxފ@AyZ~? A;A/#&"AAoNA"AZAbAjArAzAAA$@A/frAe@A;A=A=A@KjA@ٙA8*AM9?2AAֽ:A#><BAM9?JAAֽRA#><٘i)I9e@Y G JJJJJE&K YY~?yħHAE7777ɏ9)BtE[[:T]@[`6Y~?[[[[[ZZBZYY i) k!IE?i?Rp< ))̇@yRH=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037531.543165 s, next control iter: 1743037531.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11030, header.stamp.nsec: 00 temperature: 13.388528* salinity: 33.391716, density: 1025.000000* values[0]: 0.690244F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037531.923165 s.:EJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082970< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037531.923332F (some fields omitted in printout)A{G!@A{)<@AZ~? AAW*#&"AAS[oNA"AZAbAjArAzAAA~#@AygfrAd@ACο`ze\`m2k-r?=?)7OJ@ I٘i)I9sc@Yn G J ļJ)JJ%FJE&Kv> YxX~?yVɧrGA9E7&Ϗ9)(BnE[[&a@[`X~?[}[[[[ZZBZYY i=) 밎I~!F?i[?< i))ie@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037532.783165 s, next control iter: 1743037533.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037533.183165 s.EJ~,cK)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037533.183265F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\‹@A@AeZ~? A A#&"AAnNA"AZAbAjArAzAAAV_ "@AFUgrAb@A»A <A~8A`JAAz*A`9?2At=ֽ:ABA`9?JAt=ֽRA٘i)I9b@Y G JJJJJE&K YX~?yl˧OGAE{7j7Џ9),BkE[[Xmb@[ X~?[s[[[[ZZBZYY i=) aI8F?i?< ))X@m[YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037533.203165 s, next control iter: 1743037533.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037533.603165 s.64EJ~,f)AAQ@As۾G@ALZ~? A A"&"AAsnNA"AZAbAjArAzAAAu͡o!@AwUDhrAb@A\AݻAN37Ae<A@cAN*A9?2Aֽ:A5BA9?JAֽRA5٘i)I9b@Y G JjRB=JJJJE&K YvX~?yͧ,GAEҏ9)/BhE[[c@[ X~?[[[[[ZZBZYY i) a!tIPF?i?6E< S))S@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037533.623165 s, next control iter: 1743037534.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11032 , header.stamp.nsec: 0 0 temperature: 13.389195 * salinity: 33.391735 , density: 1025.000000 * values[0]: 0.687507 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037534.023165 s.ZEJ~,{)AJ"J*J2J:JBJnJvJAHz.@AC!@Ag2Z~? A A"&"AAjnNA"AZAbAjArAzAAA @AGephrArgb@AkhATAW5A@h+A X)A,*Ac9?2A`ֽ:AbBAc9?JA`ֽRAb٘i)I9gb@Y G JC=JJJJE&K YiX~?yϧ GAEj7Z7ԏ9)1BeE[[d@[gX~?[[[[[ZZBZYY i) _IiF?i?/e< ?))? @y,=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037534.043165 s, next control iter: 1743037534.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037534.443165 s.8EJ~,B])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077503< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037534.443326F (some fields omitted in printout)Aq= c@AI0V@AZ~? A# AV"&"AA~pnNA"AZAbAjArAzAAA:;8 @AlirAQb@A&AAO4AAxAa[*A9?2ANֽ:AϼBA9?JANֽRAϼ٘i)I9Qb@Y G J$NJJJJE&K YtNX~?yѧFA E7{7Q֏9)cE[[3f@[$X~?[ [[[[BZYY i) JIF?i? < O))O;@^2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037534.463165 s, next control iter: 1743037534.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11033, header.stamp.nsec: 00 temperature: 13.389337* salinity: 33.391705, density: 1025.000000* values[0]: 0.687013F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037534.863165 s.+EJ~,>)AJ"J*J2J:JBJnJvJA@A;@A8Y~? AA"&"AAInNA"AZAbAjArAzAAAg|:@AfjrA?Wb@A0*;AV2AE3AA]¿A9:;*Aۖ9?2Aֽ:A2BAۖ9?JAֽRA2YP@yG3yV2+;ٓH"_?? (Xտ) f?I?`]e?`5?)P@ I٘i)I9Wb@Y G JO:B=J{(JJJE&Kw> Y3X~?yԧ!GAG3 Ej7j7؏9)[[vg@[}X~?[[[[[BZYY ih=) :I#F?i?y< ))i݌@oo*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037534.883165 s, next control iter: 1743037535.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037535.283165 s.:REJ~,)AA(\ό@A)PŒ@AY~? AJA<"&"AA#nNA"AZAbAjArAzAAA&y@ATm}krAub@A9<AgKYA1AvAk@ĿAV;*A9?2Aֽ:ABA9?JAֽRA٘i)I9ub@Y G J";C=JJJJE&K Y!X~?yק]GAE777ُ9)0B`E[[h@[gX~?[#[[[[BZYY iF=) >)I?F?i=?n< G))G}@*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037535.303165 s, next control iter: 1743037535.683179 s, wait time: 0.380014 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 110342, header.stamp.nsec: 020 temperature: 13.3893412* salinity: 33.3917082, density: 1025.0000002* values[0]: 0.6870802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037535.703165 s.ҺEJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037535.703281F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A@AsY~? AAnl"&"AAmNA"AZAbAjArAzAAAQ@AflrA*b@ADd<AG yAɠ0AAƿA-+<*A9?2A8ֽ:ABA9?JA8ֽRA٘i)I9b@Y G J<B=JJJJE&K YuW~?yڧGAEۏ9).B]E[[3i@[eRX~?[[[[[BZYY i) kI#F?i@< ))뿩@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037535.723165 s, next control iter: 1743037536.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037536.123165 s.:FJ~,i)AAG:@A@-@A?Y~? AAG"&"AAFmNA"AZAbAjArAzAAAbR@A#nrATc@A1f<A≈AX/AAǿAu(`<*Ah9?2Aֽ:AM+ BAh9?JAֽRAM+ ٘i)I9c@Y' G JC<C=JJJJE&K YW~?ytݧGAEj7j7|ݏ9),BZE[[!4k@[8=X~?[ [[[[BZYY i) IF?i@< ;O));O鿩 @yT=*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037536.143165 s, next control iter: 1743037536.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037536.543165 s.IFJ~,")AJ"J*J2J:JBJnJvJA= ףp@A7^c@A-Y~? A8A"&"AA,mNA"AZAbAjArAzAAAW>Lq@A6XVorAIhc@AW1A굑A.A@AɿA<*A9?2Ao@ֽ:AABA9?JAo@ֽRAA٘i)I9hc@Yg G J|w<JJJJE&K Y"W~?yfHAEZ7Gߏ9)(BWE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #66q/B^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) )*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037536.563165 s, next control iter: 1743037536.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11035, header.stamp.nsec: 00 temperature: 13.389250* salinity: 33.391705, density: 1025.000000* values[0]: 0.687558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037536.963165 s.|FJ~,=)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037536.963291F (some fields omitted in printout)Affff@A.R\@A@Y~? AAr!&"AAFmNA"AZAbAjArAzAAAC@AQprAhc@Aj%A,A,AkA;˿A ޜ<*A͔9?2A~ս:A6BA͔9?JA~սRA6YPW@,y,V&ٓH YR?NH?`Jۿ ? ?`?)PW@ I٘i)I9c@Y G J<JؕJJJE&Kgw> YW~?y*wHA,E)7b79CB)$BTE[[8m@[X~?[[[[[BZYY i) OϻI G?is @dz< _)) _俩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037536.983165 s, next control iter: 1743037537.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037537.383165 s.FJ~,4X)AJ"J*J2J:J0?BJ0?nJ85vJA(܍@ASύ@A}hY~? AA!&"AAdmNA"AZAbAjArAzAAA!.@Ag#ArrAXmd@AncA;A+A8DA`5οA3<*Ab:?2A":AzBAb:?JA"RAz٘i)I9md@Y G J:<JJJJE&K YW~?yHAE779) B[[n@[^W~?[[[[[BZYY i) I.G?ip@t< c))Ῡ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037537.403165 s, next control iter: 1743037537.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11036&, header.stamp.nsec: 0&0 temperature: 13.389084&* salinity: 33.391674&, density: 1025.000000&* values[0]: 0.688481&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037537.803165 s.AFJ~,gs)AA@Aɬ@AOY~? AA!&"AA"?mNA"AZAbAjArAzAAA\@AU^srAe@Aw&AwA+A0A@@ϿAb<*Az:?2A½:ABAz:?JA½RA٘i)I9e@Y_ G JO<JJJJE&K Y|W~?yCIAE7)79)BQE[[!p@[dW~?[[[[[BZYY i) ˒IzNG?i@< s߿))s߿2@*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037537.843165 s, next control iter: 1743037538.203182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743037538.223165 s.g#FJ~,H)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743037538.223290F (some fields omitted in printout)AzG@A:@AO7Y~? A` A_!&"AAmNA"AZAbAjArAzAAADOQ@A52urAЗe@AA'At *A`9AFпA_<*Ay:?2AUŽ:A|BAy:?JAUŽRA|٘i)I9e@Y G J<JJJJE&K Y cW~?yuIA"E77q9)BNE[[Yq@[W~?[q![[[[BZYY i) iInG?i@< ݿ))ݿΑ@*Y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037538.243165 s, next control iter: 1743037538.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037538.643165 s.)FJ~,,*)AA ףp}@AWfp@AY~? A;#A)!&"AAlNA"AZAbAjArAzAAA6Q@AWj/HwrAk/f@AD<AОA(A A`ѿA<*AՊ:?2A]Ƚ:AΦ BAՊ:?JA]ȽRAΦ ٘i)I9/f@Y G Jt<JJJJE&K YIW~?y9JA%E7<9)BLE[[`r@[W~?[%[[[[BZYY i) ,I)G?i@1< ڿ))ڿi@*YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11037, header.stamp.nsec: 00 temperature: 13.388865* salinity: 33.391666Waiting for Gazebo time sync: latest Gz time: 1743037538.663165 s, next control iter: 1743037539.043179 s, wait time: 0.380014 s, density: 1025.000000* values[0]: 0.689599F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037539.063165 s.0FJ~,_ )AJ"J*J2J:JBJnJvJA3333@AeM,@AY~? A8&A &"AAlNA"AZAbAjArAzAAA{2t@AľyrAf@AT<A%ΝA:'AAѿAl<*A:?2A˽:AڒBA:?JA˽RAڒYs\@'yʝ/U<ٓH]?Ӯ?@߿@ o?X?-??)s\@ I٘i)I9f@Ys G JH<B=JeػJJJE&KC> Y 1W~?yzJA'(Ej7SI79) B[[:s@[W~?[x*[[[[BZYY i) 0ZIG?i@<  )ؿ)) )ؿ@3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037539.103165 s, next control iter: 1743037539.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037539.483165 s.q_7FJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743037539.483263F (some fields omitted in printout)A\@A=ێ@AX~? AX)A &"AAlNA"AZAbAjArAzAAA`c.P@A`L{rA$\g@AA7<A KAM&AA`ҿAܺ<*A:?2A*ͽ:ABA:?JA*ͽRA٘i)I9\g@Y G J<C=JJJJE&K YW~?yJA*EZ79BB)BIE[[-t@[W~?[$/[[[[BZYY i) 7SIG?i !@#< #տ))#տ@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037539.523165 s, next control iter: 1743037539.883175 s, wait time: 0.360010 sW~?)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11038, header.stamp.nsec: 00 temperature: 13.388643* salinity: 33.391647, density: 1025.000000* values[0]: 0.690764F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037539.903165 s.$=FJ~J,)A"J*J2J:J0?BJ0?nJl95vJAQ@A@AX~? A,Alw &"AAlNA"AZAbAjArAzAAAhw.@A*MS}rAg@A7'd;ATA%AvAgӿAI<*A:?2A9Ͻ:ABA:?JA9ϽRA٘i)I9g@Y+ G J=<B=JJJJE&K YW~?ydMKA-E{7{79)BFE[[`1v@[W~?[3[[[[BZYY i) 8I%G?i$@< Tӿ))Tӿ:@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037539.923165 s, next control iter: 1743037540.303185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037540.323165 s.uDFJ~,!)AAGzT@ArG@AX~? A0A6 &"AAblNA"AZAbAjArAzAAA(:d9@AqrACh@AƻA헽AG#AvEA`;ԿA<*A :?2AC\ѽ:ABA :?JAC\ѽRA٘i)I9h@Y G J_<C=JJJJE&K YV~?yKA0E7777g9)BCE[[hcw@[zW~?[8[[[[BZYY i)  :IuH?i(@d!< п))пӔ@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037540.343165 s, next control iter: 1743037540.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11039*, header.stamp.nsec: 0*0 temperature: 13.388412** salinity: 33.391636*, density: 1025.000000** values[0]: 0.691927*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037540.743165 s.WKFJ~,m/)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037540.743271F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@Ab0}@AX~? A3A&"AA>lNA"AZAbAjArAzAAA 8 @AFŇ?rA!i@AwJAf&A#r"A A տAZ <*A|:?2A,ҽ:A]$BA|:?JA,ҽRA]$٘i)I9!i@Y G JC<JJJJE&K Y(V~?y+ !LA2E29AB)B@E[[$x@[viW~?[=[[[[BZYY i) :IAH?iW-@=< 7ο))7οk@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037540.783165 s, next control iter: 1743037541.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037541.163165 s.v}RFJ~,qJ)AA@As@AIX~? A@7AO&"AAulNA"AZAbAjArAzAAA]Y @A4rAsi@ABGA''A !AA տA<*Ax:?2Aӽ:A,BAx:?JAӽRA,Y c@!ya$GٓH 1j?e?YK?`@?/舿`?) c@ I٘i)I9i@Y>G J%<J]<JJJE&K#{> YDV~?yRLA!5E779)B[[E[[z@[ elevatorAngleAction: 0.066052< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743037542.003332F (some fields omitted in printout)AR+@A#fy@AbX~? A?A&"AAkNA"AZAbAjArAzAAAfwO\@AFrAaj@A F;AaA cAxdAٔ׿A<*Ap:?2A ֽ:A\BAp:?JA ֽRA\٘i)I9j@YG Jb<JJJJE&K YvV~?yHMA:Eŧ7b791B)گB;E[['|@[6W~?[L[[[[BZYY i) .;IdH?i6@< gǿ))gǿ5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037542.043165 s, next control iter: 1743037542.403183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743037542.423165 s.ufFJ~,)AJ"J*J2J:JBJnJvJA{Ga@A<*Al:?2Aֽ:ABAl:?JAֽRA󼙘٘i)I9Ok@Y7G J<JJJJE&K YsV~?yMA=Eb77\9)֯B[[U}@[&W~?[5R[[[[BZYY i˙=) MŹ;IH?i:@<  ſ)) ſ̗@¼*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037542.463165 s, next control iter: 1743037542.823176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11041", header.stamp.nsec: 0"0 temperature: 13.387957"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.694156"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037542.843165 s.lFJ~,)AAp= @A@A5X~? AuGAu&"AAkNA"AZAbAjArAzAAAh!@A{)QerA4k@AjS<A䈽A޵A A:ٿA'<*Ah:?2Aֽ:AvBAh:?JAֽRAv񼙘٘i)I9k@YG J<JJJJE&K Y\V~?y" NA@E7)7'90B)үB8E[[~@[W~?[W[[[[BZYY i) V;II?i>@D< {¿)){¿b@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037542.883165 s, next control iter: 1743037543.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037543.263165 s.tFJ~,')AJ"J*J2J:J1?BJ1?nJy:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743037543.263309F (some fields omitted in printout)A̐@AA@AX~? AKA]!&"AA)pkNA"AZAbAjArAzAAA? @AIrAcEl@A!~;A!AWkA@ڠAڿA);<*A`:?2A9ֽ:ABA`:?JA9ֽRAYi@sy  ;ٓHQtO?ʦ?|@@ʼn????)i@ I٘i)I9El@YG J;<J><JJJE&K{> YGV~?y(gNAsBE7779)ίB5E[[@[fW~?[\[[[[BZYY i) Lt;II?iQA@r< 'V))'VQ@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037543.283165 s, next control iter: 1743037543.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 110422, header.stamp.nsec: 020 temperature: 13.3877472* salinity: 33.3916092, density: 1025.0000002* values[0]: 0.6951422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037543.683165 s.lzFJ~,c)AA(\@A9 Q@A^ X~? AhPA!&"AA*OkNA"AZAbAjArAzAAA[?AHےrAl@AAeA%A[A9ڿA<*AX:?2Aֽ:A'iBAX:?JAֽRA'i٘i)I9l@YG JQ<JJJJE&K Y}2V~?y.NAEEj7Z79)ʯB[[%o@[DV~?[xb[[[[BZYY i) ,H elevatorAngleAction: 0.075096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743037544.523263F (some fields omitted in printout)AHzn@A4.a@AW~? AYA&"AAkNA"AZAbAjArAzAAAc!?ArWwrAfm@A~XA.YAAAYܿA<*A J:?2Aֽ:Ar=BA J:?JAֽRAr=٘i)I9m@YG J<<JJJJE&K  9YSV~? 9ya:zOAJEj7j7R9)¯B0E[[P@[8V~?[m[[[[BZYY i) *d*@OAME)7ŧ79)B[[.@[RV~?[Qs[[[[BZYY i) 9W)AAّ@A8̑@A W~? AcA!S&"AAjNA"AZAbAjArAzAAA> @q?A6ڈ`rA@n@Aw6AYAjA@ 2AݿA:<*A\<:?2Ag׽:A4sBA\<:?JAg׽RA4sY3p@yYْٓH`;??` ߩ??B~?)3p@ I٘i)I9n@YAG JJ<C=JǻJJJE&Ky> Y0U~?yF4PAPEj7j79/B)B,E[[Ă@[V~?[y[[[[BZYY i) ]I elevatorAngleAction: 0.075096< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037545.783293F (some fields omitted in printout)A(\@A80Q@A W~? AiA&"AA@jNA"AZAbAjArAzAAAg u~?ABrA#o@A <ABOA;AAÚ޿A(<*A5:?2A1׽:ABA5:?JA1׽RA٘i)I9#o@YG J<JJJJE&K Y#U~?y@MPAREŧ779)B)E[[Y@[UV~?[~[[[[BZYY i) OX elevatorAngleAction: 0.084184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037547.043299F (some fields omitted in printout)A= ף@A0k@A,iW~? AoyAس&"AAXjNA"AZAbAjArAzAAAk)A|rAp@A5;AsrAlAA$\Al<*A0 :?2A%0׽:A BA0 :?JA%0׽RA ٘i)I9p@YoG J@<JJJJE&K YU~?y`QAZE7 9)B[[Y@[V~?[[[[[BZYY i) E= j))jT5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037547.063165 s, next control iter: 1743037547.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037547.463165 s.]FJ~,)AJ"J*J2J:J2?BJ2?nJ;5vJAffff@A\ْ@AVW~? AAF&"AA? Y,U~?ygRA^ ]Eb7b7 9)B$E[[.@[V~?[Ӗ[[[[BZYY i)  elevatorAngleAction: 0.084184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037548.303285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AjܛD@A2W~? AӊAc&"AAjNA"AZAbAjArAzAAA=[{]Aj$rA9r@ADA2A Ar߿AXA<*A:?2Aֽ:AvbBA:?JAֽRAvb٘i)I99r@YlG J<JJJJE&K YaU~?yuRAcE77r9)B"E[[͆@[jV~?[[[[[BZYY i) \& elevatorAngleAction: 0.084184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037549.563327F (some fields omitted in printout)A3333@Ax $(@AV~? A5Aa&"AAֶiNA"AZAbAjArAzAAAAT'rAs@AL?<A<AA@ݿA =IA!<*A9?2A"׽:ABA9?JA"׽RAYB}@y9>?<ٓH I`n?`IL?`%kQຖ?,? n??)B}@ I٘i)I9s@Y{G J<J JJJE&Kx> Y|1U~?y$TAkEb79)B[[J@[KV~?[Ե[[[[BZYY i)  elevatorAngleAction: 0.084184*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500 dt: 0.419993:JBJ2 time: 1743037550.823298F (some fields omitted in printout)nJvJAGz@ACr2q@AlV~? AAf&"AA;niNA"AZAbAjArAzAAA>yAttrAu@ANA⯽AeAV=ۿA5$A5<*A9?2Aֽ:AcBA9?JAֽRAc٘i)I9u@YG JC<B=JJJJ E&K Y?U~?y^wUAsEb7729)BE[[5@[0V~?[Ȩ[[[[BZYY i)  YT~?y鱨_VARxE7779)vBE[[ZV@[* V~?[ը[[[[BZYY i) )/ elevatorAngleAction: 0.084184< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037552.083310F (some fields omitted in printout)A)\5@A]0(@AV~? AĩA&"AAr+iNA"AZAbAjArAzAAA-QMAZdrAw@AAc=A!A ؿA`PA><*A9?2AͶֽ:ABA9?JAͶֽRA٘i)I9w@YG J<JJJJE&K YT~?y㹨VA{Eb7b7!9)pB[[@[V~?[fܨ[[[[ZZZZ¸>BZYY i¸>) , YJT~?y'ڨXAEZ7SI7(9)XB[[$@[U~?[[[[[ZZZZBZYY i) 5vJAHz@A? @APV~? AA:&"AAhNA"AZAbAjArAzAAA A^0)OrA&|@A6?AAA ҿA`l|A}<*A9?2Aֽ:AX<BA9?JAֽRAX<٘i)I9|@YG J<C=JJJJ$E&K YT~?y&YAE{7Z7.91B)JBE[[hҏ@[U~?[ [[[[ZZZZBZYY i) 8p6GJ~,[])AAq= @A ֖@AEV~? AAI&"AAhNA"AZAbAjArAzAAAnoA= AJ]%rA%B}@A1A x<A&A@ҿAA2<*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9B}@Y$G Jd<JJJJ'E&K YoT~?yzYA DEŧ7ŧ7/9-B)CBE[[`@[TU~?[x[[[[ZZZZBZYY i) Z)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037555.863292F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AW횐 @AͿ%ȗ`z.p@?)g@ I٘i)I9}}@YHG J <B=JF>JJJ)E&KWw> YT~?yYAE777719)AB[[@[U~?[<[[[[ZZZZBZYY i8t) H%H$/@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037556.723165 s, next control iter: 1743037557.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037557.123165 s.4QGJ~,PG)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.070413< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037557.123295F (some fields omitted in printout)AGẗ@Amԭ@A!V~? ASA3]&"AA_hNA"AZAbAjArAzAAAcYJATsAU}@A L<A}dd=AG޿A̿AUAe*A9?2AB?ֽ:A8Q=BA9?JAB?ֽRA8Q=٘i)I9U}@Y0G J^JJJJ1E&K YtT~?ySYAE{7{779)BB[[k@[U~?[,[[[[BZYY i)  LɿA yA2m*A.9?2Aֽ:A$=BA.9?JAֽRA$=Y@jٿyQ='ٓHgL?y*4k`l |Ed?)@ I٘i)I9|@YG JEYJ{=JJJ7E&Kx> YujT~?y,/XAٿE:9)FB[[0@[U~?[:[[[[BZYY im) ;Ii@r1= }a))}a+٬@5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037558.383316F (some fields omitted in printout)A(\@ATO@A V~? A3Aq &"AA^=hNA"AZAbAjArAzAAA5IdA}sAG|@A[ )A=AֿAt`ǿABAvᇼ*A!9?2AH׽:Ad=BA!9?JAH׽RAd=٘i)I9G|@YG J'~JJJJ9E&K YfT~?y7wXAE77{7r<9)JBE[[ E@[U~?[@[[[[BZYY i) };Ii@]2= F]))F]g@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037558.403165 s, next control iter: 1743037558.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11057", header.stamp.nsec: 0"0 temperature: 13.384826"* salinity: 33.391376", density: 1025.000000"* values[0]: 0.709577"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037558.803165 s.}AlGJ~,g)AA둘@Ab߄@AV~? Am;A &"AA3hNA"AZAbAjArAzAAA iAEp-Q"sA{@A(NAOk=A,8ԿAGſAAі*A}9?2AC׽:A|=BA}9?JAC׽RA|=٘i)I9{@YAG JJJJJ9)MB[[Ҕ@[bU~?[G[[[[BZYY i) u;Ii@2= X))X@ժYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037558.823165 s, next control iter: 1743037559.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037559.223165 s.gsGJ~,H)AJ"J*J2J:JBJnJvJAzǘ@A@AU~? ANCAMf &"AAi*hNA"AZAbAjArAzAAAC>A ] 'sAE{@A| Aj=AGѿA`קÿAAw*A9?2Afֽ:AC=BA9?JAfֽRAC=٘i)I9E{@YG JJJJJ?E&K Y_T~?y_IWAE{7j7@9)RB[[_@[:U~?[N[[[[BZYY i)  ;Ii@3= EoT))EoT@y^pmbڪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037559.243165 s, next control iter: 1743037559.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037559.643165 s.tyGJ~,))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037559.643289F (some fields omitted in printout)A ףp@A6e@AU~? A8KA" &"AA"hNA"AZAbAjArAzAAA׌V}A`$+sAvz@A :A=A#ϿA]A@ A7*A9?2Aֽ:A"p =BA9?JAֽRA"p =٘i)I9z@YG JrJJJJBE&K Y[T~?yR]WAE77A9)VBE[[@[sU~?[EU[[[[BZYY i&V) QL;Ii@=Aӝ̿A 㿿A2#Aֻ*A;9?2AJֽ:A =BA;9?JAJֽRA =Y@̿y<=H<ٓHУ@? ߮@n³Z?:?)@ II٘i)I9z@Y6G J츼J<JJJDE&Kw> Y.[T~?yZVA̿E7777C9)[B[[/z@[ U~?[\[[[[BZYY i) v;Ii@?5= K))K*@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037560.083165 s, next control iter: 1743037560.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037560.483165 s.{_GJ~,)AA\h@A[@AU~? A#[A &"AAhNA"AZAbAjArAzAAABJAZ#QQ5sAWyy@AmoO<A=AP ʿA#A6Ap*Ac9?2A(Iֽ:AV =BAc9?JA(IֽRAV =٘i)I9yy@YG JӻJJJJGE&K YjZT~?ycVAE77hE9)`B[[!ȿ[U~?[b[[[[BZYY i) 5:Iiߍ@\5= 3G))3G3Gc֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037560.503165 s, next control iter: 1743037560.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11059, header.stamp.nsec: 00 temperature: 13.568398* salinity: 33.374996, density: 1025.000000* values[0]: 0.579079F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037560.903165 s.ȍGJ~,9)AJ"J*J2J:J>?BJ>?nJr5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037560.903291F (some fields omitted in printout)AQ@A1@AAU~? A#cA&"AA hNA"AZAbAjArAzAAA_oA=;$:sA.x@AΎ<Aෘ=AgǿA ZAjHA *A9?2A؁ֽ:AW?=BA9?JA؁ֽRAW?=٘i)I9x@YxG JJJJJJE&K YYT~?ylVAE72G9)eB[[ſ[\U~?[i[[[[BZYY i) &9IiU@'06= B))BBeҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037560.923165 s, next control iter: 1743037561.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037561.323165 s.vGJ~,%T)AAGzԙ@AoǙ@A"U~? A(kA]&"AAhNA"AZAbAjArAzAAAC@:A!Q\s?sA\Hx@A^ :A=AaĿA@A@WA}*Aw9?2A8ֽ:A?=BAw9?JA8ֽRA?=٘i)I9Hx@YG JZJJJJLE&K YXT~?yMuUAEb7b7H9)jBE[[ÿ[U~?[jp[[[[BZYY i) :T Ii@P7= we>))we>we>yvG:ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037561.343165 s, next control iter: 1743037561.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11060*, header.stamp.nsec: 0*0 temperature: 13.568696** salinity: 33.374989*, density: 1025.000000** values[0]: 0.578339*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037561.743165 s.WGJ~,qo)AJ"J*J2J:JBJnJvJAףp= @A ~1@AU~? A2sA&"AAThNA"AZAbAjArAzAAAxQGZA3 [DsAnw@AʙAْ=A¿AA@+dAa*A9?2An׽:Ay<BA9?JAn׽RAy<٘i)I9w@YG J*JJJJOE&K Y XT~?y~JUAE77J9)nB[[[*U~?[)w[[[[BZYY i) ۽IiΏ@8= :))::XʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037561.763165 s, next control iter: 1743037562.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037562.163165 s.v}GJ~,q)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037562.163279F (some fields omitted in printout)A@@A^2@A|U~? A@{A#&"AAhNA"AZAbAjArAzAAAl8sAFIsA0w@ARLAm=A`A@媩AnASC*A9?2A63׽:Ah<BA9?JA63׽RAh YAؔAzAyY*A9?2Aֽ:A4<BA9?JAֽRA4<٘i)I9)v@YG JpJJJJWE&K Yt^T~?yr'TAE7777(P9){BE[[[U~?[i[[[[BZYY i) xIi@+z8= #,))#,#,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037563.023165 s, next control iter: 1743037563.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037563.423165 s.uGJ~,)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067059< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037563.423284F (some fields omitted in printout)A{G@A(@Ԛ@A|U~? AwAK&"AAgNA"AZAbAjArAzAAA*/AΤ~XsA~u@A;A=A|A vAR|Aޏ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9u@YG JIJJJJZE&K Y`T~?y:SAEb77Q9)B[[[?U~?[ [[[[BZYY i) &Ii@t9= +i())+i(+i(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037563.443165 s, next control iter: 1743037563.823181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11062, header.stamp.nsec: 00 temperature: 13.569246* salinity: 33.374981, density: 1025.000000* values[0]: 0.577055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037563.843165 s.ݼGJ~,)AAp= @Au @AU~? AA9&"AAgNA"AZAbAjArAzAAA{o]AcmM\sA$%u@A@<Ah=A*A?A,|AK*A9?2Afֽ:A<BA9?JAfֽRA<٘i)I9%u@Y3G J9JJJJ\E&K YbT~?yeSAE{7j7S9)B[[[[/U~?[И[[[[BZYY i) ȻIiA@9= $))$$\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037563.863165 s, next control iter: 1743037564.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037564.263165 s.GJ~,)AJ"J*J2J:JBJnJvJAL@AM?@AU~? AAs&"AAgNA"AZAbAjArAzAAAJ>ߏAoKtasAst@AC<Aۇ=AvA`?AyA!*A9?2Aֽ:AY<BA9?JAֽRAY YgT~?y SAuEj7U9)BE[[Y[U~?[[[[[BZYY iF) Ii@Ě9= K))KK)AAY@AɍL@AU~? A˪A&"AAN hNA"AZAbAjArAzAAAQ A{zsAar@AA6=AL]A`R?ADAנ*A9?2Aֽ:A=BA9?JAֽRA=Y6@Pny.=,ٓH?`A??D%?Ez@?)6@ I٘i)I9ar@YG JJB;JJJmE&K+x> Y@T~?yݩ?QAnE}^9)B[[a_[U~?[[[[[BZYY i) AIik@}#:=  ))  YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037566.383165 s, next control iter: 1743037566.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11065*, header.stamp.nsec: 0*0 temperature: 13.569901** salinity: 33.374985*, density: 1025.000000** values[0]: 0.575360*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037566.783165 s.WGJ~,)AJ"J*J2J:JBJnJvJA(\@A%P@AU~? AӪA`&"AAhNA"AZAbAjArAzAAASAqG]sAq@AUw:A=A֢A?A`2A*A9?2Aֽ:AO=BA9?JAֽRAO=٘i)I9q@Y>G JJJJJoE&K YT~?yLPAEŧ77H`9)B[[_-[U~?[ǩ[[[[BZYY i) "QIi.@d9= J))JJĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037566.803165 s, next control iter: 1743037567.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037567.203165 s.GJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037567.203274F (some fields omitted in printout)AQŜ@A8@AU~? A۪A%"AAhNA"AZAbAjArAzAAASdA<3-:sAqq@A4O<A=A8OA`ne?A`nA"|*A9?2AZֽ:Ag =BA9?JAZֽRAg =٘i)I9qq@YG J:JJJJrE&K YƒT~?yPAE77j7b9/B)BE[[[V~?[ͩ[[[[BZYY i) )`Ii @9= _))__ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037567.223165 s, next control iter: 1743037567.603179 s, wait time: 0.380014 s&ƒT~?)& rAdjusting time to match Gazebo time: 1743037567.623165 s.XGJ~,a)AJ"J*J2J:J'?BJ'?nJM5vJAG@A @AU~? AA`)%"AAohNA"AZAbAjArAzAAAwpA;sAp@AxkQ<A⸔=AA@C?A`Aa*A9?2ASֽ:A=BA9?JASֽRA=٘i)I9p@YG JB=JJJJuE&K YT~?y=%PAE{7c9)BE[[Ȣ[V~?[ԩ[[[[BZYY i) E pIiB@9= f))ff̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037567.643165 s, next control iter: 1743037568.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11066 , header.stamp.nsec: 0 0 temperature: 13.570110 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.574817 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037568.043165 s.HJ~, )AA= ף0@Ai7#@AV~? AA%"AA #hNA"AZAbAjArAzAAA3_B0A1thsAojp@A<Ai*=AA"?A@LA៼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9jp@YRG JC=JJJJwE&K YLT~?yOAE7e9)B[[[V~?[ک[[[[BZYY i) 2Ii@T:= <))<<ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037568.063165 s, next control iter: 1743037568.443183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037568.463165 s.WHJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037568.463281F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A"[Y@AV~? AA%"AAs+hNA"AZAbAjArAzAAAy5AoksAo@A:Ao=AgA?A`SA𺠼*AѺ9?2Aֽ:A=BAѺ9?JAֽRA=Yl@teyo=@:ٓH&? YǬT~?y`OAeE7sg9)B[[ f[V~?[[[[[BZYY i) KIi@!9= ~x))~x義~x ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037568.483165 s, next control iter: 1743037568.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11067, header.stamp.nsec: 00 temperature: 13.570346* salinity: 33.375000, density: 1025.000000* values[0]: 0.574229F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037568.883165 s.y HJ~,/8 )AA(@A֎@AF V~? AbA-[%"AA4hNA"AZAbAjArAzAAAb'A0K|sAS\o@AVIA=AA?A@dzA*A"9?2A#׽:A =BA"9?JA#׽RA =٘i)I9\o@YG JJJJJ}E&K YAT~?y NAE7>i91B)B!E[[+4[V~?[M[[[[BZYY i) i׎Ii@ 9= ޾))޾޾֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037568.903165 s, next control iter: 1743037569.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037569.303165 s.THJ~,ogS )AJ"J*J2J:JBJnJvJAѝ@A1A ĝ@A#V~? A,A%"AA>hNA"AZAbAjArAzAAAJ,aIA=sAn@A<MAڝ=AA@U?AՒA *A9?2A3׽:A =BA9?JA3׽RA =٘i)I9n@Y[G JJJJJE&K YT~?y:NAE{7j7k9)B[[[o$V~?[[[[[BZYY i) cIiV@28= վ))վվ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037569.343165 s, next control iter: 1743037569.703176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11068., header.stamp.nsec: 0.0 temperature: 13.570556.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.573616.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037569.723165 s.HJ~,Hn )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.078260< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037569.723273F (some fields omitted in printout)Az@Ae@AV~? A A*%"AAbIhNA"AZAbAjArAzAAAY~A1ۖsA/Hn@Aе-A=AyA`?AoAy=*A~9?2A׽:A=BA~9?JA׽RA=٘i)I9Hn@YG J.JJJJE&K Y6T~?yg +NAEŧ7b7l9)B[[Η[i,V~?[[[[[BZYY iس) IiK@)8= ;));;۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037569.763165 s, next control iter: 1743037570.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037570.143165 s.U/"HJ~,* )AJ"J*J2J:JBJnJvJA ףp=@Aͩd0@Ad#V~? AA %"AAThNA"AZAbAjArAzAAA˗ A旱sAwm@AmKA=AA`a?A@JAE*A9?2A(ֽ:A7U=BA9?JA(ֽRA7U=٘i)I9m@YG JRJJJJE&K YT~?y(MAE77{7n92B)įB$E[[S[4V~?[.[[[[BZYY i) zIip@s8= Qľ))QľQľaުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037570.163165 s, next control iter: 1743037570.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037570.563165 s.(HJ~,[ )AA3333s@A)f@A+V~? AAAO%"AA/ahNA"AZAbAjArAzAAA\UAc TsA!m@AO!;A=A pA *?A"A*A:9?2ASXֽ:A~=BA:9?JASXֽRA~=Y4@0`y:=i;ٓH`?\?,?C?@ϲj x??)4@ I٘i)I9!m@YRG J.J?<JJJE&Kw> YT~?y`0WMA`Ehp9)ɯB%E[[j[`=V~?[_[[[[BZYY i) 䬼Ii@7= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037570.603165 s, next control iter: 1743037570.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11069, header.stamp.nsec: 00 temperature: 13.570803* salinity: 33.374985, density: 1025.000000* values[0]: 0.572983F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037570.983165 s.J "J *J 2J :J ?BJ ?nJ 5vJ /HJ~, )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037570.983293F (some fields omitted in printout)A\@Aw雞@A4V~? A!Ai%"AA7nhNA"AZAbAjArAzAAAW7x~ AI|lsAԇl@AP E<Aӯ=A䈿Ax?A`A*Ab9?2A81ֽ:A=BAb9?JA81ֽRA=٘i)I9l@YG JFJJJJE&K YT~?y+8LAE3r93B)ϯB(E[[_8[_FV~?[[[[[BZYY i) LIi@w(7= ))y/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037571.003165 s, next control iter: 1743037571.383188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743037571.403165 s.&6HJ~, )AAQޞ@A+ў@A=V~? A`)A%"AA{hNA"AZAbAjArAzAAAMt ACsAFk@A?<AR=AHA"[?A}AF$*A9?2AMֽ:A6=BA9?JAMֽRA6=٘i)I9k@YG JJJJJE&K YT~?y?{LAE77s9)ԯB[[[OV~?[ [[[[BZYY i) ZIi@M6= ))󩾩YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037571.423165 s, next control iter: 1743037571.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11070", header.stamp.nsec: 0"0 temperature: 13.571052"* salinity: 33.375008", density: 1025.000000"* values[0]: 0.572283"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037571.823165 s.?AQAR*A.9?2Aֽ:A5=BA.9?JAֽRA5=٘i)I9Jk@Y4G JڽJJJJE&K Y U~?yG LAE7)7u9)ٯB[[Ќ[mYV~?[[[[[BZYY i) !üIi{@`6= #))##YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037571.843165 s, next control iter: 1743037572.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037572.243165 s.CHJ~,y!)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743037572.243335F (some fields omitted in printout)Aףp=J@A#M)=@A/RV~? A@8A%"AAəhNA"AZAbAjArAzAAA=P AysAj@AaAC=A怿A!?AkA*A9?2Aֽ:A}=BA9?JAֽRA}=٘i)I9j@YG JǾJJJJE&K YU~?yOKAE{7{7w94B)߯B+E[[ [tcV~?[[[[[BZYY i) ȆʼIit@EW6= nT))nTnTYYFFF]H:Waiting for Gazebo time sync: latest Gz time: 1743037572.263165 s, next control iter: 1743037572.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037572.663165 s.JHJ~,q*!)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11071, header.stamp.nsec: 00 temperature: 13.571297* salinity: 33.374992, density: 1025.000000* values[0]: 0.571568F (some fields omitted in printout)A@Ar@A]V~? A?A"%"AAͩhNA"AZAbAjArAzAAA e AVMsA j@Az4As_=Ao|A;?Ak7A*A9?2A7"׽:A2=BA9?JA7"׽RA2=Yw@ѭ|y\=#5ٓH@?`?@۬?@Jd?細@䵿" }?)w@ I٘i)I9 j@YpG JB=J{a<JJJE&K$x> Y'U~?yV*KA|Eb77^y95B)B,E[[oj[mV~?[[[[[BZYY i) ѼIi@$5= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037572.683165 s, next control iter: 1743037573.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037573.083165 s.DQHJ~, SE!)AA)\µ@AU@AShV~? AFAx%"AAhNA"AZAbAjArAzAAANAԍAg$sAei@AIA=AQ3wA?A VAż*Aw9?2Af ׽:AE'=BAw9?JAf ׽RAE'=٘i)I9ei@Y G JüC=JJJJE&K Y27U~?y=^JAE({96B)B/E[[6[zxV~?[$[[[[BZYY i) ټIiČ@/4= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037573.103165 s, next control iter: 1743037573.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037573.503165 s.WHJ~,34`!)AJ"J*J2J:J:?BJ:?nJT5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087816< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037573.503290F (some fields omitted in printout)AR@A|E{ޟ@AtV~? A NAD%"AAhNA"AZAbAjArAzAAA^zAקsAh@A.A+=ArA?A`Aioͼ*A39?2Axֽ:Aeh=BA39?JAxֽRAeh=٘i)I9h@Y G JɼJJJJE&K YFU~?ye>JAEZ7Z7|9)B[[[V~?[r*[[[[BZYY i) HIi3@mu3= {)){{=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037573.523165 s, next control iter: 1743037573.903175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11072, header.stamp.nsec: 00 temperature: 13.571549* salinity: 33.375008, density: 1025.000000* values[0]: 0.570835F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037573.923165 s.8^HJ~,{!)AA{G!@A=@A\V~? A(UAz%"AA3hNA"AZAbAjArAzAAA7ךQAEŜHsA h@A:A=AmA?AAּ*AW9?2A*Vֽ:A 7=BAW9?JA*VֽRA 7=٘i)I9 h@Y: G JCѼJJJJE&K YLVU~?ylIAE)7ŧ7~97B)B2E[[ˁ[V~?[B0[[[[ZZ¸BZYY i¸{=) OԼIiы@G2= |j))|j|jcYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037573.963165 s, next control iter: 1743037574.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037574.343165 s. elevatorAngleAction: 0.082756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037574.763325F (some fields omitted in printout)Ǎ@A;i@A8V~? A&cAg%"AAiNA"AZAbAjArAzAAA3=?y?)@ I٘i)I9f@YN G JJX<;JJJE&Kw> YwU~?y{HAb Eb77S9)B6E[[+z[V~?[;[[[[ZZBZYY i) mZIi@O1= @F))@F@F|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037574.783165 s, next control iter: 1743037575.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037575.183165 s.rHJ~,c!)AJ"J*J2J:JBJnJvJA(\ @A_B@AѧV~? AjA%"AAiNA"AZAbAjArAzAAAo|AǚsAe@A5<Aɛ=AĦ]Al?AAo*AQ9?2AXDֽ:A~<BAQ9?JAXDֽRA~<٘i)I9e@Y G J<JJJJE&K YU~?ydHAEŧ7b79) B[[WWv[V~?[JA[[[[ZZBZYY i) ZIi@#0= 5))55yާ=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037575.203165 s, next control iter: 1743037575.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037575.603165 s.74yHJ~,!)AAQ@A~E@AݵV~? ApAP[%"AA-iNA"AZAbAjArAzAAA Nn?Ae&sAnd@A2AF{=AwMXA?AAtD*A"9?2Auֽ:A%r<BA"9?JAuֽRA%r<٘i)I9d@Y> G JJJJJE&K YgU~?yGAE7777腐99B)B9E[[q[V~?[F[[[[ZZBZYY i) \Ii@4/= d#))d#d#YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037575.623165 s, next control iter: 1743037576.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11074 , header.stamp.nsec: 0 0 temperature: 13.572179 * salinity: 33.375008 , density: 1025.000000 * values[0]: 0.569125 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037576.023165 s.ZHJ~,{")AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037576.023283F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A~;!@A\V~? A|wA%"AAdCiNA"AZAbAjArAzAAA;dlAOV7")AJ"J*J2J:JBJnJvJA@A4`@AV~? AA%"AApiNA"AZAbAjArAzAAAAv;sAb@A:A'3<AؠHA"?A@A|߂*A9?2A|eֽ:A\BA9?JA|eֽRA\Y@Hy$3<o:ٓH[?l?I)?, ?x6?xdQ?)@ I٘i)I9b@Y G JJ9JJJE&Kw> Y,U~?yFAHE77I9 elevatorAngleAction: 0.065042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743037577.283269F (some fields omitted in printout)A(\ϡ@AnnLO¡@ArV~? AAW%"AA-iNA"AZAbAjArAzAAADirկAx$sAhb@A@\AǣApCA@d?A@wAæ@*A9?2A.{ֽ:A)怼BA9?JA.{ֽRA)怼٘i)I9b@Y G JiJJJJE&K Y7U~?yâFAEj7Z79)(B[[`[nV~?[y\[[[[ZZBZYY i.=) qIi@ += w))ww(YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743037577.303165 s, next control iter: 1743037577.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11076., header.stamp.nsec: 0.0 temperature: 13.572660.* salinity: 33.375027., density: 1025.000000.* values[0]: 0.567687.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037577.703165 s.J "J *J 2J ҺHJ~:JS?BJS?,m")AnJc5vJAQ@A@AW~? ALA%"AAgiNA"AZAbAjArAzAAA}BApsAAb@AZ;A0A3>A?A@+A6ػ*A9?2AŤֽ:AgBA9?JAŤֽRAg٘i)I9Ab@Y G JB=JJJJE&K YFU~?yFAE77ގ9)*BCE[[O[[W~?[a[[[[ZZBZYY i) iC]Ii@)= ))y*Q=Z)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037577.723165 s, next control iter: 1743037578.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037578.123165 s.:HJ~,i")AAG:@A̔-@AHW~? AAHa%"AADiNA"AZAbAjArAzAAA1>гAfsAW!b@AF<A\Au8A1d?A@AԴ*A(9?2Aֽܾ:A@ƼBA(9?JAֽܾRA@Ƽ٘i)I9!b@Y G JꚻC=JJJJE&K YRV~?y:FA!E79)+B[[_)W[[W~?[f[[[[BZYY i) rIIi @)= @a))@a@ay]=.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037578.143165 s, next control iter: 1743037578.523182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037578.543165 s.IHJ~,â")AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075285< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037578.543278F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A7^c@AP$W~? AA%"AAiNA"AZAbAjArAzAAAwn"A-]HsAb@A*<<AQ1A&3A?A`ݍA;*A9?2A/ֽ:ABA9?JA/ֽRA弙٘i)I9b@Y G JJJJJE&K Y_#V~?yuFA$E77s9>B)-BGE[[۪R[N!W~?[l[[[[BZYY i) 5Ii@[(= ))m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037578.563165 s, next control iter: 1743037578.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11077, header.stamp.nsec: 00 temperature: 13.572687* salinity: 33.375034, density: 1025.000000* values[0]: 0.567486F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037578.963165 s.|HJ~,")AAffff@A[[@A5W~? AA s%"AAiNA"AZAbAjArAzAAA'!aIAg9'sA;b@Aɨ;AXA}.A?A<A";*AB9?2Ahֽ:A@BAB9?JAhֽRA@Y6@n.y$Xޖ;ٓH@?`,?({& ?@!v?j ?r?`x?)6@ I٘i)I9;b@Y G J;JJJJE&KYw> YQ9V~?yFA.&E)7ŧ7>9?B)JE[[4N[l0W~?[q[[[[BZYY if=) %S%Ii@&= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037579.003165 s, next control iter: 1743037579.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037579.383165 s.صHJ~,8")AJ"J*J2J:JH?BJH?nJV5vJA(ܢ@AϢ@AGW~? AvA%"AAjNA"AZAbAjArAzAAA,q#ۿAtAub@AAyAW)A??A@A .<*A9?2Aֽ:ATj BA9?JAֽRATj ٘i)I9ub@Y G J4 <JJJJE&K YCOV~?yEGA)E7777 9)+B[[I[?W~?[u[[[[BZYY i) Ii@$= )))))ͨ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037579.423165 s, next control iter: 1743037579.783179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11078&, header.stamp.nsec: 0&0 temperature: 13.572566&* salinity: 33.375065&, density: 1025.000000&* values[0]: 0.567629&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037579.803165 s.|AHJ~,g")AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056366< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037579.803313F (some fields omitted in printout)A@AjNA"AZAbAjArAzAAAWr?ACltA:c@AzQASAOA?A >A<*AЏ9?2Aս:Ad BAЏ9?JAսRAd ٘i)I9:c@YK G J<JJJJE&K Y${V~?y˪GA.E{7{79)&BPE[[ @[_W~?[[[[[BZYY i) 0Ii~@a"= }=))}=}=y)8g=e*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037580.243165 s, next control iter: 1743037580.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037580.643165 s.qHJ~,))#)AA ףp}@A8dp@A8W~? AhAk%"AAZjNA"AZAbAjArAzAAA 7C?A61 tAc@AVAlAA??A ߿A}<*A9?2ALֽ:A)vBA9?JALֽRA)v٘i)I9c@Y G J<JJJJE&K YV~?yAѪHA1E777i9BB)%BUE[[W2<[;pW~?[P[[[[BZYY i) X3ȻIi|@ɷ!= @M=))@M=@M=y=tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11079, header.stamp.nsec: 00 temperature: 13.572330* salinity: 33.375053, density: 1025.000000* values[0]: 0.568127*F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037580.663165 s, next control iter: 1743037581.043175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037581.063165 s.HJ~,p D#)AJ"J*J2J:Jp?BJp?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200492 time: 1743037581.063338F (some fields omitted in printout)A3333@Aߡ(@AW~? AҿAyE%"AAwjNA"AZAbAjArAzAAA$K@?ATXctA;d@AG;A$AA@?A@߿AE<*A9?2A^ֽ:A% BA9?JA^ֽRA% Yw@y ;ٓH@??eR?$?3?'c??)w@ I٘i)I9;d@Y G JO<JXJJJE&Kw> YV~?y֪HA4E77{749) B[[7[ɀW~?[截[[[[BZYY i) hIiy@= @Ί=))@Ί=@Ί=<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037581.083165 s, next control iter: 1743037581.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037581.483165 s.s_HJ~,^#)AA\@A/1ۣ@A%W~? AūA%"AA\jNA"AZAbAjArAzAAA+K?AAmtAd@Ak,<A򪛽A<A?A{Y޿A,t<*A9?2Aֽ:A8& BA9?JAֽRA8& ٘i)I9d@Y; G J<JJJJE&K YLV~?yڪHA6E7779CB)BXE[[43[W~?[j[[[[BZYY i) ߋIiv@= خ=))خ=خ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037581.503165 s, next control iter: 1743037581.883176 s, wait time: 0.380011 sLV~?)ڪtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11080, header.stamp.nsec: 00 temperature: 13.571992* salinity: 33.375065, density: 1025.000000* values[0]: 0.568782F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037581.903165 s.HJ~,y#)AJ"J*J2J:JBJnJvJAQ@A@A#W~? ADʫAv%"AA_jNA"AZAbAjArAzAAAg"?AAVtAcPe@AV<AxA A`|2?A@ΜݿA{<*AK9?2Aֽ:A 6 BAK9?JAֽRA 6 ٘i)I9Pe@Y G J|<JJJJE&K YV~?yߪTIA9E)7ŧ7ɠ9)B[E[[.[W~?[ۑ[[[[BZYY i) c[Iivt@u= @=))@=@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037581.943165 s, next control iter: 1743037582.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037582.323165 s.wHJ~,)#)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037582.323299F (some fields omitted in printout)AGzT@ApG@AvW~? AMϫA.%"AAjNA"AZAbAjArAzAAA Z\?AZEItAe@ADZ<ANAA ~?AܿA,<*A9?2A:ֽ:AQBA9?JA:ֽRAQ٘i)I9e@Y G J<JJJJE&K YV~?yIAE77{7^9DB)B^E[[S%[?W~?[~[[[[BZYY i) mźIip@(=  >)) > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037582.783165 s, next control iter: 1743037583.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037583.163165 s.z}HJ~,q#)AA@AvQ@AW~? AثA`S%"AApkNA"AZAbAjArAzAAAC#?A9ݾtA6 g@A?A~jA8A?A-\ۿAس<*A9?2A)ֽ:ABA9?JA)ֽRAY+@9yhٓH`Q??௿@siݿ ]c??(?`g@?)+@ I٘i)I9 g@Y G JԲ<J9JJJE&Kw> Y- W~?yuJA9AE77)9) BaE[[![-W~?[[[[[BZYY i) DzIiym@= `>))`>`>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037583.183165 s, next control iter: 1743037583.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037583.583165 s.HJ~,S#)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743037583.583279F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@AM@AW X~? AݫAH%"AAk0kNA"AZAbAjArAzAAA:t?ABo!tA3g@A%VA떽ALAV?AڿA<*A19?2Ac$ֽ:A^BA19?JAc$ֽRA^٘i)I9g@Y G J<JJJJE&K Y<9W~?yJADE{79FB) BeE[[[oW~?[[[[[BZYY i) 9Iisj@ = ,2>)),2>,2>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037583.603165 s, next control iter: 1743037583.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11082, header.stamp.nsec: 00 temperature: 13.571261* salinity: 33.375095, density: 1025.000000* values[0]: 0.570272F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037584.003165 s.z IJ~,U4$)AAR+@Aog_y@A"X~? A"Aʝ%"AAPkNA"AZAbAjArAzAAAGzV@AQhU$tA4h@A< (A AA˚?AٿA犭<*Ad9?2A[ֽ:ArBAd9?JA[ֽRAr٘i)I94h@YS G J̰<JJJJE&K YKRW~?yXKAFE779GB)BhE[[[W~?[[[[[BZYY i) ֽ:Iig@[= PpD>))PpD>PpD>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037584.023165 s, next control iter: 1743037584.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037584.423165 s.uIJ~,$)AJ"J*J2J:J?BJ?nJ/5vJA{Ga@A=>T@A8X~? AAF%"AAqkNA"AZAbAjArAzAAA i@Az'tAh@AAA־A?AؿAz<*A89?2A±ֽ:ABA89?JA±ֽRA٘i)I9h@Y G JG<JJJJE&K Y[kW~?yKAIE79)B[[][X~?[[[[[BZYY i) ;Iie@D= V>))V>V>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037584.443165 s, next control iter: 1743037584.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11083, header.stamp.nsec: 00 temperature: 13.570886* salinity: 33.375092, density: 1025.000000* values[0]: 0.571059F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037584.843165 s. IJ~,5$)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065951< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037584.843294F (some fields omitted in printout)Ap= @AKi@ANX~? AA%"AAkNA"AZAbAjArAzAAAzT@AsbW)tAKi@AP;AKoA#F˾A?A`*ؿAm<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Ki@Y G J <JJJJE&K YhW~?y&LALEb77T9)BkE[[;[#X~?[b[[[[BZYY i) K;Iic@= .i>)).i>.i>&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037584.863165 s, next control iter: 1743037585.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037585.263165 s.IJ~,P$)AJ"J*J2J:JBJnJvJḀ@Apɿ@A\eX~? AA}%"AA޴kNA"AZAbAjArAzAAAAyZ@A_,tAi@ALQ<A/AA]?AV׿Ab"<*A9?2Az׽:ASBA9?JAz׽RASY@y -K/R<ٓHW?`J?`]|׿1?@'?@!?5?`%?)@ I٘i)I9i@YLG JX<B=J{<JJJE&Kw> YW~?yLANE7779HB)BnE[[;3 [J6X~?[ [[[[BZYY i1=) y;Ii`@\= r{>))r{>r{> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037585.283165 s, next control iter: 1743037585.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 110842, header.stamp.nsec: 020 temperature: 13.5705242* salinity: 33.3751182, density: 1025.0000002* values[0]: 0.5717442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037585.683165 s.lIJ~,^k$)AA(\@A/@A|X~? AAR%"AA kNA"AZAbAjArAzAAATJ @AC}.tA Kj@A=<AYAKAؙ?AֿA<*A 9?2Aֽ:ABA 9?JAֽRA󼙘٘i)I9Kj@YG J<C=JJJJE&K YW~?y,LAQESI7SI7鰐9)BqE[[[IX~?[[[[[BZYY i) MW;Ii\@0C = >))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037585.683165 s, next control iter: 1743037586.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743037586.103165 s.!IJ~,$)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037586.103322F (some fields omitted in printout)AQ8@A{E+@AX~? AA%"AAkNA"AZAbAjArAzAAAӕw @AZ70tAj@A;A;AM"A?AտAU<*AX9?2Aֽ:AOBAX9?JAֽRAO٘i)I9j@YG Jj<JJJJE&K Y1W~?yj@MATEj7j79)BtE[[[]X~?[[[[[BZYY i) <;IiY@|g = @ >))@ >@ >*YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743037586.123165 s, next control iter: 1743037586.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037586.523165 s.'IJ~,{$)AAHzn@A| a@A2X~? A<A"%"AAlNA"AZAbAjArAzAAA{t'@A 3tAV@k@A!ϫAUA A ?A`ԿA[<*A9?2Acֽ:ABA9?JAcֽRA٘i)I9@k@Y-G J|<JJJJE&K YuW~?y MAWE7b7~9)B[[[qX~?[[[[[BZYY i) ";IiLW@ = f>))f>f>yTw=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037586.543165 s, next control iter: 1743037586.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11085, header.stamp.nsec: 00 temperature: 13.570164* salinity: 33.375134, density: 1025.000000* values[0]: 0.572413F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037586.943165 s.[d.IJ~,O]$)AJ"J*J2J:JBJnJvJAq= ף@AFtϖ@AX~? AAw%"AA?lNA"AZAbAjArAzAAA|{ 0@AFɩ/5tAtk@AO EAykAIۗA >?AӿA@<*A9?2A?ֽ:ABA9?JA?ֽRA٘i)I9k@YxG J<B=JJJJE&K YX~?y MAYEŧ7I9IB)BwE[[j[>X~?[ʿ[[[[BZYY i) t))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037586.963165 s, next control iter: 1743037587.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037587.363165 s.5IJ~,p>$)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037587.363275F (some fields omitted in printout)A٦@Aя̦@ACX~? AA4%"AAclNA"AZAbAjArAzAAAfc0N@An=7tA6l@AɡLA"AqAp?AӿAⰒ<*A˺9?2AUֽ:A4BA˺9?JAUֽRA4Y<@_y6 )MٓHV?t?@uu]ѿ`?@? @? ?)<@ I٘i)I96l@YG J<C=J9;JJJE&K x> Y"X~?yMYNA\Ej7SI79KB)B{E[[}1[X~?[ª[[[[BZYY i) ))9>9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037587.383165 s, next control iter: 1743037587.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11086&, header.stamp.nsec: 0&0 temperature: 13.569818&* salinity: 33.375153&, density: 1025.000000&* values[0]: 0.573072&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037587.783165 s.Z;IJ~,$)AJ"J*J2J:JBJnJvJA(\@Ae`T@A X~? ASAQ%"AAlNA"AZAbAjArAzAAAlP7p@ATnܼ39tAYl@ALѻA/A͂A?AQ9ҿAu{<*A9?2Aֽ:ABA9?JAֽRA٘i)I9l@YG J<JJJJE&K Y>X~?yNA_Eŧ77߹9)B~E[[5ܾ[bX~?[Ū[[[[BZYY i) <))6>6>y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037587.803165 s, next control iter: 1743037588.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037588.203165 s.CIJ~, %)AAQE@AH8@A2 Y~? AcA%"AAҫlNA"AZAbAjArAzAAAje@A[$0;tA)m@AG;AATpA k?A}TѿA]<*A9?2Aֽ:ABA9?JAֽRA٘i)I9)m@YWG JW<JJJJE&K YEYX~?yOAaE{7j79)BE[[aӾ[eX~?[Ȫ[[[[BZYY i) .))U>U>j*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037588.223165 s, next control iter: 1743037588.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037588.623165 s.\IIJ~,q'%)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037588.623287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Am@Av!Y~? AL A|%"AAplNA"AZAbAjArAzAAA -ol@AW))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037588.643165 s, next control iter: 1743037589.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11087 , header.stamp.nsec: 0 0 temperature: 13.569477 * salinity: 33.375156 , density: 1025.000000 * values[0]: 0.573708 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037589.043165 s.PIJ~,B%)AA= ף@AB@A9Y~? A A"E%"AAYlNA"AZAbAjArAzAAAZl@AZ>tAn@AT<AAEA`d&?A ϿAt<*An9?2A3׽:A7BAn9?JA3׽RA7٘i)I9n@YG Jڍ<JJJJE&K YX~?yOAgE77?9)ۯB[[[@X~?[~Ϊ[[[[BZYY i) M))Y>Y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037589.063165 s, next control iter: 1743037589.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037589.463165 s.XWIJ~,]%)AJ"J*J2J:J?BJ?nJ5vJAffff@AH]٧@ARY~? AA%"AAmNA"AZAbAjArAzAAAꑞ @AJ@tAn@AW<Ai’AZ;1AGM?A?ͿA<*A9?2A?ֽ:ABA9?JA?ֽRAY~@1y&O<ٓH`p? ?{jƿU?q? T?ʀ?`?)~@ I٘i)I9n@Y3G J<JW$JJJE&Kx> YwX~?yg/PA1iEj7Z7 9LB)ׯBE[[q[Y~?[Ѫ[[[[BZYY i) \))-ѭ>ѭ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037589.483165 s, next control iter: 1743037589.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11088, header.stamp.nsec: 00 temperature: 13.569136* salinity: 33.375172, density: 1025.000000* values[0]: 0.574353F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037589.883165 s.y]IJ~,/x%)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251291> elevatorAngleAction: 0.074967< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037589.883282F (some fields omitted in printout)A(@A7S!@AVkY~? AAo%"AA?mNA"AZAbAjArAzAAA^fR:@AϙAtAo@AeAÔAAq?Aqq˿A<*A9?2A|ֽ:AM BA9?JA|ֽRAM ٘i)I9o@YG J<JJJJE&K YGX~?yPAlE779)ӯBE[[A[Y~?[Ӫ[[[[BZYY i=) l)) u>u>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037589.903165 s, next control iter: 1743037590.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037590.303165 s.SdIJ~,jg%)AJ"J*J2J:JBJnJvJAQ@ACD@AIY~? A_A&%"AAemNA"AZAbAjArAzAAA}Qh@A9$BtAZo@AtAZgA* A^?A@ɿA9Ǣ<*Aƽ9?2ANս:A= BAƽ9?JANսRA= ٘i)I9o@YG J1<JJJJE&K YX~?yrPAoE77Đ9)ϯBE[[[0Y~?[ժ[[[[BZYY i) "Y{))5>5>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037590.323165 s, next control iter: 1743037590.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11089., header.stamp.nsec: 0.0 temperature: 13.568806.* salinity: 33.375175., density: 1025.000000.* values[0]: 0.575053.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037590.723165 s.kIJ~,H%)AAz@Aޮz@A`Y~? AA%"AAmNA"AZAbAjArAzAAA }u/@AC9oKDtA p@A6VA AA _?A ǿAu<*A"9?2A)\ս:ABA"9?JA)\սRA٘i)I9 p@Y%G J<B=JJJJE&K YX~?yVQAqEb7iƐ9)˯BE[[Q[FY~?['ت[[[[BZYY i) O))e>e>*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037590.743165 s, next control iter: 1743037591.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037591.143165 s.Y/rIJ~,*%)AJ"J*J2J:JM?BJM?nJu5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037591.143300F (some fields omitted in printout)A ףp@Aͩd@AY~? AyA]%"AAmNA"AZAbAjArAzAAA>@A&EtA}p@A!A1A A`?AgſA{}<*Ac9?2A1ս:AZ>BAc9?JA1սRAZ>٘i)I9p@YzG J"<C=JJJJ E&K YY~?y}!QAtEb74Ȑ9)ǯBE[[[w]Y~?[Gڪ[[[[BZYY i) ' Y6Y~?y!""RAwE77{7ɐ9)¯BE[[[sY~?[@ܪ[[[[BZYY i) sW,3@AmhGtA:q@A;A.A/TA r?A {9¿Aꢥ<*Aת9?2A@ֽ:ABAת9?JA@ֽRA٘i)I9q@Y#G JI<JJJJE&K Y SY~?y"RAyE777ː9)BE[[2}[Y~?[ު[[[[BZYY i)  elevatorAngleAction: 0.083761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037592.403293F (some fields omitted in printout)AQ^@AF'KQ@AZ~? AnA%"AA!%nNA"AZAbAjArAzAAAIm4i@AZo߅HtA[Mr@A1Q<A'AEA?AJAcŨ<*A49?2Aňս:AޥBA49?JAňսRAޥI٘i)I9Mr@YxG J̦<JJJJE&K Y3oY~?yh#RA|E77j7͐9)B[[# j[Y~?[ߪ[[[[BZYY i)  v^?))>^?>^?*Yt YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037592.843165 s, next control iter: 1743037593.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037593.243165 s.IJ~,`O&)AAףp=ʩ@Ae3@A\6Z~? AA%"AArnNA"AZAbAjArAzAAAFJ> @A- JtA(ss@Am;AA.<A}A?AF=At<*A9?2Abս:ABA9?JAbսRA٘i)I9ss@Y+G J<JJJJE&K YY~?y$SAE77)ѐ9)BE[[hC[?Y~?[[[[[BZYY i) x elevatorAngleAction: 0.083761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743037593.663298F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11092, header.stamp.nsec: 00 temperature: 13.567635* salinity: 33.375252, density: 1025.000000* values[0]: 0.577271F (some fields omitted in printout)A@A&Q/@A*PZ~? A A1%"AAnNA"AZAbAjArAzAAA*m괈!@AgwJtAt@As0AIAa<AO?A׋Am<*AP9?2ABս:ABAP9?JABսRAY'@_m?`!M?`ws?)'@ I٘i)I9t@YG Jv<JJJJE&Kt> YY~?yq$9TA_<E{7Ґ9)BE[[{A0[Y~?[F[[[[BZYY i) ɹ elevatorAngleAction: 0.083761< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743037594.923335F (some fields omitted in printout)A{G@A[@h=@AZ~? A"A%"AAoNA"AZAbAjArAzAAArY& `#@Ap~yKtA v@AIA/Ae=A o?A@vA<*AH9?2AԽ:ABAH9?JAԽRA٘i)I9 v@YG J<JJJJ#E&K YUZ~?y#UA DEb77Tؐ9)BE[[[.Z~?[|[[[[BZYY i) Aw?A`NA4<*A9?2Aս:ABA9?JAսRAY'@Z>yJ*7<ٓHO?@s*P?+?7? ن??)'@ I٘i)I9_w@YG J<JJJJ)E&K u> YPZ~?yW"zVAZ>E77{7ې9QB)BE[[[^Z~?[[[[[BZYY i) QF elevatorAngleAction: 0.092691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037596.183266F (some fields omitted in printout)A(\B@A,j5@AZ~? A#Ao%"AAąoNA"AZAbAjArAzAAA8%@A&HLtA x@Ap4Q<AA+K>A]w?Ar?AJ<*A9?2A|!ֽ:A}BA9?JA|!ֽRA}٘i)I9 x@YG Jy<JJJJ+E&K Y}lZ~?y7!VAE77ݐ9)B[[#m[vZ~?[p[[[[BZYY i) A`v?AiE?A<*A9?2AeԽ:AiBA9?JAeԽRAi٘i)I9x@Y_G J<JJJ&FJ.E&K YvZ~?y gWAE7777ߐ9)BE[[ 3[1Z~?[[[[[ZZZZ¸>BZYY i¸>) Aq?Aq`?A.<*Ac9?2AsNԽ:AY7BAc9?JAsNԽRAY7٘i)I9fy@YG J<B=JJJJ1E&K YrZ~?yWAE7J9PB)BE[[Wi[Z~?[[[[[ZZZZBZYY i) A g?A s?A~=*A9?2AjԽ:A/BA9?JAjԽRA/٘i)I92z@YGG J<C=JJJJ3E&K YjZ~?yUXAE779)~BE[["J9[^Z~?[[[[[ZZZZBZYY i) ]w')AJ"J*J2J:JBJnJvJA@AA*Ŏ @AS[~? A"A%"AAC#pNA"AZAbAjArAzAAAOVJޮ'@AyaKtA{@ASAPAh>A^?A 8?A=*A9?2AԽ:AO¼BA9?JAԽRAO¼YD<i>y4mTٓH?)̿ ?x,?@&rOK?` z?)D< I٘i)I9{@YG J=J<JJJ6E&Ks> YZ~?yXAi>E9OB)wBE[[)<[Z~?[[[[[ZZZZBZYY i) rܵAR?APϳ?A]<*A9?2AKս:AfvBA9?JAKսRAfv٘i)I9{@YVG J=JJJJ9E&K YkZ~?y%YAE77{79)oBE[[ =[dZ~?[[[[[ZZZZBZYY i) -A@G?A`p?Ae<*A69?2Aӽ:A`ϻBA69?JAӽRA`ϻ٘i)I9|@YG J<B=JJJJA@g9?A Z?A?<*AM9?2AdLԽ:A;BAM9?JAdLԽRA;٘i)I9U}@Y0G J<C=JJJJ>E&K Yk.[~?yYAE7777?9)dB[[=[#[~?[[[[[ZZZZBZYY i) sϒA ,(?A H?Am}<*A9?2AԽ:A<BA9?JAԽRA<٘i)I9}@Y}G J?<JJJJAE&K YI[~?y\ZAE7ŧ7 9NB)_BƹE[[zd=[<[~?[1[[[[ZZZZBZYY i)  A?A ]?A/<*A9?2AԽ:Ab<BA9?JAԽRAby~(;.?<ٓHJ?@ڢԿ b?!?I?@ `v@ ?P?)= I٘i)I91~@YG J\<JOE>JJJDE&Ks> Yd[~?yTZA#>E{7{79MB)\BɹE[[z=[T[~?[[[[[[ZZZZBZYY i1y) V{A?A;?A7;*A19?2Azս:A<BA19?JAzսRA<٘i)I9n~@YG J<JJJJFE&K Y[~?y.MZAE7779JB)WB˹E[[M> >[m[~?[Z[[[[ZZZZBZYY iڒ) khA?A H.?A:*A{9?2AԽ:AK<BA{9?JAԽRAK<٘i)I9~@YG J!;JJJJIE&K YQ[~?yV EZAE7j9)UBιE[[!>[Ն[~?[1[[[[BZYY i) ՃUA <BA`9?JATԽRA> <٘i)I9~@YG J9uJJJJLE&K Y[~?y}=ZAEb7749IB)ѹE[[=h6>[[~?[[[[[BZYY i) BAA?A?Aл*As9?2AnԽ:A<BAs9?JAnԽRA<٘i)I9m~@YG J}JJJJNE&K Y[~?y6ZAE7779)VB[[=0K>[+[~?[][[[[BZYY i) "/5~@A\cAu=Alr>A`?A@?A'*A9?2Aս:A=BA9?JAսRA=Y5V>K>yXu=ﬠٓH@?.ڿ`ͪ?@? ?@`? @f t??)5V> I٘i)I95~@YG JJi>JJJQE&Ks> Y[~?yYAK>EZ7SI79HB)WBԹE[[_>[[~?[[[[[BZYY ie) 9A g?A>U?A%a*A9?2A1ս:ATz=BA9?JA1սRATz=٘i)I9}@YG JaBJJJJTE&K YX\~?yRYAE7b79GB)XB׹E[[=it>[[~?[ު[[[[BZYY i) AB?A1?A*A:?2ACjӽ:AA=BA:?JACjӽRAA=٘i)I9y}@YFG J|B=JJJJVE&K Y\~?y?YAE7777_9)[BڹE[[s>[\~?[ܪ[[[[BZYY i) ;Ii?ٯ?< ʰ?)) ʰ?ʰ?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037602.923165 s, next control iter: 1743037603.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037603.323165 s.p4JJ~, ()AAGzԮ@AJB"mǮ@AY\~? A A%%"AArNA"AZAbAjArAzAAAkN}/@A \v=tA|@AW<A=Am}>A?Ag?AP*A :?2Aӽ:A=BA :?JAӽRA=٘i)I9|@YG J•C=JJJJYE&K Y6\~?yXAE{7j7*9FB)^BݹE[[#>[\~?[ڪ[[[[BZYY i!) ^;Ii?i6< P?))P?P?y`fUΪYMYFFF]i:Waiting for Gazebo time sync: latest Gz time: 1743037603.343165 s, next control iter: 1743037603.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11102*, header.stamp.nsec: 0*0 temperature: 13.564403** salinity: 33.375374*, density: 1025.000000** values[0]: 0.583174*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037603.743165 s.W;JJ~,i()AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037603.743287F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @AHi6@Aŵ\~? AA+[%"AA=rNA"AZAbAjArAzAAA뫲0@As H;tAr|@A;A*g=At?A?A@T?A#ݦ*An:?2AԽ:AU[ =BAn:?JAԽRAU[ =٘i)I9r|@YG JB=JJJJ\E&K Y{P\~?yWXAE9EB)aBE[[>[5\~?[xت[[[[BZYY i) !;Ii? g/< t?))t?t?yqnѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037603.763165 s, next control iter: 1743037604.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037604.163165 s.z}BJJ~,q ))AA@@A臭2@A\~? AA%"AAarNA"AZAbAjArAzAAAu.R0@A7m&:tA{@AH A=A]?A&?A@i?A%*A:?2A0kս:A =BA:?JA0kսRA =Yq>Q?y=׻ ٓH 4?$`0??,?`V]? d@?)q> I٘i)I9{@YPG JC=J=JJJ^E&Kt> Yh\~?y4XAQ?E77779BB)cB߹E[['>[[N\~?[֪[[[[BZYY i) d;Ii?#< ֑?))]3x֑?֑?yΆҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037604.183165 s, next control iter: 1743037604.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037604.583165 s.HJJ~, S%))AJ"J*J2J:JBJnJvJA)\u@A^h@A \~? AA%"AArNA"AZAbAjArAzAAA=p0@A18>8tAcY{@A&1A=A ?A ?A @?AP*A:?2A ֽ:AX=BA:?JA ֽRAX=٘i)I9Y{@YG JNJJJJaE&K  9Y<\~? 9yvWAEŧ7b79AB)gBE[[>[f\~?[aӪ[[[[BZYY i) s;Iin?< 4?)) 4?4?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037604.603165 s, next control iter: 1743037604.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11103, header.stamp.nsec: 00 temperature: 13.564542* salinity: 33.375389, density: 1025.000000* values[0]: 0.582634F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037605.003165 s.z PJJ~,U4@))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037605.003299F (some fields omitted in printout)AR@A |@A\~? AA, %"AAڪrNA"AZAbAjArAzAAA$O0@A=>6tA!z@A]AbJ=A?A f?A`?A?*A+:?2AdԽ:AL]=BA+:?JAdԽRAL]=٘i)I9z@YG JJJJJdE&K Y\~?yfWAE77U9@B)jBE[[gO>[\~?[Ъ[[[[BZYY i) P K;Ii_?[< ے?))ے?ے?ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037605.043165 s, next control iter: 1743037605.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037605.423165 s.uVJJ~,[))AJ"J*J2J:JBJnJvJA{G@AmIFԯ@A]~? AAuN%"AArNA"AZAbAjArAzAAA *1@A,'4tA5@z@AA>=A?A``5?AX?A*A2-:?2A<Խ:A˺=BA2-:?JA<ԽRA˺=٘i)I9@z@YOG JB=JJJJgE&K Y\~?yVAEŧ7b7 9?B)mBE[[>[,\~?[ͪ[[[[BZYY i) G;Ii2R?< ?))?? ЪY*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037605.443165 s, next control iter: 1743037605.823180 s, wait time: 0.380015 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11104", header.stamp.nsec: 0"0 temperature: 13.564688"* salinity: 33.375412", density: 1025.000000"* values[0]: 0.582060"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037605.843165 s.\JJ~,u))AAp= @AU.T @A,]~? AA%"AAzrNA"AZAbAjArAzAAAVq1@Ay}S1tAy@AQ8A#u=A?AR?AH,?A2ߪ*A-:?2AԽ:A."=BA-:?JAԽRA."=٘i)I9y@YG JͩC=JJJJiE&K Ya\~?y%ݪVAEb779)rB[[ >[\~?[eʪ[[[[BZYY i) 8~:IiF?A; 8?))8?8?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037605.863165 s, next control iter: 1743037606.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037606.263165 s.dJJ~,ؐ))AJ"J*J2J:J?BJ?nJ*5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037606.263290F (some fields omitted in printout)AL@AM?@AD]~? AAl%"AAsNA"AZAbAjArAzAAAP1@A?ۜ/tA!y@A<ARY=A ?A?A?A-ૼ*A .:?2A+ս:A$w=BA .:?JA+սRA$w=Y>!?yW=Q<ٓH?>,E?@a?`?Zԡ?f݂?u?)> I٘i)I9!y@YG J{JٻJJJlE&Kt> Y8\~?yת6VA!?Eŧ7b79>B)uBE[[#j>[\~?[Ǫ[[[[BZYY i) ̱9IiX4?; v?))Syv?v?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037606.303165 s, next control iter: 1743037606.663179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11105., header.stamp.nsec: 0.0 temperature: 13.564839.* salinity: 33.375397., density: 1025.000000.* values[0]: 0.581452.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037606.683165 s.ljJJ~,R))AA(\@A䠄u@AZ]~? AA#%"AA8sNA"AZAbAjArAzAAA1@AG\-tAx@A\]<A(ې=A&?A?A`?A੼*A.:?2Acս:A=BA.:?JAcսRA=٘i)I9x@YIG JRJJJJoE&K Y \~?yҪUAE777 9=B)yBE[[(>[\~?[ê[[[[BZYY i) .-Ii#?; ?)) ??ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037606.683165 s, next control iter: 1743037607.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037607.103165 s.qJJ~,Ú))AJ"J*J2J:J?BJ?nJ5vJAQ@A_E@Aq]~? AAo%"AAN[sNA"AZAbAjArAzAAAtUB2@Al*tAx@AF.<A0=A(+?A@tU?A?A{*AG:?2A3Խ:AY=BAG:?JA3ԽRAY=٘i)I9x@YG JϧJJJJqE&K Y]~?yͪpUAEj7Z7J 9:B)zBE[[>[\~?[[[[[BZYY i) ɺIi?R̾; F?))F?F?*ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037607.123165 s, next control iter: 1743037607.503181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037607.523165 s.wJJ~,{))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199362 time: 1743037607.523286F (some fields omitted in printout)AHz@A @A]~? AA%"AA~}sNA"AZAbAjArAzAAA!H2@A$Od(tAe}w@A ;AϢ=ALb0?A?A}?A *AH:?2AԽ:A*<BAH:?JAԽRA*<٘i)I9}w@YG JB=JJJJtE&K Y%]~?ykȪ UAE77799B)}BE[[?>[]~?[[[[[BZYY i) T!Ii?4; ?))??lY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037607.543165 s, next control iter: 1743037607.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11106, header.stamp.nsec: 00 temperature: 13.564980* salinity: 33.375416, density: 1025.000000* values[0]: 0.580897F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037607.943165 s.^d~JJ~,[]))AJ"J*J2J:JBJnJvJAq= #@A)@@A7]~? AA %"AAGsNA"AZAbAjArAzAAATj2@A?xB%tAv@A݊Ar=A̳5?A`/?A`K?Al*A G:?2Aս:AO_<BA G:?JAսRAO_<I٘i)I9v@YSG JC=JJJJwE&K Y<]~?y=êTAE798B)BE[[m?[(]~?[ [[[[BZYY i) ^Ii>; ߾?))߾?߾?eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037607.963165 s, next control iter: 1743037608.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037608.363165 s.JJ~,p>*)AAY@AdL@A]~? AAe%"AAsNA"AZAbAjArAzAAA~ 3@A ,#tA}v@ArWAY=A:?A`ʖ?A?AEŽ*A*E:?2Aֽ:A1H<BA*E:?JAֽRA1H YQ]~?y^OTA:?E{7j797B)BE[[q?[?]~?[㳪[[[[BZYY i) Ii9>c; &v?)):|&v?&v?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037608.383165 s, next control iter: 1743037608.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11107&, header.stamp.nsec: 0&0 temperature: 13.565114&* salinity: 33.375431&, density: 1025.000000&* values[0]: 0.580366&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037608.783165 s.UJJ~,2*)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246098@ elevatorAngleAction: -0.075723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743037608.783302F (some fields omitted in printout)A(\@AR@A]~? A۫A?%"AAsNA"AZAbAjArAzAAAƸGM3@A1*N tA v@ACA{=A/@?AMR?A?Ac*AB:?2AOֽ:A<BAB:?JAOֽRA<٘i)I9 v@YG JUJJJJ|E&K Yf]~?ySAE77{7u9)B[[gW ?[V]~?[[[[[BZYY i) SIi>i; 3?)) 3?3?IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037608.803165 s, next control iter: 1743037609.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037609.203165 s.JJ~,.M*)AAQű@A@A]~? A֫Aa%"AAtNA"AZAbAjArAzAAAb3@A+ rtAu@AA=A/E?A& ?A?A*ANQ:?2AԽ:Am<BANQ:?JAԽRAm<٘i)I9u@YyG JJJJJE&K Y{]~?ySAE?92B)BE[[?[n]~?[[[[[BZYY i) ̻Ii>ɦD; Z?))Z?Z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037609.223165 s, next control iter: 1743037609.603178 s, wait time: 0.380013 s"{]~?)" rAdjusting time to match Gazebo time: 1743037609.623165 s.J "J \JJ~*J2J,qg*)A:Jr?BJr?nJ5vJAG@A @A]~? A ҫAt%"AA"tNA"AZAbAjArAzAAA״3@A6xtA-"u@A$;A=AJ?A?A h?An*AK:?2AԽ:A=BAK:?JAԽRA=٘i)I9"u@Y2G JJJJJE&K Y͐]~?y=SAEZ7Z7 9.B)BE[[ l?[]~?[H[[[[BZYY i) IiӀ>$; ?))??yK:Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037609.663165 s, next control iter: 1743037610.023183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11108 , header.stamp.nsec: 0 0 temperature: 13.565220 * salinity: 33.375454 , density: 1025.000000 * values[0]: 0.579871 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037610.043165 s.JJ~,Â*)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037610.043292F (some fields omitted in printout)A= ף0@A×#@A^~? AͫAM%"AAAtNA"AZAbAjArAzAAA%2n 4@A庄{tAt@AJ<A=Ay)O?A {?A9$?Ax*A/E:?2Abս:As=BA/E:?JAbսRAs=٘i)I9t@YG JJJJJE&K Yܥ]~?y⥪RAE77{79)B[[?[]~?[`[[[[BZYY i) IirW> ; ‰?))‰?‰?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037610.063165 s, next control iter: 1743037610.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037610.463165 s.WJJ~,줝*)AJ"J*J2J:JBJnJvJAfffff@A[Y@A^~? AȫA4%"AA`tNA"AZAbAjArAzAAA8ނ\I4@ActA3t@AžS<A=AZT?A@0?A?A*A>:?2Aս:A=BA>:?JAսRA=Yz?WT?y=^T<ٓH?@s?@?`?`Τ?`s??)z? I٘i)I93t@YG JJ:JJJE&Ku> Y]~?ybRAT?E9-B)BE[[ #?[]~?[][[[[BZYY i) Iis>u: N?))! N?N?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037610.503165 s, next control iter: 1743037610.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11109, header.stamp.nsec: 00 temperature: 13.565321* salinity: 33.375458, density: 1025.000000* values[0]: 0.579386F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037610.883165 s.yJJ~,@*)AA(@AR@A0^~? A«A%%"AAOtNA"AZAbAjArAzAAA-b4@A,N6tAs@A <;A֊=AY?A`-?A=?A*A7:?2Aoֽ:A=BA7:?JAoֽRA=٘i)I9s@YWG JJJJJE&K Y]~?yᘪ*RAEŧ7b7j9)B[[$)?[]~?[*[[[[BZYY i) #$Ii=Y: ?)) ?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037610.903165 s, next control iter: 1743037611.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037611.303165 s.SJJ~,jg*)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419996J2 time: 1743037611.303282"JF (some fields omitted in printout)*J2J:JBJnJvJAѲ@Aq!IJ@AD^~? AA%"AA^tNA"AZAbAjArAzAAA4@A w_ tA%Es@AGA=A_?Aݎ?A Y?A*AtB:?2A ս:Aj=BAtB:?JA սRAj=٘i)I9Es@YG J`JJJJE&K Y ]~?yaQAE7759,B)BE[[.?[s]~?[ő[[[[BZYY i)  '4Iin<o9 l?))l?l?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037611.323165 s, next control iter: 1743037611.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11110., header.stamp.nsec: 0.0 temperature: 13.565464.* salinity: 33.375484., density: 1025.000000.* values[0]: 0.578909.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037611.723165 s.JJ~,H*)AAz@A*@AW^~? AAh%"AAtNA"AZAbAjArAzAAA{4@A& tAr@A6A#O=AEd?A 5=?A?A،*A<:?2Aֽ:A2v=BA<:?JAֽRA2v=٘i)I9r@YG JJJJJE&K Y]~?yrQAE777 9'B)BE[[o4?[]~?[1[[[[BZYY i) $CII?i% p?))p?p?ŪYV*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037611.763165 s, next control iter: 1743037612.123184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743037612.143165 s.X/JJ~,* +)AJ"J*J2J:JBJnJvJA ףp=@A܄{e0@Aj^~? A|Ad%"AAtNA"AZAbAjArAzAAA0Hn55@A;<tAWr@AZA=A|i?A ]?AK]?A!*A;6:?2AKֽ:At=BA;6:?JAKֽRAt=٘i)I9Wr@YG JJJJJE&K Y&^~?y`QAE{7j7!9)B[[!:?[.^~?[p[[[[BZYY i) 5SII?i] ?))??ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037612.163165 s, next control iter: 1743037612.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037612.563165 s.JJ~,J $+)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037612.563299F (some fields omitted in printout)A3333s@A*f@AJ}^~? AͬA%B%"AAUtNA"AZAbAjArAzAAA2>m5@A-rtAq@A] A=A n?A@?AѲ?A*A/:?2APֽ:AMK =BA/:?JAPֽRAMK =YX6?qn?y*= ٓHF ?@$? ??E0?k*?)X6? I٘i)I9q@Y4G JB=JY<JJJE&KIv> Y^~?yO~PAqn?ESI7SI7#9)BE[[??[^~?[[[[[BZYY i) obIB I?i3S C?)) C?C?G̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037612.583165 s, next control iter: 1743037612.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11111, header.stamp.nsec: 00 temperature: 13.565591* salinity: 33.375484, density: 1025.000000* values[0]: 0.578431F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037612.983165 s.JJ~,>+)AJ"J*J2J:JBJnJvJA\@A6v꛳@A|^~? AA%%"AA7uNA"AZAbAjArAzAAA3`5@A9`lY:tA[q@A>^:A=A֤s?A !=?A]?A.*A-*:?2A0ֽ:A =BA-*:?JA0ֽRA =٘i)I9[q@YG J C=JJJJE&K Y&^~?y>wOPAEb77`%9)B[[[xE?[+1^~?[z[[[[BZYY i) QqI I?i3f! ?)) ??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037613.003165 s, next control iter: 1743037613.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037613.403165 s.'JJ~, Y+)AAQ޳@Aѳ@AL^~? AAa$%"AA+uNA"AZAbAjArAzAAA8 5@ACsAp@A<A˘=Aǡx?Aw?AZ?A-*A2:?2A4ս:A=BA2:?JA4սRA=٘i)I9p@YG J"JJJJE&K Y7^~?y-pOAE7777*'9%B)B E[[ 4K?[>E^~?[Tt[[[[BZYY i) pII?if ?))??HҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037613.423165 s, next control iter: 1743037613.803190 s, wait time: 0.380025 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11112", header.stamp.nsec: 0"0 temperature: 13.565736"* salinity: 33.375507", density: 1025.000000"* values[0]: 0.577914"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037613.823165 s.JJ~,2t+)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: -0.084813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037613.823279F (some fields omitted in printout)AGz@Ah>n@A^~? AAȘ%"AACFuNA"AZAbAjArAzAAAhٸ6@Aj sATEp@A]<A=-=AA}?A`q?A`?AXª*A.:?2A`ս:A=BA.:?JA`սRA=٘i)I9Ep@Y<G JJJJJE&K YH^~?yiOAE(9"B)B E[[P?[X^~?[m[[[[BZYY i)  II?iR/ ?))??ԪYXYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037613.843165 s, next control iter: 1743037614.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037614.243165 s.JJ~,+)AAףp=J@A 3=@A^~? AAG%"AAi`uNA"AZAbAjArAzAAA(^^C6@Aa,4sA1o@AI'<A==Atz?A ]?A?Aȫ*A%:?2Aս:A`=BA%:?JAսRA`=٘i)I9o@YG J]JJJJE&K YhY^~?y b#OAE{7{7*9!B)B E[[_V?[[l^~?[Zg[[[[BZYY i) IH?iF ?))??ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037614.263165 s, next control iter: 1743037614.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037614.663165 s.JJ~,q+)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11113, header.stamp.nsec: 00 temperature: 13.565900* salinity: 33.375500, density: 1025.000000* values[0]: 0.577303F (some fields omitted in printout)A@Aǀr@Ad^~? AAۇ%"AAyuNA"AZAbAjArAzAAAE\u6@Aؘ8IfsA,(o@A:AÐ=AK+?A ?A?F?A]*A:?2Afֽ:A=BA:?JAfֽRA=YEP?F/?y=:ٓH Z? y@ܤ?e?Qg?@3?`\Y??)EP? I٘i)I9(o@YG JJ+<JJJE&Kv> Yg^~?y}ZNA/? E77,9)B[[|\?[^~?[`[[[[BZYY i) (IH?i㹾rm :I?)):I?:I?yتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037614.683165 s, next control iter: 1743037615.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037615.083165 s.DJJ~,"S+)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037615.083302F (some fields omitted in printout)A)\µ@ALP÷@A^~? A`A{%"AAܒuNA"AZAbAjArAzAAA:6@Ac&:sA n@A)Aj =A߆?A@~?Ab?Ad*A!:?2Aֽ:A~=BA!:?JAֽRA~=٘i)I9n@Y8G J JJJJE&K YWv^~?yRPNA E77U.9 B)BE[[Pb?[z^~?[Y[[[[BZYY i) 뤞I-H?i5վs ?))??۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037615.103165 s, next control iter: 1743037615.483185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037615.503165 s.JJ~,r4+)AJ"J*J2J:J?BJ?nJ5vJAR@AsV{޴@Ae^~? AA%"AA#uNA"AZAbAjArAzAAAN*6@AfVasAQ n@AWA=At?A ?AQ?AY*A :?2A!׽:A4=BA :?JA!׽RA4=٘i)I9 n@YG JJJJJE&K Yτ^~?y`KMAE{7{7 09B)BE[[q&h?[}^~?[R[[[[BZYY i) "IH?i쾉@y (?))(?(?ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037615.523165 s, next control iter: 1743037615.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11114, header.stamp.nsec: 00 temperature: 13.566071* salinity: 33.375519, density: 1025.000000* values[0]: 0.576693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037615.923165 s.8JJ~,+)AA{G!@A5?@A_~? Ag{A%"AAuNA"AZAbAjArAzAAAc7@A YCsA@|m@A&h<A{=A"?AP?A#?AR*AM:?2A׽:Ac=BAM:?JA׽RAc=٘i)I9|m@YG JB=JJJJE&K YH^~?yC|MAE7719B)BE[[Pn?[^~?[K[[[[BZYY i) ̠IH?i!4 ?))?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037615.943165 s, next control iter: 1743037616.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037616.343165 s.<KJ~,,)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037616.343306F (some fields omitted in printout)Ap= W@Ao!I@A_~? AtA~%"AAuNA"AZAbAjArAzAAAߨqq27@A%(psAl@AĒvAp=A?Aۇ?A:h?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@Y.G J C=JJJJE&K Y^~?yB<MAE{7{739)B[[.s?[8^~?[XD[[[[BZYY i) _IH?i `?))`?`??YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037616.363165 s, next control iter: 1743037616.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11115*, header.stamp.nsec: 0*0 temperature: 13.566269** salinity: 33.375515*, density: 1025.000000** values[0]: 0.576070*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037616.763165 s.7 KJ~,0,)AǍ@AR]@A.!_~? AnAS%"AAuNA"AZAbAjArAzAAA P^7@ApwsA5Fl@AU;A=A,?A ߽?A?A5¼*A]9?2Azֽ:A=BA]9?JAzֽRA=YIaj? Y^~?yI4LA,)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: -0.084813< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743037618.863286F (some fields omitted in printout)A@A@Ab_~? A/KAޤ%"AAUvNA"AZAbAjArAzAAA{%8@Am-sAh@Av<A$=An?A@k?A]?Aͼ*A9?2At׽:A=BA9?JAt׽RA=Y|A?M?y!=?<ٓHF?\=-? ???\삇`$?)|A? I٘i)I9h@Y G JͼJ<JJJE&Kx> Y^~?y ZJAM?%Ej7j7u>9B)ʯBE[[?[!_~?[[[[[BZYY i) @IH?inJ \?))\?\?,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037618.903165 s, next control iter: 1743037619.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037619.283165 s.3R4KJ~,,)AA(\϶@A&P¶@An_~? ACA0%"AAgvNA"AZAbAjArAzAAA< UI8@AVDsA @h@A[cXAX=A?A?A*?Aм*A9?2Ac׽:ATQ=BA9?JAc׽RATQ=٘i)I9@h@YZ G JμJJJJE&K Y^~?yIA(E77@@9)ЯB[[从?[ /_~?[o [[[[BZYY i) IH?iU  elevatorAngleAction: 0.082278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037620.123295F (some fields omitted in printout)AG:@A"T-@A_~? AT5AJM%"AAۉvNA"AZAbAjArAzAAA(8@A{u'׺sA1f@Az:Aƶ=A?A?A@ y?Ah\ټ*A59?2Aֽ:Apz=BA59?JAֽRApz=٘i)I9f@Y G JּC=JJJJE&K YU_~?y(HA-E{7{7C9)گB[[ Ŕ?[G_~?[[[[[ZZBZYY i) ϼIH?if ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037620.143165 s, next control iter: 1743037620.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037620.543165 s.IHKJ~,"-)AJ"J*J2J:J?BJ?nJ5vJA= ףp@A×c@A_~? A-Ag%"AAڙvNA"AZAbAjArAzAAAQ8@A^KPsADf@AO%<A"=A?A`W?A@}?At*Ac9?2Aeֽ:AV<BAc9?JAeֽRAV<٘i)I9f@Y G J JJJJE&K Y _~?yyHA0Eŧ77E9 B)ݯBE[[͗?[S_~?[[[[[ZZBZYY i) üIvH?ik 7?))7?7?y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037620.563165 s, next control iter: 1743037620.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11119, header.stamp.nsec: 00 temperature: 13.567291* salinity: 33.375549, density: 1025.000000* values[0]: 0.573047F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037620.963165 s.wNKJ~,=-)AAffff@AkBZ@A_~? Ap&An%"AAvNA"AZAbAjArAzAAAfn 8@AN#sA,e@AY<AҼ=A1?A t;?A`}?A*T*A9?2Ahֽ:ABe<BA9?JAhֽRABed?I!ٞ? ?7?ű?@ :??)F? I٘i)I9,e@Yz G JJyJJJE&Kw> Y_~?yIHAR?2E{7Z7kG9 B)BE[[PӚ?[r^_~?[H[[[[ZZBZYY i) OIiH?ixt ?))??yM=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037621.003165 s, next control iter: 1743037621.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037621.383165 s.UKJ~,DX-)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037621.383301F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܷ@A&BϷ@A_~? AA;%"AAvNA"AZAbAjArAzAAA H8@A64&sAQd@Aw<Aut=Aխ?AW?A@X?AK*A9?2A֐ֽ:Ao<BA9?JA֐ֽRAo<٘i)I9Qd@Y G JJJJJE&K Y_~?y٩GA5E7775I9)B[[ݝ?[h_~?[|[[[[ZZBZYY i) CI[H?i%!% `@))`@`@pYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037621.403165 s, next control iter: 1743037621.783181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11120", header.stamp.nsec: 0"0 temperature: 13.567643"* salinity: 33.375546", density: 1025.000000"* values[0]: 0.572050"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037621.803165 s.A\KJ~,gs-)AA@AX@A_~? AOA%"AAjvNA"AZAbAjArAzAAA(aĴ9@AhsAc@ADɤ7A5/=A|~?Ae?A(?A/qϼ*A9?2Aֽ:A,;BA9?JAֽRA,;٘i)I9c@Y G JJJJJE&K Y_~?y'ѩFGA8Eb7b7K9)B[[?[_r_~?[٩[[[[ZZBZYY i) 'I{MH?i<* @))@@&wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037621.843165 s, next control iter: 1743037622.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037622.223165 s.gcKJ~,H-)AJ"J*J2J:JQ?BJQ?nJm5vJAzG@Az]:@A2_~? AA)%"AApvNA"AZAbAjArAzAAAε7U@9@AŦأsAb@AA8<A?A?A@P?A"*A9?2Atֽ:A"BA9?JAtֽRA"٘i)I9b@Y G J⾼JJJJE&K Y%_~?yȩFA:E7777L9 B)BE[[?[^{_~?[Щ[[[[ZZBZYY i) 1TI>H?i . $`@))$`@$`@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037622.243165 s, next control iter: 1743037622.623185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037622.643165 s.viKJ~,*-)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082278< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037622.643288F (some fields omitted in printout)A ףp}@A.ep@A_~? AA%"AAvNA"AZAbAjArAzAAARk-09@Aw(%sAsb@AlAY<A?AF?A{v?A,w*A9?2Aֽ:A#BA9?JAֽRA#٘i)I9sb@Y G JpJJJJE&K Y,_~?yyFA=Eb7Z7N9)B[[b?[_~?[sǩ[[[[ZZBZYY i) lI0H?i艿 0 @))@@tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11121, header.stamp.nsec: 00 temperature: 13.567926* salinity: 33.375557, density: 1025.000000* values[0]: 0.571198F (some fields omitted in printout)IfYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037622.663165 s, next control iter: 1743037623.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037623.063165 s.pKJ~,N -)AJ"J*J2J:JBJnJvJA3333@AgI-@AU_~? A5AlV%"AA6vNA"AZAbAjArAzAAAx#G9@AejsAb@ADAлAO?Ap?A?At**A39?2Aֽ:AfBA39?JAֽRAfYF?lR?yлDٓH#?_ ? g? .ks+z?X>?)F? I٘i)I9b@Y G JKWB=JAEJJJE&Kw> Y/_~?yCFAR?@E7ŧ7`P9)B[["?[M_~?[K[[[[ZZBZYY i]w=) 9I H?i.tE7 :b@)):b@:b@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037623.103165 s, next control iter: 1743037623.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037623.483165 s._wKJ~,-)AA\@Ag۸@A#_~? AiA1%"AAvNA"AZAbAjArAzAAA$a[9@AgƧsAa@A5iAAO?A?A ?AT(ƻ*A[9?2Aֽ:ACBA[9?JAֽRAC٘i)I9a@Yw G J C=JJJJE&K Yx3_~?yFABEb77+R9B)BE[[8?[=_~?[ [[[[ZZBZYY iÑ=) 3mIH?ik< @))@@L)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037623.503165 s, next control iter: 1743037623.883178 s, wait time: 0.380013 sx3_~?)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11122, header.stamp.nsec: 00 temperature: 13.568082* salinity: 33.375572, density: 1025.000000* values[0]: 0.570726F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037623.903165 s.}KJ~,-)AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743037623.903316F (some fields omitted in printout)AQ@A)@Am_~? AA҆%"AAvNA"AZAbAjArAzAAAcDn9@AyސsAa@A;AzRAБ?Aຶ?A=?Az}*A9?2Aֽ:A%ɼBA9?JAֽRA%ɼI٘i)I9a@Yf G JJJJJE&K Y)7_~?yåFAEEZ7Z7S9)B[[R?[z_~?[[[[[BZYY i) ͼZIH?iT@ ah @))ah @ah @;4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037623.923165 s, next control iter: 1743037624.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037624.323165 s.vKJ~,%.)AAGzT@A/oG@A2_~? AA> %"AAwNA"AZAbAjArAzAAACWOR9@AsA.a@A>RS<A392A#6?AJ?A?A/+;*A9?2A?׽:A6BA9?JA?׽RA6⼙٘i)I9a@Yh G Je9JJJJE&K Y:_~?yFAHE77{7U9)[[n?[_~?[I[[[[BZYY i) GI*G?iʘC  @)) @ @yJ=To*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037624.343165 s, next control iter: 1743037624.723176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11123., header.stamp.nsec: 0.0 temperature: 13.568125.* salinity: 33.375572., density: 1025.000000.* values[0]: 0.570606.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037624.743165 s.WKJ~,q/.)AJ"J*J2J:J?BJ?nJ+5vJAףp=@As4}@Ar_~? AAb%"AAswNA"AZAbAjArAzAAAɤ"<9@Az;sAba@A$I<AbWA?A?A- ?A;*AE9?2Aֽ:A3BAE9?JAֽRA3٘i)I9a@Y{ G Jɏ;B=JJJJE&K Y>_~?yAFAKE777W9)B[[ȋ?[Ѣ_~?[Ϙ[[[[BZYY i) 4IG?i陿E x @))x @x @G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037624.783165 s, next control iter: 1743037625.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037625.163165 s.u}KJ~,qJ.)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071174< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743037625.163279F (some fields omitted in printout)A@AvQ@A._~? AتA+U%"AA wNA"AZAbAjArAzAAA6"9@Asc[bsAb@AI;AƄvA^?A?A!?A*<*A9?2Aֽ:ABA9?JAֽRAYG?T?yv;ٓHϝ?`{nZk??`/?ۮˮ?@Ct??)G? I٘i)I9b@Y G JR<C=J>JJJE&Kw> Y_?_~?ysFAT?MEb7b7VY9B)BE[[褹?[ܦ_~?[Z[[[[BZYY iJd=) %IG?iWJ l @))l @l @Ʀ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037625.183165 s, next control iter: 1743037625.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037625.583165 s.KJ~, Se.)AJ"J*J2J:JBJnJvJA)\@A#@Ae_~? AЪA%"AAwNA"AZAbAjArAzAAAy,[9@AVwń}sApb@AAI݇A?Az?A15?Amd<*A9?2ARֽ:ASBA9?JARֽRAS٘i)I9pb@Y G JhE<JJJJE&K Y2@_~?yJGAPE{7j7![9)B[[¼?[/_~?[҅[[[[BZYY i) $0I1G?iO U@))U@U@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037625.623165 s, next control iter: 1743037625.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11124, header.stamp.nsec: 00 temperature: 13.568016* salinity: 33.375565, density: 1025.000000* values[0]: 0.570817F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037626.003165 s. KJ~,v4.)AAR+@ACVz@A_~? AȪAg&"AA$wNA"AZAbAjArAzAAA1t89@A elevatorAngleAction: 0.055735< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743037626.423289F (some fields omitted in printout)A{Ga@Aٗl9@A6 nsAFc@AaAAi?A!?ABb?A{ڦ<*A[9?2Aֽ:A8 BA[9?JAֽRA8 ٘i)I9c@Y G Jw<JJJJE&K YB_~?y7hBHAXE77`9B)BE[[#?[_~?[h[[[[BZYY i) XʻIG?iXT @))@@yxd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037626.863165 s, next control iter: 1743037627.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037627.263165 s.KJ~,'.)AJ"J*J2J:JBJnJvJA̺@A˛ÿ@A _~? AŰAb&"AAA2wNA"AZAbAjArAzAAAaG9@AʰisAod@ANj!;AAYb?A뎪?Al?AY<*A!9?2Aֽ:A- BA!9?JAֽRA- YP?R\?y!;ٓH@B ? ?@w` ?w1d?D?)P? I٘i)I9od@Y G Jt<B=JM JJJE&K*x> Y@_~?yo_HA\?[E7Kb9)ޯB[[TC?[_~?[a_[[[[BZYY i) ӼIuG?i5X @))@@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037627.283165 s, next control iter: 1743037627.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 111262, header.stamp.nsec: 020 temperature: 13.5675542* salinity: 33.3755572, density: 1025.0000002* values[0]: 0.5719672F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037627.683165 s.lKJ~,s.)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037627.683283F (some fields omitted in printout)A(\@At@A_~? AA&"AA5wNA"AZAbAjArAzAAAß z9@A?esAd@A5<A7A?A@qբ?A@:t?A<*AC9?2A/׽:AFBAC9?JA/׽RAF٘i)I9d@Y] G J<C=JJJJE&K Y>_~?yVIA]E77j7d9)ٯB[[d?[_~?[U[[[[BZYY i) IPcG?i[ |/@))|/@|/@`*YFFF]p:Waiting for Gazebo time sync: latest Gz time: 1743037627.683165 s, next control iter: 1743037628.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037628.103165 s.KJ~,/)AJ"J*J2J:J?BJ?nJ5vJAQ8@ADkE+@A_~? AAp&"AA7wNA"AZAbAjArAzAAAM7q9@A*`sAe@Arc<AYA?A8I?AOy?AX\<*A99?2A/׽:A5BA99?JA/׽RA5٘i)I9e@Y G J<JJJJE&K Y<_~?yMuIA`E{777e9B)ӯBE[[?[g_~?[L[[[[BZYY i) `IPG?i4] к@))к@к@8*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743037628.123165 s, next control iter: 1743037628.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037628.523165 s.KJ~,{!/)AAHzn@A a@A4_~? AA!;&"AAY8wNA"AZAbAjArAzAAAY<9@A$[sAbf@A@<AAD?AV|?A@{?A<*A$9?2Aֽ:ABA$9?JAֽRA٘i)I9f@Y G J<B=JJJJE&K Yx:_~?yEIAcEZ7SI7g9)ϯB[[?[t_~?[kB[[[[BZYY i) V$I>G?ik=^ H@))H@H@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037628.543165 s, next control iter: 1743037628.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11127, header.stamp.nsec: 00 temperature: 13.567267* salinity: 33.375565, density: 1025.000000* values[0]: 0.572611F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037628.943165 s.J "J *J 2J :J ?BJ ?nJ 5vJ wdKJ~,] elevatorAngleAction: 0.065055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743037628.943332F (some fields omitted in printout)Aq= ף@AWΖ@A2_~? AyA&"AA8wNA"AZAbAjArAzAAA2\79@As$a6VsADf@A:A?A2?A%?A{?Aڨ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9f@Y\ G J<C=JJJJE&K Yl8_~?yP<BJAeEŧ7ŧ7vi9)˯B[[&?[_~?[8[[[[BZYY i) 9ϺIk+G?in] @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037628.963165 s, next control iter: 1743037629.343204 s, wait time: 0.380039 s rAdjusting time to match Gazebo time: 1743037629.363165 s.KJ~,}>W/)AAٻ@Aa̻@A_~? AeAv&"AAh8wNA"AZAbAjArAzAAAZN9@A&HQsA-g@AOAjA~N?A`>Ay?AN<*A9?2Aaֽ:A^BA9?JAaֽRA^Y Y3_~?y3JAd?hEj7j7Ak9)ƯB[[?[H_~?[-/[[[[BZYY i) )IG?i7` &`@))&`@&`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037629.383165 s, next control iter: 1743037629.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11128&, header.stamp.nsec: 0&0 temperature: 13.567024&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.573275&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037629.783165 s.ZKJ~,r/)AJ"J*J2J:J?BJ?nJ5vJA(\@A%P@A_~? ARA`&"AA?7wNA"AZAbAjArAzAAAi`Xh9@A-bk}ZLsAg@A bAsA1?AZ6At?AV<*A\9?2AZֽ:AOBA\9?JAZֽRAO٘i)I9g@Y G J<JJJJE&K Y._~?y*KAkE77{7 m9)¯BE[[??[_~?[%[[[[BZYY i) V9IzG?iLb  @)) @ @*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037629.803165 s, next control iter: 1743037630.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037630.203165 s.KJ~,/)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743037630.203315F (some fields omitted in printout)AQE@AKr8@A_~? ABxA&"AAI5wNA"AZAbAjArAzAAA769@Ag4"nGsA~Fh@A3AA?AڪA`m?Aҡ<*A9?2Aֽ:ABBA9?JAֽRAB٘i)I9Fh@Y^ G JU<JJJJE&K Y)_~?yM"hKAmE77n9)B[[A?[_~?[[[[[BZYY i) :IYF?i߱c y @))y @y @˿*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037630.223165 s, next control iter: 1743037630.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037630.623165 s.WKJ~,]/)AJ"J*J2J:JBJnJvJAGz@Ar1m@A_~? A4pAbO&"AA2wNA"AZAbAjArAzAAA39@ANMBsAh@ALAAD2?AEAd?AW<*A9?2Aֽ:ABA9?JAֽRA٘i)I9h@Y G J[<JJJJE&K Y$_~?yKApEŧ7b7p9)B[[h?[Q_~?[w[[[[BZYY i) $ ;IFF?icPc # "@))# "@# "@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037630.643165 s, next control iter: 1743037631.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11129 , header.stamp.nsec: 0 0 temperature: 13.566754 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.573952 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037631.043165 s.KJ~,/)AA= ף@A!@AF_~? A*hA&"AA.wNA"AZAbAjArAzAAA-9@AX;=sAsIi@A;AՇA}?A@AW?A=]<*A9?2Aq0׽:ABA9?JAq0׽RA򼙘٘i)I9Ii@Y G J<JJJJ E&K Y_~?y,LAsE7777kr9)B[[?[Ӑ_~?[[[[[BZYY i) /J;I^F?iگ=a I#@))I#@I#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037631.063165 s, next control iter: 1743037631.443177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037631.463165 s.SKJ~,ۤ/)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: 0.065055< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037631.463286F (some fields omitted in printout)Affff@Ap]ټ@A_~? A$`Aa&"AA*wNA"AZAbAjArAzAAA鉶9@Aʵ8sAi@A`]<A^AU?A`1AH?A4h<*A9?2AI׽:ANBA9?JAI׽RANYb?Mn?y;]<ٓH@Alѿ?[?bѿ@nUֿ?ɫ??)b? I٘i)I9i@YDG Jl<JJc<JJJ E&KHx> Y4_~?y{LAn?uE776t9B)BE[[ʹ?[_~?[[[[[BZYY i=) U;IBF?i|]c Z%%@))Z%%@Z%%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037631.503165 s, next control iter: 1743037631.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11130, header.stamp.nsec: 00 temperature: 13.566513* salinity: 33.375591, density: 1025.000000* values[0]: 0.574565F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037631.883165 s.zKJ~,w/)AA(@Ap@Ac_~? A$XA% &"AA_%wNA"AZAbAjArAzAAAǭK9@A}3sA5j@AI<AӄA#?A@A H7?AR<*A9?2A&׽:AsBA9?JA&׽RAs٘i)I95j@YG J<JJJJE&K Y~_~?yLAxEv9)B[[?[_~?[-[[[[BZYY i) ;IF?iY{Id 2&@))2&@2&@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037631.903165 s, next control iter: 1743037632.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037632.303165 s.TLJ~,og0)AJ"J*J2J:J'?BJ'?nJM5vJAQ@AJD@A(_~? A+PA &"AAdwNA"AZAbAjArAzAAAݪw9@A.sAj@A ;A]A?A@:@A'#?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9j@YG J<JJJJE&K Y_~?y;MA{Ej7SI7w9B)BE[[?[x_~?[[[[[BZYY i) a;IF?i!c dB(@))dB(@dB(@A*YFFF]m:Waiting for Gazebo time sync: latest Gz time: 1743037632.323165 s, next control iter: 1743037632.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11131., header.stamp.nsec: 0.0 temperature: 13.566314.* salinity: 33.375580., density: 1025.000000.* values[0]: 0.575092.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037632.723165 s. LJ~,H.0)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037632.723317F (some fields omitted in printout)Az@A"z@Ai_~? A8HAL] &"AAwNA"AZAbAjArAzAAAM?^9@A*sAk@AZAA3?A ¿A ?A2<*Au9?2Aֽ:ABAu9?JAֽRA٘i)I9k@YG Jn<B=JJJJE&K Y_~?yMA}Eb77y9B)BE[[)?[io_~?[[[[[BZYY i) ;IF?iEb )@)))@)@yΚ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037632.743165 s, next control iter: 1743037633.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037633.143165 s.X/LJ~,*I0)AJ"J*J2J:JJ?BJJ?nJq5vJA ףp@A[d@A&_~? AN@A/ &"AAwNA"AZAbAjArAzAAA .99@AÇCG%sAjk@AZ PA"Af?AÿA?A 2<*A9?2Ancֽ:ABA9?JAncֽRA٘i)I9k@Y\G J͉<C=JJJJE&K Y_^~?yMAE{7Z7a{9)B[[kN?[Ae_~?[xڨ[[[[BZYY i) u Y^~?yeިJNAv?Ej7j7,}9B)B E[[St?[]Z_~?[eѨ[[[[BZYY i) . elevatorAngleAction: 0.075630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037633.983290F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@AYE@A_~? A0A+ &"AAvNA"AZAbAjArAzAAA0P[9@AgʮsAvl@A=AwA?AǿA`~?A9ӊ<*A~9?2Aֽ:A GBA~9?JAֽRA G٘i)I9vl@YG Jy<C=JJJJE&K Y^~?y5֨NAE77~9)B[[?[N_~?[gȨ[[[[BZYY i) ` elevatorAngleAction: 0.075630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743037635.243268F (some fields omitted in printout)Aףp=ʾ@Ae1@A_~? ATA &"AAvNA"AZAbAjArAzAAAiU9@AGpa| sAm@A`<A͐A@A>=ͿA@(Q?AS<*A9?2AY@׽:ABA9?JAY@׽RA٘i)I9m@YG JÊ<JJJJ%E&K Y8^~?yOAE)7b7V9)B[[@['_~?[[[[[BZYY i) uN Y-^~?y׵PA?@E77!9)B[[@[_~?[[[[[BZYY i) ] elevatorAngleAction: 0.075630< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037636.503275F (some fields omitted in printout)ARk@AF}^@A_~? AA[&"AAvNA"AZAbAjArAzAAA"8@ArUrA1Po@Ao#AA@AIѿAx?A׏<*A9?2A*Qֽ:ABA9?JA*QֽRA٘i)I9Po@YG Jd<B=JJJJ-E&K Y^~?y8PAE{7{79)B[[4@[^~?[ɔ[[[[BZYY i`=) 9| elevatorAngleAction: 0.084657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743037637.763323F (some fields omitted in printout)A @AƣT@Ay_~? AIAf&"AAvNA"AZAbAjArAzAAA6j8@AAxrAp@A+ۺA0A @AӿA@A?Av<*A9?2Aֽ:ARVBA9?JAֽRARVY'{? @y"JmܺٓHd`ɤ?K?୔@@ߑ?y[`?)'{? I٘i)I9p@YG J<B=J/JJJ6E&K6x> Yt^~?y?RA @E77{79 B)BE[[ @[^~?[|[[[[BZYY i) ܔ@))N >@N >@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037638.203165 s, next control iter: 1743037638.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037638.603165 s.94iLJ~,1)AAQx@AFk@Ab_~? AݩA3&"AAhvNA"AZAbAjArAzAAA> N#%8@A6~I'rA` r@A]<AAQp @AeտA6?Aǧ<*AO9?2AEA׽:ABAO9?JAEA׽RA٘i)I9 r@YPG J+<JJJJ;E&K Y{U^~?yRAE7779){B[[@[^~?[cm[[[[BZYY i) `ݣ elevatorAngleAction: 0.0846572J< massPositionAction: 0.000000:JBJ4 buoyancyAction: 0.000500nJ dt: 0.419991vJ2 time: 1743037639.023282F (some fields omitted in printout)AHz@A @AV_~? A֩A1&"AAVvNA"AZAbAjArAzAAA/;g8@AGrAJr@A oB<A,Aq @A}ֿA?Aǭ<*Ab9?2A׽:A BAb9?JA׽RA ٘i)I9r@YG J<JJJJ>E&K YE^~?y/yJSAE77v9 B)xBE[[?@[^~?[e[[[[BZYY i) /^1)AJ"J*J2J:JBJnJvJA@A9Վ @A<_~? AȩA"&"AA~0vNA"AZAbAjArAzAAA/ұ7@A6t?rA7s@AǻAЪA=@AؿA`?AI<*A9?2AHֽ:ABA9?JAHֽRAY?@E@yЪ2VȻٓH-#x?`߹?1IS? sx^?)?@ I٘i)I9s@YaG J<JJJJJCE&Kw> Y$^~?yk&TAE@Ej7Z7 9B)qBE[[@[di^~?[W[[[[BZYY i) =. elevatorAngleAction: 0.084657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743037640.283252F (some fields omitted in printout)A(\O@AbMeQB@A/_~? AA&"AAIvNA"AZAbAjArAzAAA榈7@A8 rAcpt@ASAA@A:ؿA`7?AR<*A9?2A~ֽ:AbBA9?JA~ֽRAbI٘i)I9pt@YG Jt<JJJJFE&K Y^~?y0dTAE77{7֙9)lB[[t!@[T^~?[P[[[[BZYY i) ~ elevatorAngleAction: 0.084657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037641.543280F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AZ@A_~? AA5&"AAuNA"AZAbAjArAzAAAA7@A /erADpv@A[v;AI AR@AjPۿA ?A*<*AA9?2Aֽ:A[BAA9?JAֽRA[٘i)I9pv@YG J<JJJJNE&K Y\]~?yOUAE77779B)aBE[[@[L^~?[<[[[[BZYY i) Vn Yl]~?yIhVA@Eŧ779B)^BE[[9@[]~?[6[[[[BZYY i)  elevatorAngleAction: 0.093570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037642.803282F (some fields omitted in printout)A@A>;@Ak^~? AlAl&"AAuNA"AZAbAjArAzAAAru6@AVrAtx@Ab}<AAp@AݿAv1?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9tx@Y7G J<JJJJVE&K Y]~?y=WWAE{7j79B)TBE[[>A@[]~?[*[[[[ZZZZ¸>BZYY i¸>Ϩ) `5?)?=!? `R?)C@ I٘i)I9z@YG J~=JC<JJJ^E&Kw> Yc]~?y+XAJ@Eŧ79B)FBE[[J"@[3]~?[i[[[[ZZZZBZYY i) ,))>yS@y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037644.083165 s, next control iter: 1743037644.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037644.483165 s.~_LJ~,3)AA\h@A2[@A^~? A;AY&"AA3.uNA"AZAbAjArAzAAAYn5@A12BrA{@A?AD?i1 ;));}V@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037644.923165 s, next control iter: 1743037645.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037645.323165 s.uLJ~,!T3)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082428< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037645.323289F (some fields omitted in printout)AGz@An@Ak^~? AvAn&"AAFtNA"AZAbAjArAzAAA fL65@AbmIrA }@A<AW׼A/!@A`zAC?Ai<*A9?2AZֽ:A7 ;BA9?JAZֽRA7 ;٘i)I9 }@YG J<JJJJfE&K Y"]~?ybYAESI7SI7W9 B)8B۹E[[Z9'@[=]~?[ [[[[ZZZZBZYY i) ,5vJ WLJ~,io3)AAףp= @A3333@A0X^~? ADqA\&"AAtNA"AZAbAjArAzAAA R 4@AƐarAɇ}@Ar<ArA{"@A7A?Aew<*A9?2AFֽ:Ay<BA9?JAFֽRAy<٘i)I9}@YNG Jj<JJJJiE&K Y: ]~?yIZAEŧ77!9"B)6BعE[[߱(@[[$]~?[<[[[[ZZZZBZYY i) JJJkE&KOw> Y\~?yAZA#@E7777첑9$B)5B׹E[[.*@[ ]~?[[[[[ZZZZBZYY ity) m|5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.060797< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037646.583309F (some fields omitted in printout)A)\u@A h@AV1^~? AfAA&"AAtNA"AZAbAjArAzAAAn=4@A_\rAj~@Awt;AL<A]%@AAk?A_;*AB9?2Auֽ:A+<BAB9?JAuֽRA+<٘i)I9~@YG J <JJJJnE&K Y\~?y 9ZAEj7j79%B)4BԹE[[j+@[\~?[[[[[ZZZZBZYY i) ;i5vJ MJ~,84)AAL@A~?@A]~? ARA:&"AA%tNA"AZAbAjArAzAAAJJJyE&Kw> Y|\~?yvYAG*@Eố9*B);B˹E[[m~1@[\~?[R[[[[BZYY iCNe)  :.)):.c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037648.683165 s, next control iter: 1743037649.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037649.103165 s.MJ~,ȚF4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.055983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743037649.103286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A^EF@Aô]~? AtIA&"AAssNA"AZAbAjArAzAAAUƊ 3@AFrA}!}@A4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743037650.363301F (some fields omitted in printout)AY@AL@Aor]~? A<A&"AAsNA"AZAbAjArAzAAA;pD2@A,ԆrA{@A A=Ad0@ATAl?Ax*A9?2Aֽ:A5h =BA9?JAֽRA5h =Y?"@b0@y}=$!ٓH ɮ׿`@?v?@0d?)?"@ I٘i)I9{@YG J2B=J=JJJE&Kw> Y{[~?yXA0@Eŧ7đ90B)TBE[[8@[F\~?[[[[[BZYY i) 4У;ID?iҫ[ b())b(i@y9+ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037650.403165 s, next control iter: 1743037650.763178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11149*, header.stamp.nsec: 0*0 temperature: 13.384321** salinity: 33.391697*, density: 1025.000000** values[0]: 0.707732*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037650.783165 s.V+MJ~,4)AJ"J*J2J:JBJnJvJA(\@AI*S@A[]~? A8A<&"AA_sNA"AZAbAjArAzAAAs[y1@AkEjrAz@AC:Ajܘ=A%2@AA`\?Ah*Aʬ9?2Av׽:A=BAʬ9?JAv׽RA=٘i)I9z@YG JlC=JJJJE&K YC[~?yWAE777Ƒ91B)YBE[[:@[[~?[[[[[BZYY i) v;ID?i ̹ &))&0k@tҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037650.823165 s, next control iter: 1743037651.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037651.203165 s.3MJ~,4)AAQ@AH@AD]~? A4A&"AA: E $))E $pn@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037651.663165 s, next control iter: 1743037652.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11150 , header.stamp.nsec: 0 0 temperature: 13.384569 * salinity: 33.391689 , density: 1025.000000 * values[0]: 0.706615 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037652.043165 s.@MJ~,5)AA= ף0@A#@AK]~? A-A@ &"AArNA"AZAbAjArAzAAA,@f-1@A y}rAXy@AA=A5@A8A= ?A:=*A9?2Auֽ:AZ=BA9?JAuֽRAZ=٘i)I9Xy@YG JJJJJE&K Y[~?yקVAE{7j7̑9)iB[[K>@[[~?[vۧ[[[[BZYY i) :ID?ix>~\: ̛"))̛"o@hͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037652.063165 s, next control iter: 1743037652.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037652.463165 s.WGMJ~,5)AJ"J*J2J:JBJnJvJAfffff@A::ZY@A\~? A_*A[ &"AA/rNA"AZAbAjArAzAAAht0@Ad{rALx@A]<AP=AB7@A kA`/?AIS*Am9?2A:5ֽ:AQ=BAm9?JA:5ֽRAQ=٘i)I9x@YkG J窼JJJJE&K YZ{[~?yԧVAEZ7Z7͑95B)oBE[[?@[x[~?["ڧ[[[[BZYY i) B!9ID?iY>} ; .!)).!p@rʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037652.483165 s, next control iter: 1743037652.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11151, header.stamp.nsec: 00 temperature: 13.384845* salinity: 33.391716, density: 1025.000000* values[0]: 0.705513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037652.883165 s.yMMJ~,<85)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065349< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037652.883312F (some fields omitted in printout)A(@AI@A\~? A$'Ao &"AA;rNA"AZAbAjArAzAAA+#,0@A44iyrA9x@Ai<A\=Ao8@A`A@P?ACK*A9?2AG.ֽ:Aa=BA9?JAG.ֽRAa=٘i)I99x@YG JJJJJE&K Y a[~?yWѧUAE{7{7ϑ97B)uBE[[ A@[ ^[~?[ا[[[[BZYY i)  ID?iK>"`@; ))$]r@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037652.923165 s, next control iter: 1743037653.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037653.303165 s.YTMJ~,gS5)AJ"J*J2J:Jw4?BJw4?nJ;=5vJA@A$a@A\~? A$A+ &"AArNA"AZAbAjArAzAAAw$CT0@A.SSwrAw@A|9<Au=A9@AAo?Ȁ*Ar9?2Afֽ:A=BAr9?JAfֽRA=٘i)I9w@YG JJJJJE&K YF[~?yΧMUAEb7b7bё99B){BE[[cB@[C[~?[ ا[[[[BZYY i) UIED?i">y; eY))eYPs@1êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037653.323165 s, next control iter: 1743037653.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11152*, header.stamp.nsec: 0*0 temperature: 13.385120** salinity: 33.391724*, density: 1025.000000** values[0]: 0.704392*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037653.723165 s.[MJ~,Hn5)AAz@A @A\~? A#!A!&"AA^frNA"AZAbAjArAzAAA&# 0@A+$urA'w@A;AE=Aq3;@AA?AJ*Aw9?2Aֽ:A@v<BAw9?JAֽRA@v<٘i)I9'w@YlG JJJJJE&K Y,[~?yʧTAE{7{7,ӑ9:B)BE[[C@[T)[~?[Eק[[[[BZYY i) IЗD?io>̛; )),u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037653.743165 s, next control iter: 1743037654.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037654.143165 s.V/bMJ~,*5)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:J@ elevatorAngleAction: -0.065349BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200072 time: 1743037654.143291F (some fields omitted in printout)A ףp=@Awe0@A\~? A^AL!&"AA|ArNA"AZAbAjArAzAAA))HO/@Af4NtrAɧv@AdAA=AB<@Ao#A@yB?A撼*A9?2A ׽:Aތ<BA9?JA ׽RAތ<٘i)I9v@YG JJJJJE&K Yp[~?yǧTAEԑ9)B[[ E@[d[~?[֧[[[[BZYY i) *WID?i?; 4))4v@tYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037654.163165 s, next control iter: 1743037654.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037654.563165 s.hMJ~,1 5)AA3333s@Al<*f@Az\~? AA]!&"AARrNA"AZAbAjArAzAAA:8.@A"rrA.v@AAcA=AD=@AKAo?Abڌ*AA9?2A(׽:AD<BAA9?JA(׽RAD YZ~?yƧ%TA=@ E777֑9;B)BE[[gF@[tZ~?[=֧[[[[BZYY i՛) -I@D?i%?Ym; ())(w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037654.603165 s, next control iter: 1743037654.963173 s, wait time: 0.360008 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11153, header.stamp.nsec: 00 temperature: 13.385387* salinity: 33.391731, density: 1025.000000* values[0]: 0.703360F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037654.983165 s.oMJ~,5)AJ"J*J2J:JBJnJvJA\@At @Al\~? AKA!&"AAqNA"AZAbAjArAzAAA-jU.@Aq5qrAĹu@A^KPAS=A<,?@A` qA@?Aol*A9?2A7׽:A<BA9?JA7׽RA<٘i)I9u@YG JkC=JJJJE&K YZ~?y{ħSA E77{7ؑ9B)BE[[]I@[Z~?[է[[[[BZYY i) ɻIXD?i8?k; L^))L^iz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037655.423165 s, next control iter: 1743037655.803176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11154&, header.stamp.nsec: 0&0 temperature: 13.385616&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.702436&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037655.823165 s.|MJ~J"J*J2J,B5)A:J3?BJ3?nJ<5vJAGz@Ap@A:\~? AA# "&"AARqNA"AZAbAjArAzAAAd`&-@ASgnrAt@A;A؅=AGA@A0A ?Ab*A$9?2AXjֽ:A<BA$9?JAXjֽRA<٘i)I9t@YG JJJJJE&K Y*Z~?ygSAE7ŧ7"ܑ9?B)BE[[sJ@[Z~?[է[[[[BZYY i) ˳I"D?iH?k< ))%|@y^PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037655.843165 s, next control iter: 1743037656.223183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037656.243165 s.MJ~,6)AAףp=J@AG 1=@Ar!\~? AA5"&"AA6qNA"AZAbAjArAzAAA"gi|u,@A;UUHmrA^t@AYWU<AH=AB@AA "?A}׌*A9?2A<@ֽ:AA=BA9?JA<@ֽRAA=~I٘i)I9^t@YG JdJJJJE&K YZZ~?yݿRAE{7{7ݑ9@B)BE[[K@[gZ~?[A֧[[[[BZYY i) ID?i[Z? < ))}@乪YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037656.263165 s, next control iter: 1743037656.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037656.663165 s.MJ~,q*6)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037656.663281F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11155, header.stamp.nsec: 00 temperature: 13.385839* salinity: 33.391720, density: 1025.000000* values[0]: 0.701544F (some fields omitted in printout)A@A"8r@A\~? A A["&"AA^qNA"AZAbAjArAzAAA #7+@Ac!V+lrAs@A4`<A =AED@AA`G?Aj*A 9?2A$Vֽ:Ad=BA 9?JA$VֽRAd=YN6@TD@yŊ=`<ٓHy#d ݲ?M% ?  c??)N6@ I٘i)I9s@YrG JB=J:JJJE&K x> Y+kZ~?y7^RATD@E777ߑ9AB)BE[[!M@[oZ~?[֧[[[[BZYY i) V|I1D?i7e?< U7))U7`~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037656.683165 s, next control iter: 1743037657.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037657.083165 s.DMJ~,RE6)AA)\µ@Aබ@A[~? A^AJ}"&"AAl8qNA"AZAbAjArAzAAAKBoY+@A M&krAuqs@A;A`=AE@AHA@f?A t*A'9?2Aֽ:A=BA'9?JAֽRA=٘i)I9qs@Y*G J%C=JJJJE&K YOZ~?yRAE79BB)BE[[SsN@[UZ~?[Lק[[[[BZYY i) #I1D?iq?< ))t$@uYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037657.103165 s, next control iter: 1743037657.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037657.503165 s.MJ~,j4`6)AJ"J*J2J:Jz3?BJz3?nJ2<5vJAR@A;y@A[~? A Ad"&"AAqNA"AZAbAjArAzAAAiFr*@A;jrAr@AJA=AF@A`"A`?A䊼*Aa9?2AFֽ:A.O=BAa9?JAFֽRA.O=٘i)I9r@YG JJJJJE&K Y2Z~?y꽧QAEb7b7M9)B[[bO@[;Z~?[ا[[[[BZYY i) ^2ID?i?#< w))wOԀ@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037657.523165 s, next control iter: 1743037657.903185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11156, header.stamp.nsec: 00 temperature: 13.386068* salinity: 33.391731, density: 1025.000000* values[0]: 0.700641F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037657.923165 s.GMJ~,{6)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743037657.923289F (some fields omitted in printout)A{G!@Ag?@Ao[~? A AM"&"AApNA"AZAbAjArAzAAA˜ "*@A]AjirAr@AK?AV=A>KH@Ah0AF.?A*A9?2A2׽:A+=BA9?JA2׽RA+=٘i)I9r@YG JJJJJE&K YZ~?yCKQAEŧ79CB)BE[[Q@[!Z~?[ا[[[[BZYY i)  BIE?i/?Q.< ))@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037657.943165 s, next control iter: 1743037658.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037658.343165 s. Y?Y~?yۼPAGG$Eb779EB)BE[[S@[Y~?[Wۧ[[[[BZYY i) O`Ik'E?i?)@< __ ))__ +@I̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037658.803165 s, next control iter: 1743037659.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037659.183165 s.J "J *J 2J :J 3?BJ 3?nJ ;5˲MJ~vJ,g6)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199422 time: 1743037659.183266F (some fields omitted in printout)A(\@A?3@An[~? Az A"&"AAupNA"AZAbAjArAzAAAqpM(@AgrAvq@ALA:Ab=AEA=]A=ױ?A*A=9?2Ajֽ:Aԯ =BA=9?JAjֽRAԯ =٘i)I9q@YG J̘B=JJJJE&K YY~?y(PA&Ew9FB)BE[[U@[4Y~?[ܧ[[[[BZYY i) (pIK8E?i?oH<  )) @ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037659.203165 s, next control iter: 1743037659.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037659.603165 s.F4MJ~,6)AAQ@AG@AT[~? AA!#&"AANpNA"AZAbAjArAzAAAꑞ^'@Aug"grAp@A'<An=ADA;gAQ*?ARx*Aΰ9?2A4ֽ:A=BAΰ9?JA4ֽRA=٘i)I9p@YiG JRC=JJJJE&K YʥY~?yYOA)E77B9)¯BE[[QV@[Y~?[Sާ[[[[BZYY i) gWIIE?i-?&R< ; )); =;@mҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037659.623165 s, next control iter: 1743037660.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11158 , header.stamp.nsec: 0 0 temperature: 13.386531 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.698807 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037660.023165 s.ZMJ~,{7)AJ"J*J2J:JBJnJvJAHz.@AQ !@A(:[~? ABA1#&"AAK'pNA"AZAbAjArAzAAA'@AL =FfrAp@AGj<Avg=AvqCAnAX?A1Q*A9?2A)ֽ:Aq'=BA9?JA)ֽRAq'=٘i)I9p@YG J觼JJJJE&K YY~?yaOA,E7 9GB)ǯBE[[tW@[Y~?[ [[[[BZYY i%j) HIx\E?iA?F}\< O))O@kԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037660.043165 s, next control iter: 1743037660.423177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037660.443165 s.8MJ~,B]7)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085652< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037660.443309F (some fields omitted in printout)Aq= c@AXV@A- [~? AA#&"AAoNA"AZAbAjArAzAAA]su&@ABfrAso@A'2<A`=ABA^tA?A@o*A9?2Ayeֽ:A=BA9?JAyeֽRA=٘i)I9so@YG J6JJJJE&K YTmY~?yֽNA.E79HB)̯B}E[[LX@[Y~?[[[[[BZYY i) ~厼IoE?i-?g< ))@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037660.463165 s, next control iter: 1743037660.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11159, header.stamp.nsec: 00 temperature: 13.386792* salinity: 33.391708, density: 1025.000000* values[0]: 0.697763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037660.863165 s.+MJ~,>77)AJ"J*J2J:JBJnJvJA@A*@A-[~? AA"#&"AAoNA"AZAbAjArAzAAAGٺ%@Ao xfrAn@A:A=AX@AvA?AK*A}9?2Aֽ:AN=BA}9?JAֽRAN=Y|UC@@yy=_:ٓH*?)sBhK퍳`c]? ?)|UC@ I٘i)I9n@YeG JB=J<JJ'FJE&Kx> YRQY~?yNA@1E9)ѯB[[/Z@[qY~?[[[[[BZYY i) gIE?i?n< ))9@XתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037660.903165 s, next control iter: 1743037661.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037661.283165 s.6RMJ~,R7)AA(\@A^ P@A+Z~? AA%#&"AA%oNA"AZAbAjArAzAAA tc:%@AvMrfrAXn@AA禞=Al?AwA[tA*Ae9?2A׽:AF=BAe9?JA׽RAF=٘i)I9Xn@YG JC=JJJJE&K YY5Y~?y+NA4Eb7b7m9IB)֯BzE[[x[@[dYY~?[[[[[BZYY i) /睼IØE?i?Rv< b))bbކ@y>RڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037661.303165 s, next control iter: 1743037661.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11160., header.stamp.nsec: 0.0 temperature: 13.387077.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.696701.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037661.703165 s.ӺMJ~,m7)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085652< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743037661.703337F (some fields omitted in printout)AQ@A@A+Z~? AAD$#&"AAoNA"AZAbAjArAzAAArt$@A! ifrAA\tAVoA *A69?2A/׽:A=BA69?JA/׽RA=٘i)I9m@YG J⥼B=JJJJE&K YXY~?y@MA6E7789)ۯBwE[[/\@[>AY~?[g[[[[BZYY i) khIIE?i$?< ))@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037661.723165 s, next control iter: 1743037662.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037662.123165 s.;MJ~,m7)AAG:@A-@A/Z~? AA1 #&"AAYboNA"AZAbAjArAzAAAь#@Aۇ/)frA5?m@A[HAOa=AE<A%oA@oڡA}*A?9?2A|ֽ:A =BA?9?JA|ֽRA =٘i)I9?m@YdG JC=JJJJE&K YYX~?yc§YMA9E7779JB)BtE[[!^@[n)Y~?[[[[[BZYY i) !鬼IE?i'?7< ))$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037662.143165 s, next control iter: 1743037662.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037662.543165 s.IMJ~,â7)AJ"J*J2J:JBJnJvJA= ףp@A}ԛc@A;Z~? AA#&"AA:oNA"AZAbAjArAzAAA핃a#@AFCfrASl@AAy=A;A{gAFgA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@Y G JJJJJE&K Y[X~?yçLA YX~?yŧ}LAB:?E7779EB)BnE[[ `@[lX~?[&[[[[BZYY i) ﻻIE?i_?Q< ?))?h@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037662.983165 s, next control iter: 1743037663.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037663.383165 s.MJ~,+7)AJ"J*J2J:JBJnJvJA(@A O@AqjZ~? A A#&"AAonNA"AZAbAjArAzAAAVP~'"@Ae92grAlk@A.Y<A=A]9A#QA3AJƼ*A9?2Aֽ:AJ5=BA9?JAֽRAJ5=٘i)I9lk@YHG JH¼JJJJE&K YnX~?yǧ LAAE{7b9)BkE[[a@[3X~?[[[[[BZYY i)  üI~ F?i?]L< ))j @dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037663.423165 s, next control iter: 1743037663.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11162", header.stamp.nsec: 0"0 temperature: 13.387611"* salinity: 33.391685", density: 1025.000000"* values[0]: 0.694513"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037663.803165 s.wAMJ~,{g7)AA@A@APZ~? A A1"&"AAEnNA"AZAbAjArAzAAAM!@AnhrA j@AQ[<Az=A7A@bBAArʼ*A<9?2Aֽ:A4=BA<9?JAֽRA4=٘i)I9j@YG JȼJJJJE&K YX~?yɧKADEb7b7-9)BhE[[c@[LX~?[[[[[BZYY i) ^ʼI%F?i?ϖ< ))T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037663.843165 s, next control iter: 1743037664.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037664.223165 s.gNJ~,H8)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085652< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037664.223284F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A:@A6Z~? A AE"&"AA3nNA"AZAbAjArAzAAA> @AOirAj@Aj;AF=Ab6A@1A ȻA<˼*A79?2Azֽ:A=BA79?JAzֽRA=٘i)I9j@YzG Jw˼JJJJE&K YsX~?y˧&KAGE{7{79)B[[]Rd@[X~?[[[[[BZYY i) ѼI@F?i?)ۛ< ))*K@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037664.263165 s, next control iter: 1743037664.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037664.643165 s.v NJ~,*)8)AA ףp}@A/dp@A:Z~? AI A$"&"AA>wnNA"AZAbAjArAzAAA=,IS @A:irAmi@A5rxA3±=A@5A-AAC˼*Ao9?2Aֽ:A=BAo9?JAֽRA=٘i)I9mi@YG J˼JJJJE&K  9Y XX~? 9yͧJAIEb779)BeE[[ze@[X~?[U[[[[BZYY i) ټI[F?i8?k< ))@tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11163, header.stamp.nsec: 00 temperature: 13.387920* salinity: 33.391705, density: 1025.000000* values[0]: 0.693272F (some fields omitted in printout)NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037664.663165 s, next control iter: 1743037665.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037665.063165 s.NJ~,N D8)AJ"J*J2J:Jz1?BJz1?nJ:5vJA3333@A.'@AZ~? AAͪ"&"AAkPnNA"AZAbAjArAzAAAy0xp@AjrAh@AEAnD=A3A A@DA˼*Aց9?2A׽:Ah =BAց9?JA׽RAh =YE[P@O3yA=ַFٓH@ 3?@!Կ L:`k `{ ?)E[P@ I٘i)I9h@Y G Jd˼J*<JJJE&K3x> Yb=X~?y|Ч elevatorAngleAction: 0.082367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037666.743295F (some fields omitted in printout)Aףp=@A)1}@AY~? AA""&"AAmNA"AZAbAjArAzAAA f|@A6#?orAe@A-<Aѯ=A.AtA AɿA*A;9?2Aս:A@<BA;9?JAսRA@<٘i)I9e@Y G JJJJJE&K YW~?yۧZHAWE7 9)B[[k@[ 4X~?[][[[[ZZBZYY i) ZüIF?i?@F[< [:))[:迩D@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037666.763165 s, next control iter: 1743037667.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037667.163165 s.}}2NJ~,q8)AA@Aӡ@AY~? ANA'!&"AA͐mNA"AZAbAjArAzAAAD0E(w@AnWprA4e@AWf<Ae=AP-ANqA;ʿAK*A9?2Aֽ:A<BA9?JAֽRA Y'W~?yߧGA?-YE{7 9)BWE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #67q/C^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY i) )y+=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037667.183165 s, next control iter: 1743037667.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037667.583165 s.J 8NJ~"J*J2J,S8)A:J0?BJ0?nJ895vJA)\@A^@AlY~? AA9!&"AAkmNA"AZAbAjArAzAAAzDlJ@A;rrA(d@Aό"<Au=A+AMAв̿A;*A9?2A3ֽ:Aͨq<BA9?JA3ֽRAͨq<٘i)I9(d@Y G J)JJJJE&K YW~?yfGA\Ej7j7M9CB)"BTE[[4n@[ X~?[o[[[[ZZBZYY i) I G?i@TI< M)) M㿩o<@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037667.603165 s, next control iter: 1743037667.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11166, header.stamp.nsec: 00 temperature: 13.388916* salinity: 33.391682, density: 1025.000000* values[0]: 0.689160F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037668.003165 s.w @NJ~,H49)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037668.003299F (some fields omitted in printout)AR+@A~Az@A TY~? AFAj!&"AAEmNA"AZAbAjArAzAAAO^@A5srAec@AaPA+1=AM+A@$A@VϿAм*Ar:?2A:AA=;BAr:?JARAA=;٘i)I9ec@Ye G JJJJJE&K YW~?y%GA_E{79)(BQE[[mo@[W~?[[[[[ZZBZYY i) ZXI-G?i@p< U))g࿩ؐ@|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037668.023165 s, next control iter: 1743037668.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037668.423165 s.uFNJ~,9)AJ"J*J2J:J80?BJ80?nJ85vJA{Ga@A5;T@A;Y~? A Af!&"AAZ mNA"AZAbAjArAzAAA]r@A7 PurATb@A(Af[<A8:*AA/пA*Aш:?2A)ý:ABAш:?JA)ýRA٘i)I9b@Y G JtJJJJE&K YSlW~?yFAaE779)-BNE[[)p@[.W~?[[[[[ZZBZYY i) ǫIOG?i@3K< +o޿))+o޿t@Y;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037668.463165 s, next control iter: 1743037668.823177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11167, header.stamp.nsec: 00 temperature: 13.389287* salinity: 33.391674, density: 1025.000000* values[0]: 0.687700F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037668.843165 s.LNJ~,59)AAp= @A~W@A7#Y~? A"A0!&"AA8lNA"AZAbAjArAzAAA,o@A wrAFb@AzA}<A8)AA@_пA/z*A4:?2A)%Ž:AV"BA4:?JA)%ŽRAV"٘i)I9Fb@Y G JƕJJJJE&K YRW~?yWFAdEb79)1B[[q@[W~?[@#[[[[ZZBZYY i) =IaqG?i@ʐ< 'ܿ))'ܿQ@>iYuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037668.863165 s, next control iter: 1743037669.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037669.263165 s.TNJ~,#P9)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082367< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037669.263294F (some fields omitted in printout)A@A@A Y~? A%A &"AAFlNA"AZAbAjArAzAAAȈ@@AGxrA3a@A!mLAVJ̻A(A`AӊѿA@,*Af:?2Aǽ:ABBAf:?JAǽRABY\@(yDF̻&nLٓH s|? ?@߿Y@Ty?x4?)\@ I٘i)I9a@Y G JbYJEJJJE&KE> Y:W~?y`FA(gE77x9)3BLE[[2s@[W~?['[[[[ZZBZYY iw=)  #IZG?i"@j+< ٿ))ٿ@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037669.283165 s, next control iter: 1743037669.663179 s, wait time: 0.380014 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 111686, header.stamp.nsec: 060 temperature: 13.3895246* salinity: 33.3916746, density: 1025.0000006* values[0]: 0.6868126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037669.683165 s.lZNJ~,ck9)AA(\@A<@AX~? A(Ak &"AAlNA"AZAbAjArAzAAA+(ă@AYK zrAɯa@A[AYAa&A A[PҿA"oȻ*A{:?2Aʽ:A}BA{:?JAʽRA}٘i)I9a@Y[ G J~ JJJJE&K Ys!W~?y8iFAiE7{7B9BB)5BIE[[Et@[W~?[^,[[[[ZZBZYY i=)  ElIG?i%@J< +׿))+׿D@)YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743037669.683165 s, next control iter: 1743037670.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037670.103165 s.aNJ~,9)AJ"J*J2J:JBJnJvJAQ8@AȭI+@AX~? A,A= &"AAlNA"AZAbAjArAzAAAH6xqa@A|rAa@A;A?A%AA;ӿAX*Aq:?2Aͽ:AcɼBAq:?JAͽRAcɼ٘i)I9a@YJ G JȁB=JJJJE&K YW~?yqFAlE77 9)FE[[zu@[W~?[1[[[[BZYY i) bYIxG?ix)@< OԿ))OԿߓ@[4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037670.123165 s, next control iter: 1743037670.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037670.523165 s.gNJ~,{9)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071287< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037670.523283F (some fields omitted in printout)AHzn@AX5a@A$X~? Ar/AMA &"AAhlNA"AZAbAjArAzAAA; 5A@A}~rA}a@A+ b<A}2A1$A`SA`5ӿA*;*Ad:?2Aн:A5BAd:?JAнRA5㼙٘i)I9a@YL G JB9C=JJJJE&K Y-V~?yzFAoEb779)[[v@[W~?[5[[[[BZYY i) EFIH?i|-@L< _ҿ))_ҿw@yFΒ=o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037670.543165 s, next control iter: 1743037670.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11169, header.stamp.nsec: 00 temperature: 13.389596* salinity: 33.391651, density: 1025.000000* values[0]: 0.686506F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037670.943165 s.WdnNJ~,>]9)AJ"J*J2J:JBJnJvJAq= ף@Aʖ@AX~? A2A&"AAElNA"AZAbAjArAzAAA);JH@A ߀rAa@AR<AWA"A@ A`ԿA;*AY:?2Aѽ:ASBAY:?JAѽRAS٘i)I9a@Y^ G J;JJJJ E&K YV~?yFFAqE77{79)4BCE[[w@[sW~?[:[[[[BZYY i) }3I(H?i1@< п))п@*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037670.963165 s, next control iter: 1743037671.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037671.363165 s.uNJ~,>9)AA@A@ANX~? A6A &"AA!lNA"AZAbAjArAzAAA  @A-rAYa@A;AKwA{!AKAտAGW,<*AbO:?2A_ҽ:ABAbO:?JA_ҽRAY(b@l!yKẉ;ٓH?@?Yy`T}??ot??)(b@ I٘i)I9a@Y G J+ <JJJJ E&Kv> Y|V~?y_ FA!tEb77m9AB)2B@E[[ y@[bW~?[?[[[[BZYY iId=)  #INH?i4@u< Ϳ))Ϳ@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037671.383165 s, next control iter: 1743037671.763178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11170*, header.stamp.nsec: 0*0 temperature: 13.389579** salinity: 33.391644*, density: 1025.000000** values[0]: 0.686738*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037671.783165 s.^{NJ~J,9)A"J*J2J:J/?BJ/?nJX85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037671.783317F (some fields omitted in printout)A(\@ArS@A<}X~? A^:Ap&"AAkkNA"AZAbAjArAzAAAQQy @AsgrACb@AŸAYSA#J AmAjֿAf<*AfF:?2A,ӽ:AIBAfF:?JA,ӽRAI}I٘i)I9Cb@Y G J)G<JJJJE&K YmV~?yx(GAwE778 9)/B=E[[>z@[qQW~?[D[[[[BZYY i) ITvH?i7@=< 9˿))9˿]A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037671.803165 s, next control iter: 1743037672.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037672.203165 s.NJ~, :)AAQE@A8@AifX~? AJ>A%&"AAkNA"AZAbAjArAzAAA@A2t^̇rA'b@A[AY\AAxA`;׿A`<*AC:?2AIԽ:ABAC:?JAIԽRA٘i)I9b@Y G J€<JJJJE&K Y_V~?y{GAzE7777"9),B>E[[m{@[@W~?[I[[[[BZYY i) IH?i ;@g< ȿ))ȿؖ@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037672.243165 s, next control iter: 1743037672.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037672.623165 s.VNJ~,X':)AJ"J*J2J:J/?BJ/?nJ85vJAGz@AQMIm@AOX~? AZBA&"AA5kNA"AZAbAjArAzAAA@A57GrA.c@AjNhA@O< ƿ))ƿuo@yd=*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037672.643165 s, next control iter: 1743037673.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11171 , header.stamp.nsec: 0 0 temperature: 13.389451 * salinity: 33.391655 , density: 1025.000000 * values[0]: 0.687433 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037673.043165 s.NJ~,B:)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065088< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037673.043307F (some fields omitted in printout)A= ף@Au@A9X~? AFA?&"AA2kNA"AZAbAjArAzAAAǷ+y@Ag،rAc@APArA(TAAqؿA<*AE:?2Aս:Ae BAE:?JAսRAe ٘i)I9c@Y G J<B=JJJJE&K YAdV~?y"HAE7)7%9@B)"B8E[[&}@[ W~?[/T[[[[BZYY i) [ȻIH?iC@< 3+Ŀ))3+Ŀ@yŪd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037673.063165 s, next control iter: 1743037673.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037673.463165 s.WNJ~,]:)AJ"J*J2J:JBJnJvJAffff@AK[@A#X~? AJA3&"AAukNA"AZAbAjArAzAAAJCd@A|GrAFd@AG;A꘽AA`bA`ٿA<*AC:?2A ֽ:A BAC:?JA ֽRA Y i@yy꘽H;ٓH@??W @ |]??@sh?#?) i@ I٘i)I9Fd@Y G J<C=Jj JJJE&K%|> Y OV~?y#HAEj7j7c'9?B)B5E[[~@[W~?[Y[[[[BZYY i) 'II?iE@< ))@y2=U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037673.483165 s, next control iter: 1743037673.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11172, header.stamp.nsec: 00 temperature: 13.389240* salinity: 33.391624, density: 1025.000000* values[0]: 0.688477F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037673.883165 s.yNJ~,4x:)AA(@AE@A X~? AdOA&"AAtTkNA"AZAbAjArAzAAA?A5 elevatorAngleAction: 0.065088< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037674.303288F (some fields omitted in printout)AQ@A[D@AhW~? ATA&"AA3kNA"AZAbAjArAzAAAV1?A DrA^e@Arp<AAFA-AJۿAO.<*AA:?2AL׽:ABAA:?JAL׽RA٘i)I9^e@Y G J_<JJJJE&K Y$V~?y,/VIA DE{7{7*9)B1E[[ƥ@[V~?[}d[[[[BZYY i) rx[Ii~K@4<= g ))g Ǚ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037674.323165 s, next control iter: 1743037674.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11173., header.stamp.nsec: 0.0 temperature: 13.389017.* salinity: 33.391621., density: 1025.000000.* values[0]: 0.689582.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037674.723165 s.NJ~,H:)AAz@AWz@AMW~? AXAg)&"AAkNA"AZAbAjArAzAAA'UP?A`orA!e@A<A"nAATA uܿAUΧ<*A@:?2A*׽:ABA@:?JA*׽RA٘i)I9e@Y G Jڦ<JJJJ"E&K Y\V~?y4IAE)7ŧ7,9)B0E[[q:@[cV~?[ j[[[[BZYY i) IiO@n= ͺ))ͺl\@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037674.743165 s, next control iter: 1743037675.123180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037675.143165 s.U/NJ~,*:)AJ"J*J2J:JBJnJvJA ףp@ArMd@AW~? A]AS&"AAjNA"AZAbAjArAzAAA}vk?AvnrAyf@ANAoAAAܿA/<*A?:?2Aֽ:AjBA?:?JAֽRAj٘i)I9yf@YE G J<JJJJ%E&K Y#U~?y:#JAEb7.9) B[[΁@[TV~?[o[[[[BZYY i) ?<źIiS@= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037675.163165 s, next control iter: 1743037675.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037675.563165 s.NJ~,p :)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065088< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743037675.563325F (some fields omitted in printout)A3333@A'@A W~? AbAj&"AAtjNA"AZAbAjArAzAAAW=[$?A4rAg@AW(A#lAwA2PAݿAK6<*A"?:?2Aֽ:ABA"?:?JAֽRAYo@ ky%j#)ٓH+fo? ?~d4? GI?`?)o@ I٘i)I9g@Y G JѪ<J;JJJ'E&Ky> YU~?y=AJAkE777X09>B)B,E[[Bc@[uV~?[Yu[[[[BZYY i) 1Ii3U@r= w*))w*=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037675.583165 s, next control iter: 1743037675.963184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11174, header.stamp.nsec: 00 temperature: 13.388786* salinity: 33.391571, density: 1025.000000* values[0]: 0.690699F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037675.983165 s.NJ~,:)AJ"J*J2J:J0?BJ0?nJh95vJA\(@AG5@AW~? AgA&"AAjNA"AZAbAjArAzAAA3?AxY+'rAŗg@ApAϏA-AA@BL޿A<*An>:?2Aֽ:A5BAn>:?JAֽRA5٘i)I9g@Y G J<JJJJ*E&K YU~?yGJAE#29)B[[@[V~?[!{[[[[BZYY i) V9IiW@ = /س))/س@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037676.003165 s, next control iter: 1743037676.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037676.403165 s.&NJ~,;)AAQ^@AQ@AW~? AmA&"AAajNA"AZAbAjArAzAAAd6?A^rA#h@A9AA!A@kA ߿Ac<*A=:?2Aֽ:AuBA=:?JAֽRAu٘i)I9#h@YH G J<JJJJ-E&K Y}U~?y%NJKAEb7b739/B)B)E[[@[V~?[[[[[BZYY i) &:IiZ@ = ˈ))ˈ@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037676.443165 s, next control iter: 1743037676.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11175", header.stamp.nsec: 0"0 temperature: 13.388578"* salinity: 33.391575", density: 1025.000000"* values[0]: 0.691815"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037676.823165 s.NJ~,>4;)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065088< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743037676.823299F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Aup@A~W~? A~rA9&"AAyjNA"AZAbAjArAzAAAgTR?Aų)rAh@A?A_ÀA_A߿As<*A<:?2ANT׽:Av1BA<:?JANT׽RAv1٘i)I9h@Y G Ja<JJJJ0E&K YGU~?yTKAE759)B'E[[@[9V~?[ӆ[[[[BZYY i) ;Ii^@= <))<@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037676.863165 s, next control iter: 1743037677.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037677.243165 s.NJ~,iO;)AAףp=@AF 2@AkW~? AxAn&"AAi\jNA"AZAbAjArAzAAAҳy8sAmͮrA%(i@Ab <A"A&A@ A:A<*AU;:?2A׽:AT*BAU;:?JA׽RAT*󼙘٘i)I9(i@Y G J<JJJJ2E&K YU~?y [LAE777779)B[[氄@[V~?[[[[[BZYY i) N;Iia@Fw= ))󬿩ҝ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037677.263165 s, next control iter: 1743037677.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037677.663165 s.NJ~,qj;)AJ"J*J2J:J_1?BJ_1?nJ95vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11176, header.stamp.nsec: 00 temperature: 13.388372* salinity: 33.391571, density: 1025.000000* values[0]: 0.692871F (some fields omitted in printout)A@AD@AXW~? A}Ab&"AA?jNA"AZAbAjArAzAAA/02>̿A.zrAHi@A(l<APmA A@<AA+<*A9:?2A׽:ABA9:?JA׽RAY7v@ yil<ٓH9`ʐ?Ҟ?~@=`B? !ʰ?̈́??)7v@ I٘i)I9i@Y0G J<Jd<JJJ5E&Kx> Y U~?ybiLA Eŧ7b7N99)B$E[[vD@[V~?[[[[[BZYY i]=) R;Iic@= ))qf@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037677.683165 s, next control iter: 1743037678.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037678.083165 s.DNJ~,S;)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037678.083298F (some fields omitted in printout)A)\5@A 9(@AFW~? AiAW&"AA#jNA"AZAbAjArAzAAAX(`ܿA4rAj@ArmR<A6.A˅ Az\A Aĉ<*A 8:?2A׽:ABA 8:?JA׽RA٘i)I9j@YwG J<JJJJ8E&K Y xU~?yiLAEb77;9)ޯB[[uׅ@[K}V~?[Ә[[[[BZYY i) T;Iie@[)= Y))Yp@l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037678.123165 s, next control iter: 1743037678.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037678.503165 s.NJ~,]4;)AJ"J*J2J:J1?BJ1?nJ:5vJARk@Az^@A4W~? AHA&"AA%jNA"AZAbAjArAzAAAmyoATrAZj@AV;ABA@ AAS=A0<*A1:?2A:<׽:AWXBA1:?JA:<׽RAWX٘i)I9j@YG Ju<JJJJ:E&K YgU~?y'pMAEb7<9)ۯB"E[[i@[ rV~?[[[[[BZYY i) ;Iih@c=  )) ؋@˴*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037678.543165 s, next control iter: 1743037678.903183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11177, header.stamp.nsec: 00 temperature: 13.388159* salinity: 33.391541, density: 1025.000000* values[0]: 0.693828F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037678.923165 s.;NJ~,;)AA{G@AVp;@A#W~? ADA;&"AA5iNA"AZAbAjArAzAAA39AF5:rA(j@A[!ʻA[A A@R߿A A[<*AX+:?2Aֽ:A"BAX+:?JAֽRA"٘i)I9j@YG J<JJJJ=E&K YVU~?y/wwMAE{7j7>9)ׯB[[@[6gV~?[[[[[BZYY i) Q;Iik@}= Gɣ))Gɣ@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037678.943165 s, next control iter: 1743037679.323178 s, wait time: 0.380013 s"VU~?)"/w rAdjusting time to match Gazebo time: 1743037679.343165 s. elevatorAngleAction: 0.075667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743037679.343330F (some fields omitted in printout)Ap= @A@AW~? A[Ar&"AAiNA"AZAbAjArAzAAA&KiA聴frA ok@A7_AAٷA޿A Aۙ<*A %:?2Aֽ:APBA %:?JAֽRAP٘i)I9ok@YJG J#<JJJJ@E&K YEU~?y8~MAE77{7x@9)ӯBE[[{@[\V~?[=[[[[BZYY i) o Yc6U~?y-NAZECB9)ϯB[[@[RV~?[[[[[BZYY i) ZS elevatorAngleAction: 0.075667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743037680.603309F (some fields omitted in printout)AQx@ASFk@AV~? ABA*&"AAiNA"AZAbAjArAzAAA?9^A:|rA5l@AHlr;A-AA1XܿAA<*A}:?2Au׽:ABA}:?JAu׽RA٘i)I9l@Y!G J<JJJJHE&K Y#U~?yԔNAEb77E9/B)ɯBE[[;A@[{?V~?[)[[[[BZYY i) q0w<)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075667< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743037681.863289F (some fields omitted in printout)A@A$ @AV~? AA&"AAAiNA"AZAbAjArAzAAA,9swA'wNrA2n@A<A듽AA pٿAA<*A(:?2AG׽:A BA(:?JAG׽RA Y@y|铽+<ٓHPۿ@?M?@Xۿ?`y?%Y?P?)@ I٘i)I92n@YG J<JbJJJPE&Ktx> YT~?yܫOAEj79K9.B)BE[[6@[%V~?[^Ѩ[[[[BZYY i) ^ elevatorAngleAction: 0.084670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743037683.123324F (some fields omitted in printout)AG@Aխ@AfV~? AЩAf&"AAbiNA"AZAbAjArAzAAAI &_Aj&rAko@AJqAA1A,׿A OWAk©<*A9?2Aֽ͆:A'BA9?JAֽ͆RA'٘i)I9o@YG J<JJJJXE&K YT~?yè(QAE7{7P9.B)BE[[@[7V~?[[[[[BZYY i) FCOJ~,<)AAffff&@AJ\@A4qV~? AީA&"AAohNA"AZAbAjArAzAAA HsFA_rAp@AAA͟AտAYAnԦ<*A9?2A%׽:A<}BA9?JA%׽RA<}Y@py yٓHLKտ#*?@y? \տ_??@U?)@ I٘i)I9p@YG J<JH.JJJ]E&Kx> Y T~?yӨQAEj7j7.T90B)BE[[@[(V~?[[[[[BZYY i) a elevatorAngleAction: 0.084670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743037684.383287F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AW\O@AQeV~? AA}&"AAhNA"AZAbAjArAzAAA)AT.rANmq@A<AՋAA@ԿA@eA<*A9?2Au׽:AvBA9?JAu׽RAv٘i)I9mq@YG J^<JJJJ`E&K YT~?yHܨ^RAE777U9/B)BE[[>O@[-U~?[[[[[BZYY i) J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037684.403165 s, next control iter: 1743037684.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11183&, header.stamp.nsec: 0&0 temperature: 13.386889&* salinity: 33.391449&, density: 1025.000000&* values[0]: 0.699935&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037684.803165 s.yALOJ~,g3=)AA@AYj߄@AYV~? AHA&"AA[hNA"AZAbAjArAzAAAb0 AΝrAxq@A|Ol<A4tA?AԿA:ASy<*A9?2A׽:AhBA9?JA׽RAh٘i)I9q@YEG Jڦ<JJJJcE&K Y5T~?yRAE77{7W9)B[["ގ@[U~?[Y[[[[BZYY i) _))>@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037684.823165 s, next control iter: 1743037685.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037685.223165 s.gSOJ~,HN=)AJ"J*J2J:JBJnJvJAz@AL@ANV~? AAxa&"AAihNA"AZAbAjArAzAAAP8 ABR9rAr@Aq)J<AAAo@ӿA_mAN<*Ax9?2AQL׽:ABAx9?JAQL׽RA٘i)I9r@YG J<JJJJeE&K YəT~?y1SAE{7j7Y9)B[[l@[aU~?[[[[[BZYY i) ޫ elevatorAngleAction: 0.084670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743037685.643301F (some fields omitted in printout)A ףp@AHjd@ADV~? AA&"AA1hNA"AZAbAjArAzAAA犮Y9 A-rAs@AP\u;A㍨A &A ~aҿA`A<*Ai9?2Aֽ:AYqBAi9?JAֽRAYq٘i)I9s@YG J}<JJJJhE&K Y]T~?y-SAE77Y[91B)BE[[p@[U~?[ [[[[BZYY i) ^ YT~?y TAE7#]90B)BE[[@[U~?[`[[[[BZYY i) Ѭ&"AAwhNA"AZAbAjArAzAAA\T ATTsAHbt@A~bAPRAAпAA<*A9?2AoEֽ:AYBA9?JAoEֽRAY٘i)I9bt@YG J<B=JJJJmE&K YT~?yFTAE7{7^9)B[[W@[U~?[[[[[BZYY i) 4 elevatorAngleAction: 0.084670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037686.903295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Am@A&(V~? AA&"AAihNA"AZAbAjArAzAAA Ad sA u@Aj^AA쮽AGAtϿA/A<*AF9?2Ageֽ:ABAF9?JAgeֽRA٘i)I9 u@Y%G J<C=JJJJpE&K Y_|T~?yTAE77`9)B[[K@[RU~?[ [[[[BZYY i) ;JݿA`˿A\lA)<*A9?2Aq)׽:ABA9?JAq)׽RA٘i)I9dv@YG J<JJJJuE&K Y oT~?yUAE{7j7Nd91B)~BE[["@[U~?[N.[[[[BZYY i) )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037688.163307F (some fields omitted in printout)A@@Af2@A@V~? A)AZ &"AAzDhNA"AZAbAjArAzAAA0%xAqϴwsAw@AP<AAeڿA@ɿA@WA0<*AW9?2Ab_׽:ABAW9?JAb_׽RAYnj@mڿy}P<ٓHZZ?ȳI@MG? H??>?)nj@ I|I٘i)I9w@Y^G J<J JJJxE&Kvx> Y4kT~?y(PVAڿE777f9)xB[[M@[U~?[5[[[[BZYY i) ^)AJ"J*J2J:JV4?BJV4?nJ=5vJA)\u@A캷h@AP V~? Ao1A &"AA9hNA"AZAbAjArAzAAAqUA7sAw@Aj<AxAp׿A`ȿA A*<*A°9?2AG׽:ABA°9?JAG׽RA٘i)I9w@YG J<JJJJ{E&K Y]gT~?yW1VAEj7Z7g93B)uBE[[nۓ@[OU~?[;[[[[BZYY i=) R)AAR@A%Zx@AV~? AB9AI* &"AAc/hNA"AZAbAjArAzAAATMAfоZ sAkx@A <A۴A;տA8ƿA`A<*A`9?2Aֽ:A 6BA`9?JAֽRA 6٘i)I9kx@Y2G Jl<JJJJ}E&K YcT~?y :@WAE777i9)oB[[h@[U~?[B[[[[ZZZZ¸>BZYY i¸>è) }Q)AJ"J*J2J:JBJ4?nJx=5vJvPublished 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: 0.4199752 time: 1743037689.423272F (some fields omitted in printout)A{G@A=@AU~? AAA/ &"AA&hNA"AZAbAjArAzAAA{QbA%sA=y@AFA(AQҿAaĿAQA,<*A9?2Azֽ:A6BA9?JAzֽRA6٘i)I9y@YG JV<JJJJE&K Y_T~?yBWAE77yk9)jB[[@[U~?[fI[[[[ZZZZBZYY i) O)AAp= @AT2 @AU~? AIAj &"AAbhNA"AZAbAjArAzAAA]0AK*sAwy@A)8AbA&?пA¿AA\=*A9?2A1ֽ:ABA9?JA1ֽRA٘i)I9y@YG J<JJJJE&K Y[T~?y{K0XAEb77Cm9,B)]B[[@[U~?[)P[[[[ZZZZBZYY i)  M)AJ"J*J2J:J2?BJ2?nJd5vJAL@AƣT?@AU~? APA ] &"AAhNA"AZAbAjArAzAAA;UA0Nr/sAz@A4mA+uAͿA@#A@A=*AO9?2A8ֽ:ALBAO9?JA8ֽRALY@hͿyqTBnٓHoԡ?ێ? ``o?@)?@'?)@ I٘i)I9z@YG J(=J<JJJE&Kw> YZT~?yGTXAͿE)7ŧ7o9)VBE[[@[PU~?[V[[[[ZZZZBZYY i) )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: 0.4200312 time: 1743037690.683305F (some fields omitted in printout)A(\@ATu@APU~? AXA &"AAhNA"AZAbAjArAzAAA(RA$$L4sA{@AC!A,vA˿A`ϒA@'A <*A9?2Anfֽ:AXuBA9?JAnfֽRAXu٘i)I9{@Y(G J=JJJJE&K YYT~?y]XAESI7SI7p9)OB[[@[U~?[][[[[ZZZZBZYY i) Y)AJ"J*J2J:JBJnJvJAQ@AEJ@AvU~? A`A& &"AA;hNA"AZAbAjArAzAAAX--BA[+9sAe|@AD9A*2AN]ȿA͹A:A=<*A9?2Aֽ:A5ʻBA9?JAֽRA5ʻ٘i)I9e|@YG J<JJJJE&K YXT~?yeeYAE777r9)IB[[/ǿ[U~?[d[[[[ZZZZBZYY i) I)AAHz@AT @A#U~? AhA&"AAhNA"AZAbAjArAzAAARtSkAj>sAW}@Aޔ-<A׼AuſAAKA<*Af9?2A7}ֽ:A/E;BAf9?JA7}ֽRA/E;٘i)I9}@YG J&<JJJJE&K YWT~?ynYAE77nt9)DB[[cſ[U~?[Mk[[[[ZZZZBZYY i) Y]>)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: 1743037691.943302F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@AB@AUU~? ApA&"AAgNA"AZAbAjArAzAAAX%MA-BsAF}@A|<AŐA#ÿA@y=A`YAx<*A9?2Afֽ:AW<BA9?JAfֽRAW<٘i)I9}@YLG J<JJJJE&K YVT~?yww3ZAE77{79v9)@BE[[1ÿ[OU~?[r[[[[ZZZZBZYY i) ?)AAY@A+L@AU~? AxA,Q&"AA2gNA"AZAbAjArAzAAAO(ArcGsA&}@A+R<AԾ;AnAܬA@:eA+<*A9?2Ajֽ:A<BA9?JAjֽRAJJJE&Kjw> YXT~?yG+ZAE777x9)=B[[[~U~?[x[[[[ZZZZBZYY ix) 8}JJJE&Kw> YeT~?y2YAE7779)=B[[%[U~?[[[[[BZYY ie) !osA|@Ao<A:+=A$ݫA`]?ANbA*Aͯ9?2Azֽ:A=BAͯ9?JAzֽRA=٘i)I9|@YG JߖJJJJE&K YCsT~?yCƩXAE{7j7Y9-B)HBE[[7a[WU~?[[[[[BZYY iǿ) ,;Ii@ό9= ))yneΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037695.763165 s, next control iter: 1743037696.123178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037696.143165 s.W/PJ~, * @)AJ"J*J2J:J?BJ?nJ5vJA ףp=@A֨h0@A`U~? A~A(&"AANgNA"AZAbAjArAzAAA73X AA&tsA |@AVr<Ae=A1Ac۳?A#WA9*A9?2Aqֽ:As =BA9?JAqֽRAs =٘i)I9|@YoG JࣼB=JJJJE&K YwT~?yΩnXAE777$9)MB[[S/[U~?['[[[[BZYY i) ;Iif@+:= N))NNyAeѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037696.163165 s, next control iter: 1743037696.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037696.563165 s.PJ~,V $@)AA3333s@A'f@A`U~? AɪAU+&"AAlgNA"AZAbAjArAzAAAVDC*%\A! ysA{@AQEA=A{A??AIA>զ*A9?2Aֽ:A M =BA9?JAֽRA M =Y l@򂦿y=EٓH??*X?b{?@1h&?) l@ I٘i)I9{@YG J֧C=JU=JJJE&K;x> YT~?ymשXAESI7SI79.B)QBE[[ [U~?[[[[[BZYY i) ;Ii@-9= 7 ))7 7 yOsҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037696.583165 s, next control iter: 1743037696.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11195, header.stamp.nsec: 00 temperature: 13.567983* salinity: 33.374985, density: 1025.000000* values[0]: 0.580118F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037696.983165 s.PJ~,>@)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037696.983311F (some fields omitted in printout)A\@A.@AU~? AѪAߎ&"AAYhNA"AZAbAjArAzAAA[nB1A-Y}sAz@AIA=AɣA '?A~8A*A9?2A"׽:AՏ=BA9?JA"׽RAՏ=٘i)I9z@YG JJJJJE&K Y T~?yߩWAE77j79)VB[[˨[U~?[K©[[[[BZYY i) DT;Ii@R'9= χ))χχ2ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037697.003165 s, next control iter: 1743037697.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037697.403165 s.&PJ~,Y@)AAQ@A-|}@AU~? A~٪A%"AA hNA"AZAbAjArAzAAAazÂsAsz@A7wA=A(AV?A`l%A;*A9?2A!׽:AK=BA9?JA!׽RAK=٘i)I9sz@YoG JåJJJJE&K YT~?yf:WAE779)ZB[[][U~?[ȩ[[[[BZYY i) 7R;Ii@9= "))""+ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037697.443165 s, next control iter: 1743037697.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11196", header.stamp.nsec: 0"0 temperature: 13.568265"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.579470"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037697.823165 s.PJ~,2t@)AJ"J*J2J:JBJnJvJAGz@Ao@AU~? AqAOW%"AAhNA"AZAbAjArAzAAAnLAϪ=sA y@A^#AȮ=AݙA&?A@ Ai{*Aj9?2Aֽ:AO=BAj9?JAֽRAO=٘i)I9y@YG JpJJJJE&K YT~?yVAE{7j7N9/B)`BE[[f[xV~?[Uϩ[[[[BZYY i) ;Ii@"9= {)){{ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037697.843165 s, next control iter: 1743037698.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037698.243165 s.#PJ~,\@)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037698.243290F (some fields omitted in printout)Aףp=J@A72=@AU~? A]AU%"AAhNA"AZAbAjArAzAAA]u`AA|sAYZy@AϤ9A=AAe?AmA*A9?2AXֽ:AW}=BA9?JAXֽRAW}=٘i)I9Zy@YG JJJJJE&K YT~?y^lVA E77779)dB[[4[ V~?[թ[[[[BZYY i) ²:Ii@z9= )):ͪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037698.263165 s, next control iter: 1743037698.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037698.663165 s.*PJ~,q@)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11197, header.stamp.nsec: 00 temperature: 13.568479* salinity: 33.375000, density: 1025.000000* values[0]: 0.578822F (some fields omitted in printout)A@AUr@AIU~? A@A!%"AAhNA"AZAbAjArAzAAAz>FA+bLsAx@A+<A&˒=AA@=?A`A\*A9?2AAֽ:AH =BA9?JAAֽRAH =Y̭@{yɒ=;,<ٓHg/?d?J?2?`U;y? ?)̭@ I٘i)I9x@YlG J۪J;JJJE&Kx> YT~?y VA{"E77䒒9)iB[[[nV~?[;ܩ[[[[BZYY i) >J9IiD@P8= &))&&BʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037698.683165 s, next control iter: 1743037699.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037699.083165 s.D1PJ~, S@)AA)\µ@As@AjV~? AAF%"AA(hNA"AZAbAjArAzAAAU;A/ۛsA^;x@Axv<A5=AA ?A@BAK*A(9?2A<ֽ:A)K=BA(9?JA<ֽRA)K=٘i)I9;x@YG JΪJJJJE&K Y%T~?y UA%E77790B)nB E[[qН[rV~?[[[[[BZYY i) 3IiϏ@W8= "))"復"ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037699.103165 s, next control iter: 1743037699.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037699.503165 s.J "J *J 2J :J ?BJ ?nJ J5vJ 7PJ~,j4@)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743037699.503332F (some fields omitted in printout)AR@A#fy@A V~? AAR%"AA2hNA"AZAbAjArAzAAALeASܚsAw@Ar?<A8o=A_A?AbAsV*A9?2Axֽ:A@=BA9?JAxֽRA@=٘i)I9w@YG JJJJJE&K YhT~?yEUA(E77y91B)sB!E[[[V~?[[[[[BZYY i) Ii@7= Tܾ))TܾTܾªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037699.523165 s, next control iter: 1743037699.903184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11198, header.stamp.nsec: 00 temperature: 13.568741* salinity: 33.374969, density: 1025.000000* values[0]: 0.578171F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037699.923165 s.7>PJ~,@)AA{G!@Ao%;@A5V~? AA-W%"AA YT~?y:*%TAs0Eٛ9)B[[Q[ 7V~?[[[[[BZYY i&) 4Ii@x6= ))̹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037700.803165 s, next control iter: 1743037701.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037701.183165 s.RPJ~,oKA)AJ"J*J2J:JBJnJvJA(\@Az@A+V~? AAJ%"AA`hNA"AZAbAjArAzAAA*LVA=sAHu@AξXAϏ=AA$?AAh뉼*A9?2A׽:A<BA9?JA׽RA<٘i)I9u@YG JŠJJJJE&K YT~?y2SA3E{7{79)B%E[[iϒ[?V~?[[[[[BZYY i) cIi@5= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037701.203165 s, next control iter: 1743037701.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037701.603165 s.B4YPJ~,ݚfA)AAQ@AҫJ@A4V~? A?'A %"AAYnhNA"AZAbAjArAzAAA0`Tϣw Ax^BsA}Ju@ACA=A3A@?AA0q*A9?2A1ֽ:A[<<BA9?JA1ֽRA[<<٘i)I9Ju@YJG JJJJJE&K YT~?y9pSA5E77o93B)B(E[[Y[HV~?[?[[[[BZYY i) NɻIi@8Y5= I))IIWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037701.643165 s, next control iter: 1743037702.003192 s, wait time: 0.360027 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11200 , header.stamp.nsec: 0 0 temperature: 13.569144 * salinity: 33.374996 , density: 1025.000000 * values[0]: 0.577025 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037702.023165 s.Z`PJ~,{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: -0.075756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037702.023309F (some fields omitted in printout)AHz.@A p!@A>V~? A.Al%"AA|hNA"AZAbAjArAzAAA" AػֶsAot@A;A谅=A4A?AA*Ac9?2Asֽ:A6<BAc9?JAsֽRA6<٘i)I9t@YG JJJJJE&K YtU~?yASA8Eb7b799)B[[/e[pRV~?[^[[[[BZYY i) wIil@5= u))uuynYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037702.043165 s, next control iter: 1743037702.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037702.443165 s.8fPJ~,B]A)AAq= c@A2V@AHV~? A/6A%"AAhNA"AZAbAjArAzAAAh A^`sA=bt@A9d<A0Ά=A%A?ACA*A9?2AHֽ:AN=BA9?JAHֽRAN=٘i)I9bt@YG JJJJJE&K YWU~?yIRA;E7{794B)B+E[[a/[C\V~?[r[[[[BZYY i) IiZ@n4= Ν))ΝΝYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037702.463165 s, next control iter: 1743037702.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11201, header.stamp.nsec: 00 temperature: 13.569336* salinity: 33.375008, density: 1025.000000* values[0]: 0.576527F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037702.863165 s.+mPJ~,>A)AJ"J*J2J:JBJnJvJA@A72@A]SV~? A=APJ%"AAJhNA"AZAbAjArAzAAA9sh APsAs@A+j<A$?=AA?A@8TA%~*A9?2Aaֽ:ALN=BA9?JAaֽRALN=Y1@)~y;=Lk<ٓHy_??ֳ?Qb?FF;S?` ?)1@ I٘i)I9s@YuG J7JS:JJJE&K-x> Y U~?yP`RA~=E77Ϥ95B)B,E[[{[dfV~?[r[[[[BZYY i) yIi`@3= 6Ε))6Ε6ΕYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037702.883165 s, next control iter: 1743037703.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037703.283165 s.6RtPJ~,A)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037703.283279F (some fields omitted in printout)A(\@AbT@Az^V~? ADA%"AAhNA"AZAbAjArAzAAA/*o A{,VsADus@Aѹ;A>=AоyAa?AsA1*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9us@Y,G JیJJJJE&K Y0U~?y]XRA@E77796B)B/E[[Ň[pV~?[i [[[[BZYY i) {#Ii@2= ))꽪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037703.303165 s, next control iter: 1743037703.683178 s, wait time: 0.380013 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 112026, header.stamp.nsec: 060 temperature: 13.5694926* salinity: 33.3750116, density: 1025.0000006* values[0]: 0.5760116F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037703.703165 s.J "J *J 2J :J u?BJ u?nJ 5vJ ٺzPJ~,A)AAQ@A*@AjV~? ALA,%"AAhNA"AZAbAjArAzAAAIU2nAÑQsAos@ABqAA=AVtAa?A A*A9?2Ab׽:A=BA9?JAb׽RA=٘i)I9s@YG JJJJJE&K Yv?U~?y_QACE{7d9)B[[[{V~?[U&[[[[BZYY i) 2Ii@1= V))VVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037703.723165 s, next control iter: 1743037704.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037704.123165 s.7PJ~,]B)AAG:@A-@A%vV~? A@SAj%"AAhNA"AZAbAjArAzAAAKv_IAYDsAr@A|NAƄ=AnA`>= gٓH`:?@ ?5۪? ?Ωx@K?)s@ I٘i)I9q@YG J)C=J0^<JJJE&K0x> YoU~?yfuPAdKE77ĭ98B)B3E[[ }[5V~?[7[[[[BZYY i) &`Ii.@k/=  S)) S Sq˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037705.003165 s, next control iter: 1743037705.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037705.383165 s.ؕPJ~,XB)AJ"J*J2J:JBJnJvJA(@A7S!@A%V~? A*A9?2Aֽ:AqX =BA9?JAֽRAqX =٘i)I9q@YG JJJJJE&K YU~?yB|+PAME779)B6E[[/dy[YV~?[k=[[[[BZYY i) C:pIi9@^.= PQA))PQAPQAΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037705.423165 s, next control iter: 1743037705.783175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11204&, header.stamp.nsec: 0&0 temperature: 13.569843&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.574973&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037705.803165 s.sAPJ~,jgsB)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037705.803258F (some fields omitted in printout)A@A@A V~? AoA}%"AA}iNA"AZAbAjArAzAAA,.FAݵsA)p@AZ5<A@=AؔZA?A@A'Ȥ*A9?2A8ֽ:Afv=BA9?JA8ֽRAfv=٘i)I9p@YnG JJJJJE&K YGU~?yOAPE)7ŧ7Z99B)B9E[[t[׶V~?[ C[[[[BZYY iy) 9xIit@}b-= p/))p/p/tѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037705.843165 s, next control iter: 1743037706.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037706.223165 s.gPJ~,HB)AJ"J*J2J:J?BJ?nJD5vJAzG@A2:@AbV~? AuAF%"AA2iNA"AZAbAjArAzAAA%9gA޼5sA p@Aw<A;=AUrUA@=J?ArAz*A9?2AA0ֽ:A=BA9?JAA0ֽRA=٘i)I9 p@YG J+JJJJE&K YU~?ydOASEj7j7$9)B[[|p[V~?[H[[[[BZYY i) ZIi߆@N,= ))[ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037706.243165 s, next control iter: 1743037706.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037706.643165 s.ЩPJ~,g*B)AA ףp}@Adp@A(V~? As|Av%"AAHiNA"AZAbAjArAzAAA %A9DsA}o@AMK8<Aq =A'PAF?A,A*A9?2Apֽ:A'=BA9?JApֽRA'=٘i)I9}o@YG JJJJJE&K YU~?yِOAUEŧ7b7ﴒ9;B)B=E[[kl[V~?["N[[[[BZYY i) Iiz@R!,= @ ))@ @ 7ժYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11205, header.stamp.nsec: 00 temperature: 13.570027* salinity: 33.375015, density: 1025.000000* values[0]: 0.574400F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743037706.663165 s, next control iter: 1743037707.043179 s, wait time: 0.380014 s.U~?).ِ rAdjusting time to match Gazebo time: 1743037707.063165 s.PJ~,N B)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743037707.063280F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@A(@A^V~? AA%"AA_iNA"AZAbAjArAzAAAQʥL&ACsA7n@AZ:A=AJA N?A Ae*AĮ9?2Aֽ:Ao=BAĮ9?JAֽRAo=Yõ@+Jy=b&:ٓHj??@*?`ߴ@Sz?q2X? ?)õ@ I٘i)I9n@YmG J\J.<JJJE&KCx> YU~?yNAJXEZ7Z79)ïB[[[g[:V~?[S[[[[BZYY i) xIi-@w*= 4))44yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037707.083165 s, next control iter: 1743037707.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037707.483165 s.|_PJ~,B)AA\@Ax[@AV~? AsAv%"AAviNA"AZAbAjArAzAAAB7/AP3sAen@AA=AXSEA`?AA0*A9?2A,׽:A=BA9?JA,׽RA=٘i)I9en@YG J㥼JJJJE&K YTU~?y`.NA[ESI7SI79B)ٯBGE[[kU[<W~?[h[[[[BZYY i) ~vIiׁ@2&= I))IIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037708.763165 s, next control iter: 1743037709.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037709.163165 s.q}PJ~,qJC)AA@Ay"@A)W~? A8A|%"AAiNA"AZAbAjArAzAAA#A8xRsAl@AZ;AD=A0A?A`^Au*A9?2A03ֽ:Al =BA9?JA03ֽRAl =Y@0yC=;ٓH?`Oc??Mԩ?`.b`V|?-?)@ I٘i)I9l@YG JJ<JJJE&Kw> Y/V~?yĵLA0eE779)ޯB[[9Q[)&W~?[m[[[[BZYY i) aĻIid@W$= ))aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037709.183165 s, next control iter: 1743037709.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037709.583165 s.PJ~,ReC)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037709.583287F (some fields omitted in printout)A)\@Ai4@AY;W~? A$A%"AAiNA"AZAbAjArAzAAA gA"tArk@Ah<Af=A+A ?A 0 Aȼ*AC9?2Aֽ:Ak=BAC9?JAֽRAk=٘i)I9rk@YLG JļB=JJJJE&K YYEV~?y_ LAhEj7j7z9?B)BJE[[L[r5W~?[r[[[[BZYY i) NüIiA~@!"= k))kkOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037709.603165 s, next control iter: 1743037709.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11208, header.stamp.nsec: 00 temperature: 13.570611* salinity: 33.375046, density: 1025.000000* values[0]: 0.572524F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037710.003165 s.| PJ~,]4C)AAR+@A"rz@AbMW~? AA%"AAjNA"AZAbAjArAzAAAÛ{$׿Aqn{tAgj@A=e<A=A&As?AZAH[EW~?[w[[[[BZYY i) aʼIi|@W!= Q;))Q;Q;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037710.023165 s, next control iter: 1743037710.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037710.423165 s.uPJ~,C)AJ"J*J2J:JBJnJvJA{Ga@A??T@A_W~? AA6%"AA+jNA"AZAbAjArAzAAA߅\^¿AMMtA1j@Am;A_?=A0!A?A _Am̼*A9?2Aυֽ:Al"=BA9?JAυֽRAl"=٘i)I9j@Y{G JͼJJJJE&K YpV~?yƪ&KAnEŒ9)BPE[[C[UW~?[i|[[[[BZYY i) ѼIiQz@ 4 = <))<<BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037710.443165 s, next control iter: 1743037710.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11209", header.stamp.nsec: 0"0 temperature: 13.570860"* salinity: 33.375053", density: 1025.000000"* values[0]: 0.571775"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037710.843165 s.PJ~,C)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084805< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743037710.843334F (some fields omitted in printout)Ap= @AН`@ArW~? A9A_%"AAGjNA"AZAbAjArAzAAA3$}6?A\ tAopi@AAb=AA@ ?A A˼*A9?2Aֽ:Aƶ=BA9?JAֽRAƶ=٘i)I9pi@YG J|̼JJJJ E&K YV~?y,̪JApEb77ƒ9)B[[74?[FeW~?[0[[[[BZYY i) ؼIix@6N= @=))@=@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037710.863165 s, next control iter: 1743037711.243193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743037711.263165 s.PJ~,'C)AJ"J*J2J:JBJnJvJA@ACp\ƿ@AW~? AA\%"AAdjNA"AZAbAjArAzAAA&7?ALBtAh@AETAٓ=A3UA`us?A T߿A,C˼*A9?2A*׽:A=BA9?JA*׽RA=Y8@y=VUٓH ?? Yd?X?^2 J0?)8@ I٘i)I9h@Y G J^˼J <JJJ E&K9x> YV~?yѪ;JAsE777Ȓ9BB)BUE[[#:[uW~?[؅[[[[BZYY i) 54Iiu@wB= e=))e=e=kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037711.283165 s, next control iter: 1743037711.663177 s, wait time: 0.380012 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 112106, header.stamp.nsec: 060 temperature: 13.5710966* salinity: 33.3750696, density: 1025.0000006* values[0]: 0.5710486F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037711.683165 s.lPJ~,VC)AA(\@A؜@A=W~? AīA1%"AA܁jNA"AZAbAjArAzAAA㌘jp-?AM;7tA h@ApAϳ=AfAE?A޿Aͼ*A9?2Ak׽:A=BA9?JAk׽RA=٘i)I9h@YB G JK̼JJJJE&K YV~?yժIAvESI7SI7oʒ9CB)BXE[[36[lW~?[m[[[[BZYY i) hIir@)t=  =)) = =YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037711.683165 s, next control iter: 1743037712.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743037712.103165 s.QJ~,ÚD)AJ"J*J2J:J?BJ?nJ05vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.093717< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743037712.103287F (some fields omitted in printout)AQ8@A0E+@AW~? A7ɫA6%"AAjNA"AZAbAjArAzAAAC?j?AtAMkg@AA=A A ;?AݿAQ8Ӽ*Aq9?2Aֽ:Ae+=BAq9?JAֽRAe+=٘i)I9kg@Y G JмJJJJE&K YV~?yڪLIAxEb7b7:̒9)B[[k1[W~?[[[[[ZZ¸BZYY i¸J=) eۼIirp@-= +=))+=+=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037712.143165 s, next control iter: 1743037712.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037712.523165 s.QJ~,{!D)AAHzn@Aga@AFW~? ALΫA'%"AAjNA"AZAbAjArAzAAA1O,?Ay9tATf@AN:AyB=ANAa]?A%ݿA׼*A~9?2AFֽ:AZ:=BA~9?JAFֽRAZ:=٘i)I9f@Yk G J ռJJJJE&K YwV~?yߪHA{E{7{7Β9)B[E[[G-[W~?[_[[[[ZZBZYY i) cϼIian@= =))==fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037712.563165 s, next control iter: 1743037712.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11211, header.stamp.nsec: 00 temperature: 13.571325* salinity: 33.375065, density: 1025.000000* values[0]: 0.570289F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037712.943165 s.VdQJ~,:])) > >y =EYFFF]x:Waiting for Gazebo time sync: latest Gz time: 1743037712.963165 s, next control iter: 1743037713.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037713.363165 s.QJ~,>WD)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037713.363288F (some fields omitted in printout)A@AZՒ@AW~? AثAf%"AA jNA"AZAbAjArAzAAAȄN?A1di0tA e@As<A'=AA@|?AۿA *AC9?2A ֽ:Ac/<BAC9?JA ֽRAc/ YW~?yGAEEZ7SI7ђ9)BaE[[$[pW~?[[[[[ZZBZYY i) Ii7i@7B= p/>))p/>p/>y=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037713.383165 s, next control iter: 1743037713.763177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11212", header.stamp.nsec: 0"0 temperature: 13.571599"* salinity: 33.375088", density: 1025.000000"* values[0]: 0.569447"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037713.783165 s.XQJ~,rD)AJ"J*J2J:J?BJ?nJ5vJA(\@A9S@AW~? AܫA %"AAkNA"AZAbAjArAzAAAw?ADНZ !tA2d@A'<Av=A~EA3?A ڿAش*A9?2A5ֽ:Afv<BA9?JA5ֽRAfv<٘i)I92d@Y G JB=JJJJE&K Y-W~?yGA DE7{7eӒ9)#B[[t[W~?[[[[[ZZBZYY i) Iif@F= l&>))l&>l&> YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037713.803165 s, next control iter: 1743037714.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037714.203165 s.#QJ~,D)AAQE@A8@AX~? AQA%"AA))8>8>zYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037714.223165 s, next control iter: 1743037714.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037714.623165 s.U)QJ~,TD)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082282< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037714.623286F (some fields omitted in printout)AGz@AÃfm@A*X~? AAV%"AA\kNA"AZAbAjArAzAAAQZ@Aֈ&tAb@A(0A<AھA@?A`HٿA*A9?2A.Qֽ:ArS BA9?JA.QֽRArS ٘i)I9b@Y G JJJJJ!E&K Y_W~?y FAE)7ŧ7֒9GB)0BhE[[{F[X~?[ [[[[ZZBZYY i) Iia@ = %K>))%K>%K>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037714.643165 s, next control iter: 1743037715.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11213 , header.stamp.nsec: 0 0 temperature: 13.571920 * salinity: 33.375092 , density: 1025.000000 * values[0]: 0.568523 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037715.043165 s.0QJ~,D)AA= ף@A헣@A@X~? AA%"AA}kNA"AZAbAjArAzAAA%,@A^A5s%)tASb@AfAd!<AϾA7?A@{ؿAiCx*A]9?2A;ֽ:A2BA]9?JA;ֽRA2٘i)I9Sb@Y G JJJJJ$E&K YxW~?y+XFAEŧ7b7ؒ9)5BkE[[Ϩ[X~?[[[[[ZZBZYY i) Ii_@= 0]>))0]>0]>uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037715.063165 s, next control iter: 1743037715.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037715.463165 s.V7QJ~,D)AJ"J*J2J:JBJnJvJAffff@AM]@A&WX~? A*AX%"AA_kNA"AZAbAjArAzAAA"I@A;S%+tAa@AbXARA`žA>?AŪ׿A+*A9?2AAֽ:ABA9?JAAֽRAYd@@Vžy*HXٓH?2?5@~ؿ #?j?Ww?'?)d@ I٘i)I9a@Y G JXB=JDJJJ'E&K7w> YW~?y}`FAVžE7777ڒ9HB)8BnE[[{ [/*X~?[ï[[[[ZZBZYY i~x=) c!Ii`[@f = o>))o>o>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037715.483165 s, next control iter: 1743037715.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11214, header.stamp.nsec: 00 temperature: 13.572073* salinity: 33.375099, density: 1025.000000* values[0]: 0.567947F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037715.883165 s.y=QJ~,DD)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.060668< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037715.883315F (some fields omitted in printout)A(@Av3@AmX~? A+A_%"AAYkNA"AZAbAjArAzAAAll@A.tAa@A}qA|A6캾A3|?AֿAʻ*A9?2Arֽ:A,BA9?JArֽRA,٘i)I9a@Yc G J C=JJJJ)E&K Y-W~?yhFAEb77Zܒ9):B[[s[=X~?[m[[[[ZZBZYY iiF=)  ;lIiX@gA = H8>))H8>H8>)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037715.903165 s, next control iter: 1743037716.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037716.303165 s.\DQJ~,gE)AJ"J*J2J:JBJnJvJAQ@A[D@AX~? AA%"AAkNA"AZAbAjArAzAAAŤt @A8/y0tAia@A]=;A}AYA@ŷ?AտA=*A9?2Aֽ:AgƼBA9?JAֽRAgƼ٘i)I9a@YR G JJJJJ,E&K YhW~?y pFAE77{7%ޒ9);BqE[[[QX~?[[[[[BZYY i) UYIiU@Z= x>))x>x>0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037716.323165 s, next control iter: 1743037716.703183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11215., header.stamp.nsec: 0.0 temperature: 13.572074.* salinity: 33.375130., density: 1025.000000.* values[0]: 0.567742.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037716.723165 s.KQJ~,H.E)AAz@Aiz@AX~? AA%"AAlNA"AZAbAjArAzAAAt^ @Al2tA"a@A%m<AB0AƥA ?A#տA.;*A69?2Aֽ:A߼BA69?JAֽRA߼٘i)I9a@YS G J<9JJJJ/E&K YW~?yqxFAEߒ9RB)EBtE[[J[eX~?[{[[[[BZYY i) mFIiyR@޳= Փ>))Փ>Փ>y˓=l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037716.743165 s, next control iter: 1743037717.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037717.143165 s.V/RQJ~,*IE)AJ"J*J2J:JX?BJX?nJh5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071423< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743037717.143285F (some fields omitted in printout)A ףp@A0e@AX~? AOA%"AA)lNA"AZAbAjArAzAAA⸠*@AM4tAпa@AO_<A(UAI_A&?A`HԿAT;*Aے9?2Aֽ:A-BAے9?JAֽRA-٘i)I9a@Yd G J;JJJJ2E&K YW~?y FAE7779)DBwE[[-[ zX~?[۽[[[[BZYY i) 3IiHP@L= 2>))2>2>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037717.183165 s, next control iter: 1743037717.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037717.563165 s.XQJ~,V dE)AA3333@A-@A{X~? AA*=%"AA$MlNA"AZAbAjArAzAAA@A-z7tAa@A5;A ~uA3AY?AmӿA(<*A9?2A$mֽ:AUBA9?JA$mֽRAUY@^y}uy;ٓH?`^?@9[ѿ?d?类? fv? +?)@ I٘i)I9a@Y G J~<B=J.JJJ4E&K_w> YX~?y; FA^E9)CBzE[[][X~?[[[[[BZYY id=) #IiRL@F= Yv>))Yv>Yv> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037717.583165 s, next control iter: 1743037717.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11216, header.stamp.nsec: 00 temperature: 13.571928* salinity: 33.375122, density: 1025.000000* values[0]: 0.567850F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037717.983165 s._QJ~,~E)AJ"J*J2J:J^?BJ^?nJn5vJA\(@AVfJ@A>X~? AA%"AAplNA"AZAbAjArAzAAA`Ѯ@AŠ9tA6Jb@A 'A A,Am?ȂҿA)c<*A}9?2A ֽ:A|.BA}9?JA ֽRA|.٘i)I9Jb@Y G JD<C=JJJJ7E&K Y%2X~?y%GAEj7SI7O9SB)@B}E[[W[;X~?[6Ī[[[[BZYY i) IiH@z= ǯ>))ǯ>ǯ>÷*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037718.003165 s, next control iter: 1743037718.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037718.403165 s.&fQJ~,͙E)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055843< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743037718.403283F (some fields omitted in printout)AQ^@A@Q@A6X~? A A%"AA!lNA"AZAbAjArAzAAA!si@AF:tA>b@A)eAtA#zA?A YѿA<*A+9?2Aս:A !BA+9?JAսRA !٘i)I9b@Y G J~<JJJJ:E&K YHMX~?y+wGAE7779)>B~E[[ ؾ[?X~?[=Ǫ[[[[BZYY i) IiE@< (>))(>(>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037718.423165 s, next control iter: 1743037718.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11217, header.stamp.nsec: 00 temperature: 13.571694* salinity: 33.375137, density: 1025.000000* values[0]: 0.568313F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037718.823165 s.lQJ~,)E)AJ"J*J2J:J|?BJ|?nJ5vJAGz@Auo@AaY~? A Aj%"AAlNA"AZAbAjArAzAAAiB@A7oս:A BA 9?JA>սRA ٘i)I93c@YG G J<JJJJ))>>ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037718.843165 s, next control iter: 1743037719.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037719.243165 s.sQJ~,\E)AAףp=@AF0@A*Y~? A AH%"AA[lNA"AZAbAjArAzAAA! B*@Ar>tAjc@A,A.APA?AϿAq <*A9?2AQֽ:A BA9?JAQֽRA ٘i)I9c@Y G Jǣ<JJJJ?E&K YX~?yHAE77779)6BE[[Yƾ[X~?[̪[[[[BZYY i) \ǻIi]@@:< ] >))] >] >ye=%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037719.263165 s, next control iter: 1743037719.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037719.663165 s.zQJ~,qE)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037719.663279F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11218, header.stamp.nsec: 00 temperature: 13.571337* salinity: 33.375156, density: 1025.000000* values[0]: 0.568986F (some fields omitted in printout)A@AD@AHCY~? AA %"AAgmNA"AZAbAjArAzAAAfT@AQ^@tA)Jd@AB;AcAV:A@:?AοA뉦<*A9?2Aֽ:A BA9?JAֽRA Y@8@:y7SC;ٓH` b?)?`v㲿 ǿ`x? ??Yh?`6?)@8@ I٘i)I9Jd@Y G J<JzJJJBE&Kw> YOX~?yHA:E)7b7z9)1BE[[[X~?[Ϫ[[[[BZYY i) BIi2<@< i>))xNi>i>y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037719.683165 s, next control iter: 1743037720.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037720.083165 s.EQJ~,HSF)AA)\5@A=(@A\Y~? AAp%"AA(mNA"AZAbAjArAzAAAѿU@A5AtAd@A3L<AxA0$Aa?AE.̿ArZ<*A9?2A ׽:AQDBA9?JA ׽RAQDzI٘i)I9d@YE G JU<JJJJDE&K YX~?yKHAEb77E9)-BE[[mH[`Y~?[.Ҫ[[[[BZYY i) oIik8@!< I>)) I>I>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037720.103165 s, next control iter: 1743037720.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037720.503165 s.QJ~,]4 F)AJ"J*J2J:J?BJ?nJ5vJARk@AMy^@AtY~? AoA%"AANNmNA"AZAbAjArAzAAAߙ2@A=(CtA`e@AM}<AAA ?AOʿA1_<*A9?2A| ֽ:AtBA9?JA| ֽRAt٘i)I9`e@Y G Jn<JJJJGE&K YX~?yOIAEj7Z79))BE[[˩[s$Y~?[Ԫ[[[[BZYY i) oZIi5@< S>))S>S>*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037720.523165 s, next control iter: 1743037720.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11219, header.stamp.nsec: 00 temperature: 13.570955* salinity: 33.375156, density: 1025.000000* values[0]: 0.569710F (some fields omitted in printout)"X~?)" rAdjusting time to match Gazebo time: 1743037720.923165 s.7QJ~,;F)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037720.923286F (some fields omitted in printout)A{G@AW;@AY~? AA%"AA!tmNA"AZAbAjArAzAAAt^@A^DtAbe@AY)<AQ}A A b?AȿA,<*A_9?2AXս:A)BA_9?JAXսRA)٘i)I9e@Y G J"<JJJJJE&K YX~?y|IAEŧ779)$BE[[AA[:Y~?[֪[[[[BZYY i) Ii2@< u>))u>u>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037720.943165 s, next control iter: 1743037721.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037721.343165 s.))u>u>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037721.363165 s, next control iter: 1743037721.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11220*, header.stamp.nsec: 0*0 temperature: 13.570589** salinity: 33.375175*, density: 1025.000000** values[0]: 0.570457*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037721.763165 s.:QJ~,,pF)AA @A3@AeY~? AA4%"AAgmNA"AZAbAjArAzAAA`ƃA@AFtA: g@A.AꢒA/JA`?A`ĿAjE<*A9?2Arս:AtBA9?JArսRAtYq@߸yƠN/ٓH??`Fô?b?P?^ۅ?)q@ I٘i)I9 g@Y G J<C=J';JJJOE&Ku> Y*Y~?yJAE77{7p9)BE[[,[gY~?[6۪[[[[BZYY i) "Ii+@< dy?))q}dy?dy?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037721.783165 s, next control iter: 1743037722.163181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037722.183165 s.ˢQJ~,VF)AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJ8 propOmegaAction: 25.132812vJ< rudderAngleAction: -0.247560> elevatorAngleAction: 0.065212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037722.183296F (some fields omitted in printout)A(\B@A@5@AY~? ACAU%"AAmNA"AZAbAjArAzAAAs v@AGtAg@A}AA~A?AÿA9L<*A9?2Aս:A8BA9?JAսRA8٘i)I9g@Y G J<JJJJRE&K YFY~?yJAEj7Z7:9)BE[[ݝ[~Y~?[%ݪ[[[[BZYY i) vQ9Ii''@< @?)) @?@?_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037722.203165 s, next control iter: 1743037722.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037722.603165 s.>4QJ~,̚F)AAQx@A4Fk@AXY~? AA#%"AAo nNA"AZAbAjArAzAAAO&@ABHtA$h@A)FAzKAd+A@3?A`&Aq<*A19?2AԽ:ABA19?JAԽRA٘i)I9$h@YI G J <JJJJTE&K YbY~?y: DKAE779SB)BE[[s[Y~?[ު[[[[BZYY i) ݈:Ii#@i<  ?)) ? ?m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037722.643165 s, next control iter: 1743037723.003183 s, wait time: 0.360018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11221 , header.stamp.nsec: 0 0 temperature: 13.570187 * salinity: 33.375198 , density: 1025.000000 * values[0]: 0.571212 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037723.023165 s.ZQJ~,|F)AJ"J*J2J:J:?BJ:?nJU5vJAHz@A؀@A Z~? A9A%"AA54nNA"AZAbAjArAzAAA(t.@AwItA8h@AO!AAMA`,?A`AAԚ<*A9?2A_Tս:A(BA9?JA_TսRA(٘i)I9h@Y G J֟<JJJJWE&K Y~Y~?y KAEj7j79)BE[[s`[Y~?[[[[[BZYY i) L;Iit @ra< ?))??*Y.YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037723.043165 s, next control iter: 1743037723.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037723.443165 s.5öQJ~,5]F)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037723.443301F (some fields omitted in printout)Aq= @A5@A&Z~? Aw A#%"AA[nNA"AZAbAjArAzAAAq:~J @AP9`JtA)i@A<AZkAcA`??AۺA(<*A9?2Aս:ABA9?JAսRA򼙘٘i)I9)i@Y G J<B=JJJJZE&K Y Y~?y! LAE779) BE[[&M[sY~?[7[[[[BZYY i) FO;Ii@<  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037723.463165 s, next control iter: 1743037723.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11222, header.stamp.nsec: 00 temperature: 13.569824* salinity: 33.375217, density: 1025.000000* values[0]: 0.571938F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037723.863165 s.+QJ~,>F)AJ"J*J2J:Jj?BJj?nJ5vJA@A @A@Z~? A!A[%"AA(nNA"AZAbAjArAzAAA{l)!@AřKtA@i@A~w<A%A౥<AGP?AqA <*Av9?2A9ֽ:ABAv9?JA9ֽRAYR@= Y_Y~?y}!cLA<E77e9)BE[[c9[Y~?[[[[[BZYY i=) -;Ii:@!< ?)) z??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037723.883165 s, next control iter: 1743037724.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037724.283165 s. elevatorAngleAction: 0.075641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037724.703283F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Af?x@AKtZ~? A5#A\%"AAnNA"AZAbAjArAzAAAc"@A֢` LtAj@A?7;A7At=A@wk?A E߮A<*A9?2AԽ:ABA9?JAԽRA٘i)I9j@YG J<JJJ(FJbE&K YY~?y'!MAEb779)B[[[B Z~?[ [[[[BZYY i) ;Iix@3< T$?))T$?T$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037724.723165 s, next control iter: 1743037725.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037725.123165 s.7QJ~,]GG)AAG@Alխ@ADZ~? A#Ar%"AAnNA"AZAbAjArAzAAA47=H#@A%khLtAj@A ̻AxA=As?AA<*A9?2AԽ:AE BA9?JAԽRAE ٘i)I9j@YG J7<JJJJeE&K Y Z~?y rMAEŧ79RB)BE[[[R#Z~?[[[[[BZYY i) N;Ii2@< ?)?))?)??)?yԚ=*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037725.163165 s, next control iter: 1743037725.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037725.543165 s.J IQJ~"J*J2J,bG)A:J?BJ?nJ5vJA= ף@A@AEZ~? A;$Ag%"AADoNA"AZAbAjArAzAAAz[;D#@AY]-LtAKrk@A]iAˆA?=Ay?A ::A]<*A9?2AԽ:AXBA9?JAԽRAX٘i)I9rk@YLG Jɋ<B=JJJJgE&K Y^(Z~?y MAE779)BE[[ֽ[;Z~?[[[[[BZYY i)  elevatorAngleAction: 0.075641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037725.963302F (some fields omitted in printout)Affff&@AI[@ALZ~? A$A`%"AAFoNA"AZAbAjArAzAAA6s<$@AvoLtAEk@AaqA>A=A@}?AsA^<*A.9?2A.ս:AfaBA.9?JA.սRAfaY!@G=y:qٓH@l?@^OX`~?{?${? ?+?)!@ I٘i)I9k@YG J<C=JJJJjE&Kt> YjDZ~?y(NA=E777[9)BE[[vͯ[SZ~?[[[[[BZYY i) AB?A`1aA@m<*A9?2Aս:AkBA9?JAսRAk٘i)I9_l@YG JW<JJJJmE&K Yv`Z~?yNAEŧ7b7% 9QB)BE[[[[kZ~?[9[[[[BZYY i) !A@F?A`s?AÔ<*A:?2A|Խ:ABA:?JA|ԽRA٘i)I9l@Y$G J<JJJJoE&K Y|Z~?yNAEj7j7 9)BE[[ elevatorAngleAction: 0.075641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037727.223316F (some fields omitted in printout)Az@Ave@Ak[~? AU$A^%"AAoNA"AZAbAjArAzAAAU:z&@Ayl/LtA\Im@A!S<AͅA8>A|?An?A]<*A:?2AGս:APBA:?JAGսRAP٘i)I9Im@YkG JF<JJJJrE&K YZ~?y;OAEb7b7 9PB)BE[[W~[Z~?[[[[[BZYY i) ~0@&@ALtAm@Az<A=AM>Av?A ~ѥ?AF<*Am9?2Aս:ABAm9?JAսRA٘i)I9m@YG J<JJJJuE&K YZ~?yOAE7779)BE[[:[Z~?[[[[[BZYY i) O<AA3b>ARn?AnI?A<*A9?2Aս:AVBA9?JAսRAVYKi:Ka>y <ٓH%? ^̿3~@?8?`ęcz?3?@?)Ki: I٘i)I97n@YG Jz<JI_JJJwE&Kt> Y*Z~?yOAKa>E77P9OB)ޯBE[[Q;<[mZ~?[[[[[BZYY i) ^O< K?))wK?K?e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037728.083165 s, next control iter: 1743037728.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037728.483165 s.x_RJ~,H)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242011> elevatorAngleAction: 0.075641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037728.483279F (some fields omitted in printout)A\h@Ah[@A_^[~? A"Ay%"AAL3pNA"AZAbAjArAzAAAl@~%'@AKtAn@A<AgAv>Alc?A\?A{<*A9?2A5ս:Ao BA9?JA5սRAo ٘i)I9n@YJG Jw<JJJJzE&K YZ~?y]PAE77779)گB[[)<[+Z~?[[[[[BZYY i) 7n?BJ>?nJf5vJAQ@A7h@ADx[~? A!A%"AAZpNA"AZAbAjArAzAAA-(@Al3 4KtAs?o@A8A]A˄>A@W?Ag:?A'<*A :?2A#ӽ:ABA :?JA#ӽRA٘i)I9?o@YG JA<JJJJ}E&K YH[~?yPAE{7Z79)կBE[[O=[[~?[[[[[BZYY ibj=) u}A`H?A`չ?Abl<*A :?2A#Խ:A3 BA :?JA#ԽRA3 ٘i)I9o@YG J<JJJJE&K Y"[~?y$QAEj79NB)ЯBùE[[ꎐ=[%[~?[[[[[BZYY i) X elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037729.743290F (some fields omitted in printout)Aףp= @Ae1@A[~? AA%"AApNA"AZAbAjArAzAAAy )@A_ItAw[p@A>A+&A~1>A7?A`?A/ <*A:?2A-Խ:A BA:?JA-ԽRA ٘i)I9[p@YIG J<JJJJE&K Yf>[~?yQAES7S7{9)˯BƹE[[{=[R2[~?[{[[[[BZYY i) A:"?A@W?A[N<*A9?2Aս:ABA9?JAսRAY|\=X>y&غٓHKH?%ԿX ?`{_?垳?wZ?)|\= I٘i)I9p@YG JD<B=J.JJJE&Kt> Y4Y[~?y-QA>Ej7j7F9KB)įBȹE[[j=[.K[~?[[[[[BZYY i) swA ?A؄?A]<*A9?2A8ֽ:ABA9?JA8ֽRA٘i)I9tq@YG J<C=JJJJE&K Ys[~?yg ZRAE77{79JB)B˹E[[a>[-d[~?[[[[[BZYY i)  elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037731.003316F (some fields omitted in printout)AR@A!y@A[~? AA%"AA|qNA"AZAbAjArAzAAAS$+@A/OGtAZr@Aw<AA>>A?A@y?Aި<*Av:?2AԽ:ABAv:?JAԽRA٘i)I9r@YJG J3<JJJJE&K YɎ[~?y RAE779)B[[>[N}[~?[[[[[BZYY i) BuA`?A@A?A<*AK:?2AZԽ:ABAK:?JAZԽRA٘i)I9r@YG JA<JJJJE&K Y[~?y-SAE779IB)BιE[[.>[[~?[a[[[[BZYY i) ~A ?A _ ?A-<*A9?2AԽ:A~BA9?JAԽRA~٘i)I9's@YG JӲ<JJJJE&K Y`[~?ySAEp 9)BѹE[[ zC>[կ[~?[[[[[BZYY i) s elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743037732.263265F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Al$ ?@AaD\~? A A>s%"AAqNA"AZAbAjArAzAAA=awa-@A" [sCtAs@AAgA>A?A@?Ab<*A9?2AԽ:A<BA9?JAԽRA<Y8N>M>yf9ٓH`!?ڿrD@ ?8?e kf?@|` ?)8N> I٘i)I9s@Y^G J<JJJJE&K$t> Y"[~?y TAM>E7b7;"9HB)BԹE[[MX>[[~?[[[[[[BZYY i) A ev?A?A<*A9?2AԽ:AܯBA9?JAԽRAܯ٘i)I9kt@YG J<JJJJE&K Y[~?y|TAEj7Z7$9GB)B׹E[[l>[[~?[ߪ[[[[BZYY i) A`Q?AAy?Ai<*A:?2Aӽ:ABA:?JAӽRA٘i)I9u@Y+G J<JJJJE&K Y\~?yPTAEb7b7%9)BڹE[[C>[[~?[ݪ[[[[BZYY i) \ elevatorAngleAction: 0.084676< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743037733.523280F (some fields omitted in printout)AHz@Ad@AՎ\~? A A%"AArNA"AZAbAjArAzAAA=vI%/@A(ѽ>tAu@A9ݻAyA>A y+?A 8?A<<*A9?2AuԽ:AsBA9?JAuԽRAs٘i)I9u@YG Jo<JJJJE&K Yf+\~?ycUAE{7{7'9)B[[m>[\~?[۪[[[[BZYY i) [ -\~?[L٪[[[[BZYY i) I)AAY@A FL@A\~? AA)i%"AA LrNA"AZAbAjArAzAAAP&0@A;tAw@AX<Ao߲A?AM?Ab?Au<*A9?2Aս:A=#BA9?JAսRA=#Y؉>]?yi۲RY<ٓH1?C߿׫`n?`? `'T?`? ?)؉> I٘i)I9w@YgG J<JJJJE&Kt> Y]\~?yNVA]?Ej7Z70+9BB)B߹E[[ㆠ>[E\~?[֪[[[[BZYY i) ?- elevatorAngleAction: 0.084676< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419998*J2J2 time: 1743037734.783287F (some fields omitted in printout):JBJnJvJA(\@AbMeQ@A\~? A AX%"AAprNA"AZAbAjArAzAAAXyo0@Agh9tAQw@A w<A %A ?A?AC?An<*AB9?2A6ֽ:ABAB9?JA6ֽRA٘i)I9w@YG J<JJJJE&K Yv\~?yaVA E77,9)BE[[>[^\~?[KԪ[[[[BZYY iD=) paWA E77{7.9)~B[[kŵ>[cw\~?[Ѫ[[[[ZZZZ¸>BZYY i¸>ר) ^[(\~?[Ϊ[[[[ZZZZBZYY i) ZA߯Aљ?A?A g?A=*Ax:?2AtԽ:A2BAx:?JAtԽRA2yI٘i)I9y@Y%G Jx<C=JJJJE&K Y|\~?y?ܪ.XAEb77[29@B)pBE[[CR>[ި\~?[n˪[[[[ZZZZBZYY i) W[{\~?[Ȫ[[[[ZZZZBZYY i) TB)`BE[[>[\~?[Ī[[[[ZZZZBZYY i) ~R[P\~?[[[[[ZZZZBZYY i) N[t ]~?[[[[[ZZZZBZYY iܺ) KJJJE&K;> YO]~?y~ZA9?!E77{7=9)IB[[k?[9]~?[[[[[ZZZZBZYY iVs) ly; ս?))pս?ս? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037738.583165 s, next control iter: 1743037738.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11237, header.stamp.nsec: 00 temperature: 13.563797* salinity: 33.375427, density: 1025.000000* values[0]: 0.583806F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037738.983165 s.RJ~,J)AJ"J*J2J:Jt?BJt?nJ5vJA\@Aّ@A]~? AvޫAv%"AAsNA"AZAbAjArAzAAAgBC#3@A}"tA6~@A';A$Ī<AFM>?Ac?A`u?A;*A9?2Aֽ:A<BA9?JAֽRA<٘i)I96~@YG J<JJJJE&K YCd]~?yuZA$Eŧ77>97B)FBE[[ ?[P]~?[[[[[ZZZZBZYY iNʒ) fԁ; x?)) x?x?yzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037739.003165 s, next control iter: 1743037739.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037739.403165 s.&RJ~,J)AAQ@Aʢ@AR]~? A٫A%"AAMsNA"AZAbAjArAzAAAt[d3@A46@tAgS~@Av AR =A}oC?A?ANb?ABw:*A:?2A!Խ:A\<BA:?JA!ԽRA\<٘i)I9S~@YG J~;JJJJE&K Yy]~?y״mZA'E77@96B)DBE[[+c?[g]~?[;[[[[BZYY i) S~; 9?))9?9?ycjR=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037739.443165 s, next control iter: 1743037739.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11238", header.stamp.nsec: 0"0 temperature: 13.563555"* salinity: 33.375435", density: 1025.000000"* values[0]: 0.584229"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037739.823165 s.J "J *J 2J :J ?BJ ?RJ~nJ5vJ,BJ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.071675< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037739.823305F (some fields omitted in printout)AGz@Aho@A\]~? AիAJ:%"AAp tNA"AZAbAjArAzAAAyغ\#3@Ar!VtAP~@AqrApZ6=AQH?A?A?AB(*A :?2AzԽ:AQt<BA :?JAzԽRAQt<٘i)I9P~@YG JJJJJE&K Y]~?yeZA)E{B93B)@BE[[?[~]~?[[[[[BZYY i) A_; j?))j?j?yȑFyY;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037739.843165 s, next control iter: 1743037740.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037740.243165 s.RJ~,K)AAףp=J@AQ0=@A]~? A(ЫA%"AA-tNA"AZAbAjArAzAAA3@A9YtAw2~@A^fAQ\=A-M?AC?A5?A ۻ*Ac:?2A"ս:Agz<BAc:?JA"սRAgz<٘i)I92~@YG JJJJJE&K Y]~?y)]ZA,Ej7j7FD92B)E[[d?[{]~?[[[[[BZYY i) &. D; Dz?))Dz?Dz?ݖYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037740.263165 s, next control iter: 1743037740.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037740.663165 s.RJ~,q*K)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11239, header.stamp.nsec: 00 temperature: 13.563423* salinity: 33.375462, density: 1025.000000* values[0]: 0.584272F (some fields omitted in printout)A@A#3r@A^~? A"˫AD%"AAULtNA"AZAbAjArAzAAA: 4@A9(HtA}@A+A{=AJR?AhE?A?AX/*Ae9?2A ,ս:A5=BAe9?JA ,սRA5=YOt?R?y{=%ٓHr?-uJJJE&Kr> Y0]~?yZAR?/E)7)7F91B)ABE[["?[]~?[ǝ[[[[BZYY ic) WPR[; I?))bI?I?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037740.683165 s, next control iter: 1743037741.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037741.083165 s.DRJ~, SEK)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249959@ elevatorAngleAction: -0.055624< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037741.083313F (some fields omitted in printout)A)\µ@A]¡@A#^~? AūAn\%"AAktNA"AZAbAjArAzAAARBcq]4@AE#tA}@An;A=A8W?Au?AiL?ATBk*A9?2Aս:Ah@=BA9?JAսRAh@=٘i)I9}@Y_G JKJJJJE&K Yj]~?y?YA1E{7{7G9)DB[[>'?[]~?[[[[[BZYY i) |: P?)) P?P?LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037741.103165 s, next control iter: 1743037741.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037741.503165 s.RJ~,L4`K)AJ"J*J2J:JBJnJvJAR@A}@A\7^~? AA %"AAItNA"AZAbAjArAzAAAͫȶ4@Am@#tAG4}@Ai<A!=A\?As?A?A*A& :?2A>Խ:AS=BA& :?JA>ԽRAS=٘i)I94}@YG JkJJJJE&K Y]~?yɕ_YA4Eŧ77I9/B)FBE[[*-?[L]~?[R[[[[BZYY i) N;Ii=Nҝ: [?))[?[?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037741.523165 s, next control iter: 1743037741.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11240, header.stamp.nsec: 00 temperature: 13.563467* salinity: 33.375473, density: 1025.000000* values[0]: 0.584012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037741.923165 s.7RJ~,{K)AA{G!@A??@AJ^~? ARA*%"AAtNA"AZAbAjArAzAAA\d)4@A tA |@A)|<A{=A)a?A@[?A?A*A:?2AԽ:A=BA:?JAԽRA=٘i)I9|@YG J JJJJE&K Y]~?yU YA7E77qK9+B)EBE[[X2?[]~?[э[[[[BZYY i`) ;Ii"=KE: ?))??y),dѪYYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037741.943165 s, next control iter: 1743037742.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037742.343165 s.J "J *J 2J e5@AjxuC tA$|@A <AN=A2g?Aa ?A5?A*A:?2AIAս:A=BA:?JAIAսRA=٘i)I9$|@YvG J᧼B=JJJJE&K Y^~?y߈XA9E777?@`?s?YK?`ߣ?@F`g?)]J4? I٘i)I9{@YG JRC=JA=JJJE&Kv> Y#^~?yځNXAbl??[^~?[][[[[BZYY i) p؟;I~I?ixؼg O?))O?O?yuԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037742.783165 s, next control iter: 1743037743.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037743.183165 s.RJ~,kK)AJ"J*J2J:JBJnJvJA(\@A聵@A^~? AlA3p%"AAtNA"AZAbAjArAzAAA獰~5@AVPtA{@A PA%=A q?A\?A@?Ar*At:?2Aֽ:A8=BAt:?JAֽRA8=٘i)I9{@YG JxJJJJE&K Y(&^~?yzWA?Eb77P9)QB[[ϻC?[+^~?[h|[[[[BZYY i) ⹁;IZI?i  Y I?))I?I?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037743.223165 s, next control iter: 1743037743.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037743.603165 s.;4RJ~,K)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743037743.603287F (some fields omitted in printout)AQ@A+H@A֔^~? AA%"AAuuNA"AZAbAjArAzAAA,5@AFTsAyz@A߁A=A #w?A{?A x8?A0*A+:?2Aֽ:Aޛ=BA+:?JAֽRAޛ=٘i)I9yz@YrG JB=JJJJE&K Y17^~?ysWAAEŧ7b7R9%B) E[[oI?[?^~?[Cv[[[[BZYY i) >%G;I I?i=| f?))f?f?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037743.643165 s, next control iter: 1743037744.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11242 , header.stamp.nsec: 0 0 temperature: 13.563775 * salinity: 33.375504 , density: 1025.000000 * values[0]: 0.582891 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037744.023165 s.ZSJ~,{L)AJ"J*J2J:JBJnJvJAHz.@A,,!@Af^~? AA U%"AAe3uNA"AZAbAjArAzAAA XZ5@A^pMsAy@A/A =AC|?AR?A{?A{*A:?2AFֽ:A =BA:?JAFֽRA =٘i)I9y@YG JC=JJJJE&K Y7H^~?ylWADE777fT9"B)RB E[[)O?[R^~?[o[[[[BZYY i)  ;I! I?ii2] ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037744.063165 s, next control iter: 1743037744.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037744.443165 s.8SJ~,B]L)AAq= c@A[V@A^~? AA%"AAMuNA"AZAbAjArAzAAA^wSh6@A{K_sA^y@AGߦ8A=A/?A@?A ?AŪ*A:?2A{ֽ:A=BA:?JA{ֽRA=٘i)I9^y@YG JJJJJE&K Y>Y^~?yeVAGE1V9!B)VB E[[T?[=f^~?[vi[[[[BZYY i) F:IBI?iU ?))??VͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037744.463165 s, next control iter: 1743037744.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11243, header.stamp.nsec: 00 temperature: 13.563929* salinity: 33.375500, density: 1025.000000* values[0]: 0.582281F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037744.863165 s.+ SJ~,>7L)AJ"J*J2J:J?BJ?nJN5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037744.863298F (some fields omitted in printout)A@Am;m@AW^~? ANAB%"AA~guNA"AZAbAjArAzAAA͙ BQ6@Am;—sAx@A0<A=Am)?Ao?A '?A̫*A):?2AMֽ:A<=BA):?JAMֽRA<=YlN?B?y=1<ٓH>?$XT?I?L?@tq?NP`??)lN? I٘i)I9x@YnG JiJJJJE&Kx> Yg^~?y=^MVAB?IE7W9)ZB[[Z?[y^~?[b[[[[BZYY i) N9II?iM0 ~{?))~{?~{? ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037744.903165 s, next control iter: 1743037745.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037745.283165 s.9RSJ~,RL)AA(\@A@iQ@A^~? AAR%"AAuNA"AZAbAjArAzAAA";6@A`׋ sA>x@A)M<Aڏ=A?AP&?A@t?Aoy*A:?2AXֽ:AQ=BA:?JAXֽRAQ=٘i)I9>x@YG JJJJJE&K Yv^~?yVUALEY9B)]BE[[f`?[u^~?[$\[[[[BZYY i) <.IH?iZS I?))I?I?;ƪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037745.303165 s, next control iter: 1743037745.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11244., header.stamp.nsec: 0.0 temperature: 13.564137.* salinity: 33.375519., density: 1025.000000.* values[0]: 0.581673.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037745.703165 s.غSJ~,mL)AJ"J*J2J:J?BJ?nJ$5vJAQ@ADn@A^~? AA)8%"AA)uNA"AZAbAjArAzAAAN3@6@AޭlsAw@A %L<A=A5a?Amd?A@v?A(%*AY:?2Aֽ:AH=BAY:?JAֽRAH=٘i)I9w@YG J림B=JJJJE&K Y3^~?y.OUAOEb77[9B)_BE[[F4f?[^~?[6U[[[[BZYY i) dѺIH?i漾q @?))@?@?2ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037745.723165 s, next control iter: 1743037746.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037746.123165 s.8!SJ~,aL)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065126< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037746.123276F (some fields omitted in printout)AG:@ARH-@A2^~? AA%"AA uNA"AZAbAjArAzAAA ) U6@Ac"sA,w@A.';A=A?A?A P ?AG*A:?2A2׽:A<BA:?JA2׽RA<٘i)I9,w@YpG J_C=JJJJE&K Yؓ^~?yG&UAQE777\]9B)bBE[[ l?[2^~?[N[[[[BZYY i) v%IjH?iоvz H?))H?H?]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037746.143165 s, next control iter: 1743037746.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037746.543165 s.I(SJ~,âL)AJ"J*J2J:JBJnJvJA= ףp@A>&Rc@AJ_~? AxA5%"AAFuNA"AZAbAjArAzAAA_7@AsAϮv@AjA=ADʍ?A&?A@UQ?A%*A^:?2A^j׽:At<BA^:?JA^j׽RAt<٘i)I9v@Y#G J JJJJE&K Y}^~?y @TATEj7j7&_9)eB[[6q?[i^~?[F[[[[BZYY i) bIcH?iSྉ{ ;?));?;?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037746.563165 s, next control iter: 1743037746.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11245, header.stamp.nsec: 00 temperature: 13.564312* salinity: 33.375515, density: 1025.000000* values[0]: 0.581077F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037746.963165 s.w.SJ~,줽L)AAffff@Aܠ[@A_~? AqAi%"AAuNA"AZAbAjArAzAAALυ<7@AB sA7v@As|A&=At?A ?A`?A*A:?2AN׽:A<BA:?JAN׽RA Y^~?y+8iTAS?WE77`9)iB[[w?[^~?[?[[[[BZYY iǛ) IH?iK ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037746.983165 s, next control iter: 1743037747.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037747.383165 s.J "J *J 2J :J ?BJ ?nJ 5vJ 5SJ~,ML)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076063< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037747.383323F (some fields omitted in printout)A(@AWC@A'$_~? A kA:%"AAuNA"AZAbAjArAzAAAXg7@Aa~sAfu@AheA=A ?A`7?A ?A=F*A:?2Ae׽:A<BA:?JAe׽RA<٘i)I9u@YG J B=JJJJE&K Y^~?y50TAYEŧ7b7b9B)kBE[[I}?[!^~?[8[[[[BZYY i) 毻IH?i~  ?))??趪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037747.423165 s, next control iter: 1743037747.783183 s, wait time: 0.360018 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11246", header.stamp.nsec: 0"0 temperature: 13.564457"* salinity: 33.375542", density: 1025.000000"* values[0]: 0.580583"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037747.803165 s.uAYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037747.823165 s, next control iter: 1743037748.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037748.223165 s.gCSJ~,HM)AJ"J*J2J:JBJnJvJAzG@Aӹ:@A9?_~? A9]AG%"AAvNA"AZAbAjArAzAAAv@Q̪7@Az0sAMt@A0;A=A?A`z?AV?A*J*A:?2A ֽ:A <BA:?JA ֽRA <٘i)I9t@Y G JjJJJJE&K Y^~?yL [SA_EQf9B)nBE[[ ?[_~?[([[[[BZYY i) "WIsH?i˻ RP?))RP?RP?y(YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037748.243165 s, next control iter: 1743037748.623178 s, wait time: 0.380013 s^~?)L  rAdjusting time to match Gazebo time: 1743037748.643165 s.~ISJ~,(*)M)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076063< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037748.643306F (some fields omitted in printout)A ףp}@A6ep@AL_~? A/VA%"AA_2vNA"AZAbAjArAzAAA(K7@AZQsA/mt@Aom<AE=AQ?A ?AE?A拼*A~:?2A߈ֽ:A^=BA~:?JA߈ֽRA^=٘i)I9mt@YG J9JJJJE&K Y^~?yWSAbE777h9)rB[[?[_~?[ [[[[BZYY i) wIH?i%8Ի =?))=?=?ָYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037748.663165 s, next control iter: 1743037749.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11247, header.stamp.nsec: 00 temperature: 13.564598* salinity: 33.375526, density: 1025.000000* values[0]: 0.580097F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037749.063165 s.PSJ~,[ DM)AJ"J*J2J:JBJnJvJA3333@AU&@AyX_~? AOAY%"AAEvNA"AZAbAjArAzAAA{78@AћsA_s@Aѡw<A#܇=Aa??A?A@?A:*A8:?2Aֽ:Aa=BA8:?JAֽRAa=YS?H`?y)؇=-x<ٓH_?#U?`?z?@ a?@? ?)S? I٘i)I9s@Y|G J:J;JJJE&Kx> Y^~?y RA`?dE77{7i9)uB[[?[_~?[[[[[BZYY i) WZIH?iL3} ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037749.083165 s, next control iter: 1743037749.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037749.483165 s.y_WSJ~,^M)AA\@A @Afd_~? AGA:%"AAWvNA"AZAbAjArAzAAAO]*8@A^)sAs@Ab;A=A?A?A ?AK*A9?2AJֽ:A;=BA9?JAJֽRA;=٘i)I9s@Y4G J$JJJJE&K Y^~?yKRAgEj7Z7k9B)tBE[[q?[&*_~?[[[[[BZYY i) %IH?i>)B ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037749.503165 s, next control iter: 1743037749.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11248, header.stamp.nsec: 00 temperature: 13.564768* salinity: 33.375526, density: 1025.000000* values[0]: 0.579594F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037749.903165 s.]SJ~,yM)AJ"J*J2J:J`?BJ`?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076063< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037749.903303F (some fields omitted in printout)AQ@A q@Ao_~? A@AQr%"AAivNA"AZAbAjArAzAAAbDM8@AsAj s@A_jA"=A?A "1?A ,:?Ac*A-9?2AT׽:A7J=BA-9?JAT׽RA7J=٘i)I9 s@YG JfJJJJE&K Yq^~?ypQAjEŧ77|m9)xB[[`?[7_~?[7[[[[BZYY i) {5IݧH?i^Ht< ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037749.923165 s, next control iter: 1743037750.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037750.323165 s.wdSJ~,)M)AAGzT@AWoG@Az_~? AG9A%"AAzvNA"AZAbAjArAzAAA]`eFn8@AAP@sA6r@AUA=A=S?A:O?Am?AW*An9?2AX׽:A=BAn9?JAX׽RA=٘i)I9r@YG J(JJJJE&K Y_~?y#QAlEb7Fo9)|B[[ݟ?[uC_~?[[[[[BZYY i) f EIH?iO ?))??&ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037750.343165 s, next control iter: 1743037750.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11249*, header.stamp.nsec: 0*0 temperature: 13.564913** salinity: 33.375561*, density: 1025.000000** values[0]: 0.579090*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037750.743165 s.!WkSJ~,M)AJ"J*J2J:JBJnJvJAףp=@An1}@AD_~? A1A%"AAvNA"AZAbAjArAzAAAXd8@AQsA%r@A; At=A?A@l?A?A錼*A9?2A?׽:A@=BA9?JA?׽RA@=٘i)I9%r@Y`G JJJJJ E&K YZ_~?y9QAoE7q9B)E[[:?[:O_~?[>[[[[BZYY i) ATI6H?inUb ?))?? ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037750.763165 s, next control iter: 1743037751.143186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743037751.163165 s.v}rSJ~,qM)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076063< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743037751.163282F (some fields omitted in printout)A@At@A>_~? Ah*A!%"AAvNA"AZAbAjArAzAAAA8@A$P,sAq@A1#AN=A?A܊?A ?A>+*A9?2Az.׽:A37 =BA9?JAz.׽RA37 =Y^?j?y M=̞#ٓH E?`Zׇ~?}?B?@6?| f?)^? I٘i)I9q@YG J֏JHm<JJJ E&Kkx> Y _~?yIPAj?rE77r9 B)BE[[¥?[IZ_~?[[[[[BZYY i) cIH?iag |?))|?|?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037751.183165 s, next control iter: 1743037751.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037751.583165 s.xSJ~,RM)AJ"J*J2J:J.?BJ.?nJa5vJA)\@A{@A_~? A"A7%"AALvNA"AZAbAjArAzAAA3j_8@Au䓯sA2-q@A}:Aߖ=AD?A?A?AVY*A9?2AXֽ:A =BA9?JAXֽRA =٘i)I9-q@YG JJJJJE&K Y_~?yݩrPAtEt9)B[[>?[d_~?[[[[[BZYY i) fsIgxH?ik ?))??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037751.603165 s, next control iter: 1743037751.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11250, header.stamp.nsec: 00 temperature: 13.565070* salinity: 33.375549, density: 1025.000000* values[0]: 0.578558F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037752.003165 s.z SJ~,U4N)AAR+@AwNy@A_~? AKAG%"AAXvNA"AZAbAjArAzAAA0^ M8@ARA&sA˥p@A:<Ai=A?A?A@!?A쯥*A9?2Ajֽ:AV=BA9?JAjֽRAV=xI٘i)I9p@YvG J7JJJJE&K Yq"_~?y-թPAwE7qv9)B[[y?[n_~?[!ݩ[[[[BZYY iﭽ) Y&IIkH?it, X@))X@X@\ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037752.023165 s, next control iter: 1743037752.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037752.423165 s.uSJ~,N)AJ"J*J2J:J ?BJ ?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743037752.423302F (some fields omitted in printout)A{Ga@A;T@A<_~? AAR%"AAvNA"AZAbAjArAzAAA |8@AVHsAlp@A<AOe=A?A0?A I?Aê*A9?2A]ֽ:A=BA9?JA]ֽRA=٘i)I9p@Y G JKJJJJE&K Y#)_~?y̩OAzEj7j7$-9@A ݜsAen@Ao:Aǝ=Ajq?AI?A -?Aӧ*A9?2A2 ׽:A&=BA9?JA2 ׽RA&=Yi?v?yǝ=o':ٓH`E~?Z? ?3?s?-^??)i? I٘i)I9n@YsG JܨJ4<JJJE&Ksx> Y3_~?yZNAv? DE777{9B)BE[[Yڨ?[6_~?[ ©[[[[BZYY i) ޗIAH?i) @))@@y]ӭتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037753.283165 s, next control iter: 1743037753.663178 s, wait time: 0.380013 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 112526, header.stamp.nsec: 060 temperature: 13.5654876* salinity: 33.3755616, density: 1025.0000006* values[0]: 0.5773566F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037753.683165 s.lSJ~,|kN)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743037753.683295F (some fields omitted in printout)A(\@AS@A_~? ApA%"AAvNA"AZAbAjArAzAAAؘ"6B9@AsAnn@A]yAA=A)?AP1?Aұ?AЦ*AE9?2ADb׽:A+q=BAE9?JADb׽RA+q=٘i)I9nn@YG J8JJJJE&K Y7_~?ytNAE{7j7}9)B[[M?[a_~?[[[[[BZYY i) ZI23H?i舿>/ 5R@))5R@5R@IܪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037753.683165 s, next control iter: 1743037754.083179 s, wait time: 0.400014 s rAdjusting time to match Gazebo time: 1743037754.103165 s.SJ~,ȚN)AJ"J*J2J:JBJnJvJAQ8@A;4,F+@A*_~? AA8%"AA(vNA"AZAbAjArAzAAAu6U9@AZVsA?m@Ak|Af*=A8ռ?A@P?A?AW*A9?2Ax׽:A=BA9?JAx׽RA=٘i)I9m@YG JJJJJE&K Yr;_~?yꩩ NAE777g9B)BE[[?[ߕ_~?[[[[[BZYY i) צI$H?iB*3 H@))H@H@:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037754.123165 s, next control iter: 1743037754.503182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037754.523165 s.SJ~,{N)AAHzn@Aga@A_~? AA%"AAvNA"AZAbAjArAzAAA acg9@A4i鈎sAGRm@A ]AF=A k?A r?A ?A0*A)9?2A,>׽:A^=BA)9?JA,>׽RA^=٘i)I9Rm@YpG JfJJJJ!E&K YP?_~?y2MAE{7j719)B[[l?[_~?[m[[[[BZYY i) .TIH?io6 V @))V @V @{YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037754.543165 s, next control iter: 1743037754.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11253, header.stamp.nsec: 00 temperature: 13.565731* salinity: 33.375568, density: 1025.000000* values[0]: 0.576697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037754.943165 s.[dSJ~,O]N)AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J:JBJ8 propOmegaAction: 25.132812nJ< rudderAngleAction: -0.261799vJ@ elevatorAngleAction: -0.084929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037754.943281F (some fields omitted in printout)Aq= ף@AdϞ˖@A_~? AAk%"AA8wNA"AZAbAjArAzAAAڜk6x9@AcĥdsAԻl@AMAhJ=AD?AZ?A 1?A*A9?2AFֽ:A=BA9?JAFֽRA=٘i)I9l@YG JJJJJ#E&K Y/C_~?yz6MAEb779)B[[&?[ _~?[ [[[[BZYY i) )ѵIQH?iߏk(8  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037754.963165 s, next control iter: 1743037755.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037755.363165 s.ŊSJ~,>N)AA@A@An_~? AܪA"%"AA wNA"AZAbAjArAzAAAq9@A/C߄sAl@AV;A=Ah?A?A?An¼*A9?2AgZֽ:AR=BA9?JAgZֽRAR=Yo?{?y=x;ٓH=?`c B}??^?Lc?`w|??)o? I٘i)I9l@YG J弼J<JJJ&E&Kx> Y1D_~?yLA{?Eŧ7b7DŽ9B)BE[[@:?[_~?[[[[[BZYY i) )IXG?i{W> g\ @))g\ @g\ @HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037755.403165 s, next control iter: 1743037755.763188 s, wait time: 0.360023 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11254&, header.stamp.nsec: 0&0 temperature: 13.565987&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.576016&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037755.783165 s.kSJ~,! N)AJ"J*J2J:JBJnJvJA(\@AjQ@A_~? AԪA@%"AA-wNA"AZAbAjArAzAAAIi9@A5DsAvk@Aq<A =AX?AmĽ?A,?A(7ʼ*A/9?2A-#ֽ:A=BA/9?JA-#ֽRA=٘i)I9vk@YNG J9ƼJJJJ)E&K Y3E_~?y冩OLAE77779)B[[P?[_~?[=[[[[BZYY i) tiļIG?i B @))@@-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037755.803165 s, next control iter: 1743037756.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037756.203165 s.SJ~, O)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743037756.203280F (some fields omitted in printout)AQE@AD8@A_~? A̪A<&"AA{wNA"AZAbAjArAzAAAr*9@AU}~#{sAj@A#'r<A=A?An?AQ>?A3μ*A,9?2AdCֽ:AE=BA,9?JAdCֽRAE=٘i)I9j@YG JV̼JJJJ,E&K Y6F_~?y~KAEZ7Z7\9)B[[j?[_~?[[[[[BZYY i) ˼I_G?iE pd@))pd@pd@UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037756.223165 s, next control iter: 1743037756.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037756.623165 s.J "J *J 2J :J D?[SJ~BJD?nJk5,m'O)AvJAGz@A1]m@A_~? AĪA&"AAwNA"AZAbAjArAzAAA?HR9@Acߤv@vsAkj@A};Aʰ=A;?A,?AM?A Lμ*A{9?2A=ֽ:Ar=BA{9?JA=ֽRAr=٘i)I9j@Y|G JμJJJJ.E&K Y8G_~?yPuhKAEj7j7'9)B[[?[ӭ_~?[3w[[[[BZYY i) ӼIG?i G @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037756.643165 s, next control iter: 1743037757.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11255 , header.stamp.nsec: 0 0 temperature: 13.566252 * salinity: 33.375572 , density: 1025.000000 * values[0]: 0.575257 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037757.043165 s.SJ~,BO)AA= ף@AQԙ@A_~? AAu&"AA#wNA"AZAbAjArAzAAA\lݲ9@A܀SZqsApi@A)MA=A ?A P?AZ?A̼*A9?2A"׽:An=BA9?JA"׽RAn=٘i)I9pi@YG JͼJJJJ1E&K Y:H_~?ylJAEŧ7b79B)BE[[ ?[C_~?[m[[[[BZYY i) NڼIG?iBrH Bu@))Bu@Bu@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037757.083165 s, next control iter: 1743037757.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037757.463165 s.WSJ~,]O)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084929< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037757.463282F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AM]@A(_~? A崪Af&"AA'wNA"AZAbAjArAzAAAȹ9@AqlsAh@A]\A =Am?AV?Ae?A/̼*A9?2AU׽:A`=BA9?JAU׽RA`=Y~z?̆?y=5]ٓH0ڰȳ?i7 /?`Y~?)~z? I٘i)I9h@Y G Jx̼J0<JJJ4E&Kgx> Y]F_~?yc}JA?E7779)B[[?[_~?[d[[[[BZYY i) ߂I~G?idLM @))@@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037757.503165 s, next control iter: 1743037757.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11256, header.stamp.nsec: 00 temperature: 13.566560* salinity: 33.375572, density: 1025.000000* values[0]: 0.574455F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037757.883165 s.ySJ~, elevatorAngleAction: 0.082181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037758.723270F (some fields omitted in printout)Az@Aǵz@A_~? AA^&"AAs.wNA"AZAbAjArAzAAA1g9@AD]sA^f@AL:Aǻ=AP?A'i?A t?Aؼ*AE9?2Azfֽ:A1r=BAE9?JAzfֽRA1r=٘i)I9f@Yi G JռJJJJE&K Y>_~?y@HAE777甓9)ЯB[[7?[8_~?[=[[[[ZZBZYY i) ȩļIZG?i&GdS @))@@y:=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037759.163165 s, next control iter: 1743037759.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037759.563165 s.SJ~,c O)AA3333@Ap4(@A_~? AAZ%&"AA/wNA"AZAbAjArAzAAA \9@Aj/SsAe@A<A =A_?A@A@n?A?*A9?2Akֽ:AG<BA9?JAkֽRAG Y2:_~?y75HA?E9)ׯB[[7W?[)_~?[ 4[[[[ZZBZYY i) IHG?i#W @))@@y׼=yժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037759.583165 s, next control iter: 1743037759.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11258, header.stamp.nsec: 00 temperature: 13.567225* salinity: 33.375587, density: 1025.000000* values[0]: 0.572745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037759.983165 s.SJ~,O)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037759.983327F (some fields omitted in printout)A\(@A@A_~? AA&"AA,.wNA"AZAbAjArAzAAAlͶ9@A-NsA,d@A!m3<A5w=A?AA)k?A*A 9?2ASNֽ:A+w<BA 9?JASNֽRA+w<٘i)I9,d@Y G JvJJJJDE&K Y|5_~?yJ/GAE{7{7|9B)ݯBE[[x?[X_~?[*[[[[ZZBZYY i) 9OIW6G?ifY 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037760.023165 s, next control iter: 1743037760.383182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743037760.403165 s.&TJ~,P)AAQ^@A0xQ@A`_~? Ax|A `&"AA},wNA"AZAbAjArAzAAA'Hw9@AV4*JsAic@A &U9A03=A?A`8Ae?Aм*A9?2Apֽ:A_;BA9?JApֽRA_;٘i)I9ic@Yh G JB=JJJJFE&K Y0_~?y&fGAE7777G9)B[[H?[ğ_~?[![[[[ZZBZYY i) ʠI#G?iʪ.Z @))@@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037760.423165 s, next control iter: 1743037760.803175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11259&, header.stamp.nsec: 0&0 temperature: 13.567650&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.571720&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037760.823165 s. TJ~,:4P)AJ"J*J2J:J\?BJ\?nJx5vJAGz@ARr@As_~? AltAW&"AA*wNA"AZAbAjArAzAAAo9@A-EsAb@A 4A<A elevatorAngleAction: 0.082181< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037761.243310F (some fields omitted in printout)Aףp=@Ad3@A_~? AdlAZ&"AA&wNA"AZAbAjArAzAAA-9@A r/@sAgKb@AAs#<A?A뵳A S?A-y*A9?2A[Sֽ:A,BA9?JA[SֽRA,٘i)I9Kb@Y G J+JJJJLE&K YY'_~?y@FAE{7j7ܝ9)B[[(?[^_~?[[[[[ZZBZYY i) hFIoF?iM9X :"@)):"@:"@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037761.263165 s, next control iter: 1743037761.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037761.663165 s.TJ~,qjP)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11260, header.stamp.nsec: 00 temperature: 13.567931* salinity: 33.375568, density: 1025.000000* values[0]: 0.570964F (some fields omitted in printout)A@AY@A_~? A_dA7&"AA"wNA"AZAbAjArAzAAA` y#9@AK;sAGa@ASdA,AЀ?A肷A\F?A,*A9?2AWֽ:AFBA9?JAWֽRAFYw?[?y(;dٓH`ѿ@w*?@ ѿ@v?m`?)w? I٘i)I9a@Y G JXJDJJJNE&KYw> Y_~?y FA?E7)79B)BE[[?[_~?[[[[[ZZBZYY isw=) sрIF?iVP[ ^c$@))^c$@^c$@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037761.683165 s, next control iter: 1743037762.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037762.083165 s.D!TJ~, SP)AA)\5@Aǘ(@A_~? A`\A|&"AAwNA"AZAbAjArAzAAAz9@AO9gi6sAYa@AtAPA?A`RA46?A&ͻ*A.9?2A'ֽ:ABA.9?JA'ֽRA٘i)I9a@Y] G JJJJJQE&K YJ_~?y:FAE77r9)B[[,?[_~?[.[[[[ZZBZYY i=) nI{F?iQŐ\ %@))%@%@q)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037762.103165 s, next control iter: 1743037762.483177 s, wait time: 0.380012 sJ_~?): rAdjusting time to match Gazebo time: 1743037762.503165 s.'TJ~,H4P)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037762.503288F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A{,}^@Ay_~? AgTAuo &"AAwNA"AZAbAjArAzAAA6ާC9@Ax X1sAa@A;AA?AL#A#?A ɺ*Aw9?2A.ֽ:AżBAw9?JA.ֽRAż٘i)I9a@YL G J`JJJJTE&K Y_~?yFAEb77<9)B[[/S?[}_~?[[[[[BZYY i) G[IF?i<v\ '@))'@'@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037762.523165 s, next control iter: 1743037762.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11261, header.stamp.nsec: 00 temperature: 13.568090* salinity: 33.375561, density: 1025.000000* values[0]: 0.570589F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037762.923165 s.=.TJ~,P)AA{G@A[<@A_~? AtLA &"AAwNA"AZAbAjArAzAAAyƆam9@Ay,sAa@Aw<AN/A i?AvA+?A-;*Av9?2Aֽ:A޼BAv9?JAֽRA޼٘i)I9a@YM G J9JJJJWE&K Y; _~?y6FAE779B)BE[[x?[t_~?[[[[[BZYY i) fHIF?i [ )@)))@)@y_c=Jk*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037762.943165 s, next control iter: 1743037763.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037763.343165 s.<5TJ~,P)AJ"J*J2J:JBJnJvJAp= @A@A_~? ADAߥ &"AAL wNA"AZAbAjArAzAAAҦs9@A"['sAa@A$jl<A*TA?A`UÿA@\?A;*A9?2Aֽ:AnKBA9?JAֽRAnK٘i)I9a@Y^ G JP;JJJJYE&K Y_~?yFAE777Ҧ9B)BE[[?[j_~?[cߨ[[[[BZYY i) 6IjF?i訿j3X (*@))(*@(*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037763.363165 s, next control iter: 1743037763.743178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11262&, header.stamp.nsec: 0&0 temperature: 13.568111&* salinity: 33.375568&, density: 1025.000000&* values[0]: 0.570572&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037763.763165 s.8;TJ~,#P)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743037763.763285F (some fields omitted in printout)A @A+P@A9_~? A<A.@ &"AA=wNA"AZAbAjArAzAAA2b9@Az #sAa@AN;AtAS?AX.ſA.?AE&<*A09?2A4ֽ:A.$BA09?JA4ֽRA.$Y;v??yՃt;ٓH`$׿a R?? 4׿'Z Ջ?ȩx?`B?);v? I٘i)I9a@Y G JT<JJJJ\E&Kw> Yw^~?y|GA?E9)B[[?[W`_~?[K֨[[[[BZYY i gd=) &I!F?i!Y *,@))*,@*,@a*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037763.783165 s, next control iter: 1743037764.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037764.183165 s.BTJ~,k Q)AJ"J*J2J:JBJnJvJA(\B@A/5@A_~? A4A &"AAgvNA"AZAbAjArAzAAA;9O9@A ~RBsAe=b@Ao7AAu?A ǿA?AG*b<*A9?2A:ֽ:A BA9?JA:ֽRA ٘i)I9=b@Y G JB<JJJJ_E&K Y:^~?yFڨaGAE{7j7g9B)B E[[6?['U_~?[Gͨ[[[[BZYY i) &%I~F?i̵Y -@))-@-@ *YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743037764.203165 s, next control iter: 1743037764.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037764.603165 s.A4ITJ~,ؚ&Q)AAQx@AKk@A_~? A-Ar &"AAvNA"AZAbAjArAzAAA;ϑq;9@A>Ua~sAѧb@AqmAHA?AJȿA?A#<*A59?2Aս:AUBA59?JAսRAU٘i)I9b@Y G J;}<B=JJJJaE&K Y^~?yҨGAEb7b729)B[[=?[AI_~?[YĨ[[[[BZYY i) 3IlF?i"qX F/@))F/@F/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037764.643165 s, next control iter: 1743037765.003183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11263, header.stamp.nsec: 00 temperature: 13.388333* salinity: 33.391636, density: 1025.000000* values[0]: 0.688712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037765.023165 s.ZPTJ~,|AQ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037765.023308F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@A? @Aa_~? A<%A &"AAnvNA"AZAbAjArAzAAAq%9@A[sA%c@AAGA4@AèʿA@?ArI<*A9?2Aս:ABA9?JAսRA٘i)I9%c@Y> G J9<C=JJJJdE&K Y^~?yɨHAE77{79)B E[[@[<_~?[[[[[BZYY iI_=) IZF?i{U 0@))0@0@yd=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037765.043165 s, next control iter: 1743037765.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037765.443165 s.7VTJ~,>]\Q)AAq= @A@A_~? AA &"AAJvNA"AZAbAjArAzAAA:79@A sAc@AHABA5l@A̿A`d\?Ap<*A9?2A`ֽ:AJ BA9?JA`ֽRAJ ٘i)I9c@Y G J><JJJJgE&K Y^~?yXHAE{7Z7ǯ9B)BE[[Ԥ@[{/_~?[ٲ[[[[BZYY i) ̻IIF?iQ 8e2@))8e2@8e2@yd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037765.463165 s, next control iter: 1743037765.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11264, header.stamp.nsec: 00 temperature: 13.388187* salinity: 33.391651, density: 1025.000000* values[0]: 0.689506F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037765.863165 s.+]TJ~,>wQ)AJ"J*J2J:JBJnJvJA@AB @A_~? AAG8&"AA_vNA"AZAbAjArAzAAA/ʨ 8@Atx\ sA>;d@A8;A7A@AVοA5?A<*AG9?2A^ֽ:ABAG9?JA^ֽRAY|?@y6t8;ٓHG ݿ}ĕ?yj?"ݿIa?`g?Z?)|? I٘i)I9;d@Y G Jڦ<JJJJiE&Kx> Y^~?y˹HA@E779)B[[5@[!_~?[@[[[[BZYY i) qIh7F?i2+R 3@))3@3@y=Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037765.903165 s, next control iter: 1743037766.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037766.283165 s.7RdTJ~,Q)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037766.283277F (some fields omitted in printout)A(\O@A OB@A_~? A;A&"AAvNA"AZAbAjArAzAAAps8@A[sA3d@AQQS<AA!@A:пA ?AU<*A,9?2A!׽:ABA,9?JA!׽RA٘i)I9d@Y< G Js<JJJJlE&K Yд^~?y$IAE7\9)ݯB[[@[_~?[š[[[[BZYY i) 1I%F?i`Q g}5@))g}5@g}5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037766.323165 s, next control iter: 1743037766.683176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 112652, header.stamp.nsec: 020 temperature: 13.3879702* salinity: 33.3916512, density: 1025.0000002* values[0]: 0.6904212F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037766.703165 s.պjTJ~, Q)AJ"J*J2J:JBJnJvJAQ@A}x@Aҕ_~? AAa&"AA9vNA"AZAbAjArAzAAA#d8@A#YsA/Pe@AĄ<AxPA2s@A@пA?A<*Aٻ9?2AI"׽:ABAٻ9?JAI"׽RA٘i)I9Pe@Y G J8<B=JJJJoE&K Y^~?yIAE{7j7'9B)ۯBE[[T@[_~?[h[[[[BZYY i) cIzF?iN  7@)) 7@ 7@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037766.723165 s, next control iter: 1743037767.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037767.123165 s.>qTJ~,zQ)AAG@ANխ@A-_~? A,A&"AAvNA"AZAbAjArAzAAA@٢8@AF rAe@AN4<Av#A$@A|ѿA`ɴ?A<*Ax9?2Aֽ:A&DBAx9?JAֽRA&D٘i)I9e@Y G J<C=JJJJqE&K Y^~?yGIAE77{79)ׯB[[@[^~?[1[[[[BZYY i) :k'InF?iNK 8@))8@8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037767.143165 s, next control iter: 1743037767.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037767.543165 s.IxTJ~,Q)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037767.543304F (some fields omitted in printout)A= ף@As@A _~? AAĆ&"AAvNA"AZAbAjArAzAAAD!8@AL#[rAUgf@A8A9}AT@A`OҿAׅ?A<*A9?2A5}ֽ:A!BA9?JA5}ֽRA!٘i)I9gf@Y: G Je<JJJJtE&K YC^~?ypWJAE779B)ԯBE[[o @[^~?[![[[[BZYY i) ZպIE?iE r&:@))r&:@r&:@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037767.583165 s, next control iter: 1743037767.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11266, header.stamp.nsec: 00 temperature: 13.387768* salinity: 33.391666, density: 1025.000000* values[0]: 0.691356F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037767.963165 s.~TJ~,+Q)AAffff&@A$[@Aow_~? A\At&"AAavNA"AZAbAjArAzAAAPxc8@AO'{rAf@Aq(3AYA: @A@ϙӿA T?AO<*A9?2A(3ֽ:ABA9?JA(3ֽRAYE?G @yWʝ3ٓH`NV@@aH??\ް`F?d?)E? IwI٘i)I9f@Y G J<J;JJJwE&Kx> Y~^~?y JAG @EZ7SI79)ϯB[[ @[^~?[+[[[[BZYY i) j'7I=E?i *E $;@))$;@$;@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037767.983165 s, next control iter: 1743037768.363193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743037768.383165 s.؅TJ~,IR)AJ"J*J2J:JBJnJvJA(\@A_!O@AYl_~? AAܦ&"AAvvNA"AZAbAjArAzAAA$IWB8@AwrA g@AAȏ @A@yuԿAv!?A<*A9?2A*ֽ:A JBA9?JA*ֽRA J٘i)I9g@Y G J5<B=JJJJyE&K Yo^~?yKAEb77R9 B)ͯBE[[h @[^~?[Xy[[[[BZYY i) u9IE?i^RC <=@))<=@<=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037768.403165 s, next control iter: 1743037768.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11267", header.stamp.nsec: 0"0 temperature: 13.387570"* salinity: 33.391670", density: 1025.000000"* values[0]: 0.692316"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037768.803165 s.}ATJ~,g3R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037768.803305F (some fields omitted in printout)A@A@A`_~? AA4&"AAevNA"AZAbAjArAzAAAK1I8@AlDԚrAh@ABQAA @AQտAr?AI<*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9h@Y= G J<C=JJJJ|E&K Y>`^~?yB~KAEj7Z79)ɯB[[@[^~?[q[[[[BZYY i) :IE?i? >@))>@>@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037768.823165 s, next control iter: 1743037769.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037769.223165 s.gTJ~,HNR)AJ"J*J2J:JBJnJvJAz@A @AT_~? AکA&"AASvNA"AZAbAjArAzAAA7@AW:l;rAh@A3AQA- @A`r,ֿA ?AI,<*A9?2Aֽ:AMBA9?JAֽRAM٘i)I9h@Y G JT<JJJJE&K YP^~?y|KAE{7j7翓9)ůB[[Ԣ@[^~?[/j[[[[BZYY i) T ;IE?i푿S: T@@))T@@T@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037769.263165 s, next control iter: 1743037769.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037769.643165 s.ЙTJ~,,*iR)AA ףp@A4f@A elevatorAngleAction: 0.065123< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037770.063309F (some fields omitted in printout)A33333@AH'&@AB;_~? A̩AL&"AA.vNA"AZAbAjArAzAAAy7@AU/eТrApi@A<ABXA@A׿A`9?A<*A 9?2AB׽:A BA 9?JAB׽RA Y@ @yT<ٓH .H?? @kǰ??_?)@ I٘i)I9i@Y$G J%<Jd<JJJE&KEx> Y/^~?ynLA@E77}Ó9B)BE[[@[t^~?[[[[[[BZYY i+=)  ;IE?i2  iC@)) iC@ iC@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037770.083165 s, next control iter: 1743037770.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037770.483165 s.w_TJ~,R)AA\h@A/1[@A-_~? AũAI^&"AA!vNA"AZAbAjArAzAAA6 7@AAirAi@A%k<AA(@AؿA`?Aި<*A9?2A׽:ABA9?JA׽RA٘i)I9i@YjG J<JJJJE&K Y5^~?ygLAE77{7Gœ9B)B[[A@[`^~?[T[[[[BZYY i) ɡ;IE?i?/ D@))D@D@M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037770.503165 s, next control iter: 1743037770.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11269, header.stamp.nsec: 00 temperature: 13.387199* salinity: 33.391689, density: 1025.000000* values[0]: 0.694054F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037770.903165 s.ȭTJ~,͹R)AJ"J*J2J:J1?BJ1?nJO:5vJAQ@A.py@A_~? AҾA&"AAsvNA"AZAbAjArAzAAAuYaZ7@Av,>rAqj@A;AAl@A{ٿA`?Aj<*A9?2Aֽ:AaBA9?JAֽRAa٘i)I9qj@YG J|<JJJJE&K Y ^~?y`QMAE77Ǔ9B)BE[[@[K^~?[M[[[[BZYY i) n;IvE?i=3+ 6|F@))6|F@6|F@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037770.943165 s, next control iter: 1743037771.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037771.323165 s.xTJ~,-R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037771.323291F (some fields omitted in printout)AGz@A~p@A_~? AABi&"AAuNA"AZAbAjArAzAAAJ`2/7@ADj rAj@A^ͻAvLAT@A`0EڿAv?A8 <*A9?2Aiֽ:ABA9?JAiֽRA٘i)I9j@YG J<JJJJE&K Y]~?yYMAE77{7ȓ9)B[[P@[6^~?[G[[[[BZYY i) \7;IhE?i:i% H@))H@H@yئ=w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037771.343165 s, next control iter: 1743037771.723177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11270., header.stamp.nsec: 0.0 temperature: 13.387038.* salinity: 33.391697., density: 1025.000000.* values[0]: 0.694822.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037771.743165 s.WTJ~,uR)AJ"J*J2J:J1?BJ1?nJ:5vJAףp= @A.;1@A_~? AmA&&"AAuNA"AZAbAjArAzAAAp7@An%rAXk@AqAjA@A@ ۿA@2?A<*AY9?2A/:ֽ:A>BAY9?JA/:ֽRA>٘i)I9Xk@Y<G J<JJJJE&K Y,]~?ySNAEʓ9B)BE[[u@[ ^~?[@[[[[BZYY i) l;I[E?ibwS H))HI@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037771.783165 s, next control iter: 1743037772.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037772.163165 s.x}TJ~,q S)AA@@Ag{2@A^~? AުA;m&"AAmuNA"AZAbAjArAzAAAQb6@AqrA@AۿA@?AB<*AR9?2A?Sֽ:AMBAR9?JA?SֽRAMY~I@O@yч3~ٓHg @%??m?`F ?)~I@ I٘i)I9k@YG J<JJJJE&Kx> YY]~?yL`NAO@E77r̓9B)BE[[-\@[ ^~?[@:[[[[BZYY i) MH elevatorAngleAction: 0.075552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037772.583278F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@AF жh@A^~? AhAp&"AAuNA"AZAbAjArAzAAAZ6@AJUSdrAWEl@AaA-Aɔ@AQܿA ?A<*Ag9?2Aֽ:ALkBAg9?JAֽRALk٘i)I9El@YG J<JJJJE&K Y]~?yFNAE)7ŧ7=Γ9B)BE[[@[ ]~?[4[[[[BZYY i)  elevatorAngleAction: 0.075552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037773.843310F (some fields omitted in printout)Ap= @A @A^~? AA%^&"AANbuNA"AZAbAjArAzAAA\V6@AgrCrAm@A<AA@A`޿AC?AN <*AR9?2A@׽:A9BAR9?JA@׽RA9٘i)I9m@YG J<JJJJE&K Y ]~?y3OAEŧ77ӓ9B)BE[[f @[]~?["[[[[BZYY i) ҊM YJp]~?y .0PA@E{7{7gՓ9B)BE[[D!@[]~?[a[[[[BZYY i) 3\ elevatorAngleAction: 0.075552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037775.103285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AL F@A}^~? AA&"AAuNA"AZAbAjArAzAAA!n5@A:zXίrAlo@A=A̗At_@AsA ?A0<*A9?2A-ֽ:ALBA9?JA-ֽRAL٘i)I9o@YG JƟ<JJJJE&K YD]~?y"PA E7777ؓ9B)B޹E[[$@[d]~?['[[[[BZYY igH=) =L{T)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037776.363327F (some fields omitted in printout)AY@A L@A^E^~? AoA &"AAtNA"AZAbAjArAzAAA 4@AaKrAHp@ALA:mAT#@A`qA>h?Aʣ<*A9?2A.ֽ:A'BA9?JA.ֽRA'YQ@2W#@y&m8ٓH@?Q?_ Lj? i``?)Q@ I٘i)I9p@YG Jͦ<J+JJJE&K5x> Y]~?y%RAW#@Eŧ7ŧ7]ޓ9!B)BعE[[W)@[]~?[Q[[[[BZYY i) Xi elevatorAngleAction: 0.084611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037777.623293F (some fields omitted in printout)AG@A@j@A ^~? Ap_A=&"AA.etNA"AZAbAjArAzAAAZ{4@A:rA&fr@Ab<A9A5Q'@A^A@1?AZ<*A9?2AS׽:A6*BA9?JAS׽RA6*٘i)I9fr@YG JǨ<JJJJE&K Yb\~?y`SAE{7j79&B)BѹE[[-@[7\~?[?[[[[BZYY i)  Y\~?y elevatorAngleAction: 0.084611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037778.883320F (some fields omitted in printout)A(@AF!@A^]~? APA\&"AAMtNA"AZAbAjArAzAAA2|R3@A-rAp;t@A2vA=׬A+@A5AI?A<*A79?2Aս:ARBA79?JAսRAR٘i)I9;t@YG J<JJJJE&K Yr\~?yTA#Eb779)B[[2@[{\~?[[[[[BZYY i) 32@A&鯍rAݐu@A,A`AǷ-@A`AS?A <*A9?2AB~ֽ:A BA9?JAB~ֽRA ٘i)I9u@YuG JO<JJJJE&K Y5@\~?yUA(Eŧ779-B)BĹE[[4@[F\~?[![[[[BZYY i)  elevatorAngleAction: 0.084611< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743037780.143288F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@Ad0@A4]~? ACAd&"AADsNA"AZAbAjArAzAAAz2@A,JԔrA;v@A ;AưA/@A8A@e?Ap<*AU9?2Aֽ:AlBAU9?JAֽRAl٘i)I9;v@YG J<JJJJE&K YJ'\~?yVA+E7777}9/B)}BE[[h6@[6+\~?[[[[[BZYY i) {A>?A%<*A9?2A2׽:AhBA9?JA2׽RAhYW"@6]0@y7p`<ٓH 5ؿY?? j ]7?j? S?)W"@ I٘i)I9v@YEG J<B=J^ JJJE&K-x> Y% \~?yI}VA]0@-E77H90B)yBE[[7@[\~?[[[[[BZYY i) }8U)AA\@A>x@AY]]~? A;A&"AAasNA"AZAbAjArAzAAA__2@AFrAw@AƁ<A:A 1@A@A{A`E?A,<*A9?2AC׽:ATBA9?JAC׽RAT٘i)I9w@YG J<C=JJJJE&K Y[~?yVA0Ej7Z79)sB[[E9@[[~?[[[[[BZYY i=) o elevatorAngleAction: 0.093551< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743037781.403272F (some fields omitted in printout)AQ@A:@AF]~? A7AS&"AA]?sNA"AZAbAjArAzAAA-T1@AsFrAS=x@Av<A8gA'3@AA q?A9<*A9?2Aֽ:A-BA9?JAֽRA-٘i)I9=x@YG Jk<JJJJE&K Y[~?ylWA3E7{791B)oBE[[:@[[~?[ߧ[[[[ZZZZ¸>BZYY i¸>ڨ) otU)AJ"J*J2J:JBJnJvJAGz@AV p@Ax/]~? A3Aϝ&"AAsNA"AZAbAjArAzAAAviy1@A, xrA,x@AϺAAA4@A A@ *?A<*A~9?2ADֽ:ABA~9?JADֽRA٘i)I9x@YG J<JJJJE&K Y[~?y[ݧWA5E7793B)kBE[[D<@[[[~?[ݧ[[[[ZZZZBZYY i) o Y[~?yקXA6@;Eŧ7b7=95B)aBE[[>@[Ӈ[~?[ڧ[[[[ZZZZBZYY i) õTΥ: !))!)p@yI*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037782.683165 s, next control iter: 1743037783.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037783.083165 s.DqUJ~,RU)AA)\µ@A@A\~? A)Ak &"AAPrNA"AZAbAjArAzAAA0@AGQC3{rAr{@A8AuA8@ALA`ԕ?A!<*AP9?2A.ֽ:AvBAP9?JA.ֽRAv٘i)I9r{@Y G J=C=JJJJE&K Yln[~?yէ)YA=E7{797B)[BE[[M@@[ql[~?[٧[[[[ZZZZBZYY i) :0>5: ۆ ))ۆ ژq@Щ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037783.103165 s, next control iter: 1743037783.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037783.503165 s.wUJ~,L4U)AJ"J*J2J:J4?BJ4?nJ=5vJAR@Ay@A\~? A&A &"AA5rNA"AZAbAjArAzAAA4- [0@AaJJyrA4|@ANA1A1p9@A A ?A;<*A9?2A{Rֽ:A ̻BA9?JA{RֽRA ̻٘i)I94|@YG J<JJJJE&K YQS[~?yҧYA@E{7Z79)UB[[\A@[$Q[~?[ا[[[[ZZZZBZYY i) {pr; ))s@;v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037783.543165 s, next control iter: 1743037783.903180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11282, header.stamp.nsec: 00 temperature: 13.384447* salinity: 33.391716, density: 1025.000000* values[0]: 0.707405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037783.923165 s.<~UJ~,U)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037783.923284F (some fields omitted in printout)A{G! @A5; @A߸\~? A#Ak &"AAirNA"AZAbAjArAzAAAtl0@Ar\UzwrA|@AP6<AּAa:@A@A?Ad<*AQ9?2ALֽ:A;BAQ9?JALֽRA;vI٘i)I9|@YG J<JJJJE&K Y88[~?y*ЧYACEŧ779)PBE[[]C@[5[~?[ק[[[[ZZZZBZYY i) `ƒX:; ))st@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037783.943165 s, next control iter: 1743037784.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037784.343165 s.f; @))@-u@a)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037784.383165 s, next control iter: 1743037784.743181 s, wait time: 0.360016 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11283&, header.stamp.nsec: 0&0 temperature: 13.384202&* salinity: 33.391705&, density: 1025.000000&* values[0]: 0.708565&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037784.763165 s.6UJ~,0V)AǍ @AȗP @A\~? AAS!&"AA rNA"AZAbAjArAzAAA*;k.@A{3"trA}@Ahuj<An;AbX=@A`5A(?A(<*A9?2A;ֽ:AP<BA9?JA;ֽRAPJJJE&KGw> YG[~?y̧UZAY=@HE7{739:B)MBE[[E@[Z~?[f֧[[[[ZZZZBZYY iG/y) R{À;  )) Jw@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037784.803165 s, next control iter: 1743037785.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037785.183165 s.˒UJ~,KV)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.060836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037785.183288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\ @AoK䂵 @ARo\~? AA!&"AAqNA"AZAbAjArAzAAAldye.@A4rrAy}@AT;A~<A>@A`\A C?AD;*A9?2Aoֽ:Ae<BA9?JAoֽRAe<٘i)I9}@YG JO <JJJJE&K YpZ~?y{ʧMZAKE779;B)LBE[[T8G@[_Z~?[֧[[[[ZZZZBZYY i䠒) oh4; Mj))Mjhx@ߩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037785.203165 s, next control iter: 1743037785.583179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037785.603165 s.4UJ~,fV)AAQ @A@I @AvV\~? A3AU!&"AA6qNA"AZAbAjArAzAAA &-@ATB'qrA}@AA=A?@A ZA`l?A:*A9?2Aӷֽ:A<BA9?JAӷֽRA<٘i)I9}@YG J@;B=JJJJE&K YZ~?yȧEZAMES7S79; V))V_z@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037785.643165 s, next control iter: 1743037786.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11284 , header.stamp.nsec: 0 0 temperature: 13.384105 * salinity: 33.391701 , density: 1025.000000 * values[0]: 0.709130 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037786.023165 s.ZUJ~,|V)AJ"J*J2J:J5?BJ5?nJ[>5vJAHz. @Af ! @As=\~? AA!&"AAmqNA"AZAbAjArAzAAAE7-@AfporA}@A}{A_1=ALA@A`A@?A@*A'9?2Aֽ:A-<BA'9?JAֽRA-<٘i)I9}@YG JC=JJJJE&K YZ~?yEǧV)AJ"J*J2J:J5?BJ5?nJ]>5vJA @AHo @A \~? AA2"&"AA6cqNA"AZAbAjArAzAAAC=w,@A9kmrA`}@APͻAcv=AC@AA ?A)*Aَ9?2A2qֽ:AW=BAَ9?JA2qֽRAW=Y5@C@yHbv=SͻٓH `e2̴?UVǮy?)5@ I٘i)I9}@YbG JGC=J=>JJJE&Kw> YuZ~?yħYAC@VE77( 9>B)PBE[[L@[xZ~?[֧[[[[BZYY izoe) %EJJJJE&K YYZ~?y:ħYAXE)7)7 9)SBE[[N@[D^Z~?[ק[[[[BZYY i) !Z~?y§XA^E77779)\BE[[*P@[)Z~?[ا[[[[BZYY i煽) K;IE?iV?) < ))?@yeΪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037788.143165 s, next control iter: 1743037788.523193 s, wait time: 0.380028 s rAdjusting time to match Gazebo time: 1743037788.543165 s.IUJ~,"W)AJ"J*J2J:JT5?BJT5?nJ#>5vJA= ףp @ABwIc @Aդ[~? A' Au"&"AApNA"AZAbAjArAzAAAU4ؙ)@AĜirAd{@AS<Ac=AI@A`7A?A4*Aw9?2AHJֽ:A.J =BAw9?JAHJֽRA.J =٘i)I9{@YKG JB=JJJ)FJE&K YZ~?y§XA`E)7b7S9@B)aBE[[R@[Z~?[٧[[[[BZYY i) y;IY E?ih?/< >))>y@y6eҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037788.563165 s, next control iter: 1743037788.943179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11287, header.stamp.nsec: 00 temperature: 13.384502* salinity: 33.391693, density: 1025.000000* values[0]: 0.707825F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037788.963165 s.xUJ~,=W)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743037788.963275F (some fields omitted in printout)Affff @Af\ @A[~? A A="&"AApNA"AZAbAjArAzAAAn(@AS$irAP{@Az4Ac=AGAHA ?AT_*A9?2Aֽ:AP =BA9?JAֽRAP =YU<@Gy==4ٓH@t`? +@ANyq`̀f?)U<@ I٘i)I9P{@YG JC=JM=JJJE&Kx> YY~?yA§0XAGcEŧ79AB)fBE[[eYS@[Y~?[ڧ[[[[BZYY i) $F;Ix-E?it?4<  )) |@yx<ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037788.983165 s, next control iter: 1743037789.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037789.383165 s.J "J UJ~*J2J:J5?BJ5?,MXW)AnJ=5vJA( @AF @A;q[~? A* A"&"AAzpNA"AZAbAjArAzAAA`(@AhrAz@AVAܘ=AfFA+WA05?Aӥ*A9?2Av׽:AT=BA9?JAv׽RAT=٘i)I9z@YG JJJJJE&K YY~?yo§WAfEb79)kBE[[T@[Y~?[_ܧ[[[[BZYY i) ;IH;E?i{?t$< _ ))_ +P@rҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037789.403165 s, next control iter: 1743037789.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11288", header.stamp.nsec: 0"0 temperature: 13.384732"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.706763"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037789.803165 s.zAUJ~,gsW)AA @A됛 @AVW[~? Aj A#"&"AAfSpNA"AZAbAjArAzAAA+ '@AVD!hrAL9z@A2A=AEAbAo?A*A9?2A׽:A.=BA9?JA׽RA.=٘i)I99z@YKG JJJJJE&K Y`Y~?y§bWAhE7779)oB[[vU@[RY~?[ݧ[[[[BZYY i) *K;IIE?i͇?-<  )) a@qѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037789.823165 s, next control iter: 1743037790.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037790.223165 s.gUJ~,HW)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743037790.223268F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG @AoH: @Af=[~? A AE"&"AA ,pNA"AZAbAjArAzAAA5&'@A :grAy@A9A=ASCAkA`R)?An*A9?2Aֽ:Aă=BA9?JAֽRAă=٘i)I9y@YG JOJJJJE&K Y'Y~?y§VAkEj7Z7~9BB)tBE[[FMW@[Y~?[ߧ[[[[BZYY i) -W;I]YE?i?M8< ))@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037790.243165 s, next control iter: 1743037790.623175 s, wait time: 0.380010 s 'Y~?) § rAdjusting time to match Gazebo time: 1743037790.643165 s.vUJ~,*W)AA ףp} @A hp @An#[~? Ai A;"&"AApNA"AZAbAjArAzAAAtYB1&@AX8grAy@A6"AA=ABATrA`}>?Av*A9?2Akֽ:Ayh=BA9?JAkֽRAyh=٘i)I9y@YG JB=JJJJE&K YwY~?y§VAnEj7H9)yBE[[nX@[#Y~?[u[[[[BZYY i)  ץ:IiE?i?C< g))g[@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037790.663165 s, next control iter: 1743037791.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11289, header.stamp.nsec: 00 temperature: 13.385016* salinity: 33.391685, density: 1025.000000* values[0]: 0.705704F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037791.063165 s.UJ~,V W)AJ"J*J2J:JBJnJvJA3333 @Af* @Ao [~? A' A#&"AAjoNA"AZAbAjArAzAAAi%@A9a[grAӏx@Am5<A=A`NAAxvAd/?A65*A9?2Aֽ:A:=BA9?JAֽRA:=YBB@RAAy=5<ٓH*?8 @l\b? ^@?``?)BB@ I٘i)I9x@YHG JmC=JJJJ E&Kx> Y[Y~?y ħ2VAAApE77779CB)~B}E[[Y@[wY~?[z[[[[BZYY i) 9IzE?i? K<  )) q @ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037791.083165 s, next control iter: 1743037791.463176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037791.483165 s.y_UJ~,W)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037791.483292F (some fields omitted in printout)A\ @A @AnZ~? A A #&"AAoNA"AZAbAjArAzAAA.M%@ACbLgrAw@Aˆ<Aڃ=A@A@NxA@NP?Adt*A9?2ASֽ:A=BA9?JASֽRA=٘i)I9w@YG JثJJJJ E&K Y?Y~?yŧUAsEj7Z79)BzE[[6[@[H^Y~?[[[[[BZYY i) IE?i?VS< }))}@'ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037791.503165 s, next control iter: 1743037791.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11290, header.stamp.nsec: 00 temperature: 13.385274* salinity: 33.391689, density: 1025.000000* values[0]: 0.704642F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037791.903165 s.UJ~,W)AJ"J*J2J:JBJnJvJAQ @AN`: @AkZ~? A A #&"AAoNA"AZAbAjArAzAAA2F )$@A$WgrADrw@AW<A!=A%>AwA@}A0x*A19?2AVֽ:AP.=BA19?JAVֽRAP.=٘i)I9rw@YG J&JJJJE&K Y#Y~?y.ƧlUAvE77{7 9)BwE[[I\@[EY~?[[[[[BZYY i) lȺI+E?ip?\< uY))uY c@RêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037791.923165 s, next control iter: 1743037792.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037792.323165 s.vVJ~,%X)AAGzT @AnG @AjZ~? AZ AT#&"AA,goNA"AZAbAjArAzAAAAQ}$@Aswb{grA@v@A)?;A=A[=A tAA*AV9?2A{ֽ:A <BAV9?JA{ֽRA <٘i)I9v@YHG J JJJJE&K YY~?yAǧ UAxEZ7Z7s"9DB)BtE[[R]@[-Y~?[f[[[[BZYY i)  A!IE?i?1g< m))m@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037792.343165 s, next control iter: 1743037792.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11291*, header.stamp.nsec: 0*0 temperature: 13.385543** salinity: 33.391682*, density: 1025.000000** values[0]: 0.703595*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037792.743165 s.W VJ~,u/X)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: -0.065383< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037792.743294F (some fields omitted in printout)Aףp= @A5} @AoZ~? A AM#&"AA?oNA"AZAbAjArAzAAACt#@AgrAlv@AeA޷=A9<A`nAjAu*A 9?2At׽:A<BA 9?JAt׽RA<٘i)I9lv@YG JiB=JJJJE&K YX~?ySȧTA D{Eb77>$9)BqE[[_@[Y~?[[[[[BZYY i) T^IE?i?r< ))骈@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037792.763165 s, next control iter: 1743037793.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037793.163165 s.t}VJ~,qJX)AA @Aw @AzZ~? AP A"&"AAkoNA"AZAbAjArAzAAAT"@A,hrAu@A)Ag=A(:AfAHA*AM9?2A6׽:AF<BAM9?JA6׽RAFܰ`e`)?)\I@ I٘i)I9u@YG JUC=JfJJJE&K9x> Y7X~?yGʧLTA:~E77j7&9)B[[[`@[X~?[[[[[BZYY iP) /WIE?i7?y< ))O@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037793.183165 s, next control iter: 1743037793.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037793.583165 s.VJ~,SeX)AJ"J*J2J:JBJnJvJA)\ @A, @AmZ~? A A"&"AAnNA"AZAbAjArAzAAAOo:"@ÃhrA5u@AyqAą=A``9A@[A,Aʾ*A89?2A&׽:A<BA89?JA&׽RA<٘i)I9u@YjG JJJJJE&K YX~?y<̧SAEb7b7'9)BnE[[a@[hX~?[[[[[BZYY i) IE?i? < so))so@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037793.603165 s, next control iter: 1743037793.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11292, header.stamp.nsec: 00 temperature: 13.385783* salinity: 33.391678, density: 1025.000000* values[0]: 0.702663F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037794.003165 s.x VJ~,L4X)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743037794.003315F (some fields omitted in printout)AR+@A}@ASZ~? A A"&"AAnNA"AZAbAjArAzAAAL@1!@AaKirAz u@AFA(Z=A8A@MA񹶿A*A`9?2Aֽ:A<BA`9?JAֽRA<٘i)I9 u@Y$G JJJJJE&K YX~?y0ΧSAE)9)BkE[[ b@[-X~?[[[[[BZYY i) ̻IF?i?j< ?))? @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037794.023165 s, next control iter: 1743037794.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037794.423165 s.u&VJ~,wX)AJ"J*J2J:J3?BJ3?nJ<5vJA{Ga@A;T@A9Z~? A A"&"AAnNA"AZAbAjArAzAAAM9!@AirA,t@ARr;A=Aw6A=AvAvF*A9?2AZֽ:A=<BA9?JAZֽRA=<٘i)I9t@YG JQJJJJ E&K Y}X~?y$Ч YAGX~?yԧRA:4Ej7j7.9)BcE[[zf@[QX~?[i[[[[BZYY i) IPF?ik?< P))P{@绪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037795.283165 s, next control iter: 1743037795.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 112942, header.stamp.nsec: 020 temperature: 13.3861962* salinity: 33.3916632, density: 1025.0000002* values[0]: 0.7009402F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037795.683165 s.l:VJ~,xX)AA(\@A@@AY~? AA}"&"AA-nNA"AZAbAjArAzAAAVNy]@A=8lrA4s@A<A|0=Az2AA¿A挼*AQ9?2AXֽ:A,=BAQ9?JAXֽRA,=٘i)I94s@YG JJJJJ(E&K Y,X~?yק*RAEZ709)B`E[[,g@[(uX~?[[[[[BZYY i) C$I-jF?i?!$< '))'←@5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037795.683165 s, next control iter: 1743037796.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743037796.103165 s.AVJ~,Y)AJ"J*J2J:JBJnJvJAQ8@A ސF+@AY~? AA^"&"AAYnNA"AZAbAjArAzAAA2Hz)@A `BmrA%r@AeA;=Ax1AAwĿA*A9?2Ak׽:A=BA9?JAk׽RA=٘i)I9r@YG JȋJJJJ+E&K YX~?yڧQAE7729)B[[7i@[Y_X~?[[[[[BZYY i) (4IF?i?< I))I{@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037796.123165 s, next control iter: 1743037796.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037796.523165 s.GVJ~,1|!Y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037796.523323F (some fields omitted in printout)AHzn@A$a@AEY~? AAs;"&"AAmNA"AZAbAjArAzAAA~@A~=YenrA5Kr@A\A۫=AA0AAƿA*A@9?2AC׽:AF`=BA@9?JAC׽RAF`=٘i)I9Kr@YwG JJJJJ.E&K YW~?y]ݧsQAE7777^49)B]E[[uj@[IX~?[Z [[[[BZYY i) CIF?i?͡< o))o꿩\@HĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037796.543165 s, next control iter: 1743037796.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11295, header.stamp.nsec: 00 temperature: 13.386426* salinity: 33.391663, density: 1025.000000* values[0]: 0.700087F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037796.943165 s.]dNVJ~,W]WY)AA@A>@A Y~? AA!&"AAmNA"AZAbAjArAzAAA.!^@AෆprA]q@Ao-A=A-A A SʿA *Aܲ9?2AUֽ:ACk=BAܲ9?JAUֽRACk=YbV@-y=-ٓH ?i sڿ@p=F~ݭ`!?)bV@ I٘i)I9]q@YG J돼C=J-]<JJJ3E&K!x> Y|W~?yPA-Ej7Z779)BWE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #68q/D^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) 7~b)˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037797.383165 s, next control iter: 1743037797.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11296&, header.stamp.nsec: 0&0 temperature: 13.386647&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.699225&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037797.783165 s.U[VJ~,rY)AJ"J*J2J:J3?BJ3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.075837< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037797.783288F (some fields omitted in printout)A(\@AB]P@A%oY~? A8A!&"AAnmNA"AZAbAjArAzAAAu*sg@AbwcrrAp@A\G:Ar=Ak,A/dA0!̿A.9*A'9?2Avֽ:AHQ =BA'9?JAvֽRAHQ =٘i)I9p@YG J JJJJ6E&K YɨW~?y{QPAE{7{799)BTE[[.n@[H X~?[Z[[[[BZYY i) qI1F?i@淮< ;Z)) ;Z㿩L9@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037797.823165 s, next control iter: 1743037798.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037798.203165 s.cVJ~,Y)AAQE@A8@AlVY~? AA!&"AAImNA"AZAbAjArAzAAAΞ;@A3srA#Vp@Aȗ9<AϜ=A+Aj;AοAw*A7z:?2A:A=BA7z:?JARA=٘i)I9Vp@YFG JJJJJ8E&K YW~?y!OAEj7j7;9CB)BQE[[^jo@[ W~?[[[[[BZYY iPѭ) zIFF?i @'< nU))࿩*א@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037798.223165 s, next control iter: 1743037798.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037798.623165 s.YiVJ~,eY)AJ"J*J2J:JBJnJvJAGz@Am@A=Y~? Ap A!^!&"AA#mNA"AZAbAjArAzAAAOIC@ArurAo@Ai<A@=AX*A w'A ϿAޜ*A:?2A½:AY=BA:?JA½RAY=٘i)I9o@YG JJJJJ;E&K YbuW~?yOAE)7ŧ7S=9)ůB[[p@[/W~?[[[[[BZYY i) I8G?i@< So޿))So޿t@ӪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037798.663165 s, next control iter: 1743037799.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11297 , header.stamp.nsec: 0 0 temperature: 13.386894 * salinity: 33.391659 , density: 1025.000000 * values[0]: 0.698286 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037799.043165 s.pVJ~,Y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084872< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037799.043325F (some fields omitted in printout)A= ף@A噗@AR%Y~? A8#Ar)!&"AAclNA"AZAbAjArAzAAA9H2,@A]LFwrA8o@AG<AHכ=A̻)A@9 AпA䪼*A:?2A:Ž:A=BA:?JA:ŽRA=٘i)I98o@YG JwJJJJ>E&K Y[W~?ym&OAESI787?9)ɯBOE[[dq@[W~?[J#[[[[BZYY i) DI6G?i@x< ܿ))ܿ@֪Y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037799.083165 s, next control iter: 1743037799.443180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037799.463165 s.[wVJ~,Y)AJ"J*J2J:JBJnJvJAffff@AZ@A Y~? A&Aw &"AAPlNA"AZAbAjArAzAAA$گ@A9k yrAn@A";A=A(AA@ ?ѿA㧩*A:?2AmȽ:As=BA:?JAmȽRAs=Yܔ[@(y=;ٓHD&?l@߿A%p #sc??)ܔ[@ I٘i)I9n@YAG JTJG<<JJJ@E&KE> YCW~?yNA(E7777@9)ͯBLE[[s@[qW~?['[[[[BZYY i) 3IVG?i@_< ٿ))ٿ{@y  ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037799.503165 s, next control iter: 1743037799.863181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11298, header.stamp.nsec: 00 temperature: 13.387146* salinity: 33.391651, density: 1025.000000* values[0]: 0.697260F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037799.883165 s.y}VJ~, YBV~?y LA"E777I9AB)B@E[[y@[aW~?[?[[[[BZYY i) ^nIH?i)@@< Ϳ))Ϳ@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037801.603165 s, next control iter: 1743037801.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11300, header.stamp.nsec: 00 temperature: 13.387670* salinity: 33.391621, density: 1025.000000* values[0]: 0.695162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037801.983165 s.J "J *J 2J :J 1?BJ 1?nJ :5vJ VJ~,~Z)AA\(@A@A~X~? Ac:AEp&"AAlNA"AZAbAjArAzAAAXBH @AM4jrAk@Ah<A=A AAֿAв̼*AE:?2Anӽ:A'=BAE:?JAnӽRA'=٘i)I9k@YG JȼC=JJJJQE&K Y%V~?y,LAE7K9BB)BAE[[Nz@[PW~?[D[[[[BZYY i) üIE*H?i,@0Z< 7˿))7˿MI@jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037802.003165 s, next control iter: 1743037802.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037802.403165 s.&VJ~,͙Z)AAQ^@A8hQ@AgX~? AB>A4&&"AAkNA"AZAbAjArAzAAA&a@AULJrAjj@AIn<A=AqA@2AֿAм*AD;:?2A[Խ:AJ=BAD;:?JA[ԽRAJ=٘i)I9jj@YG JμJJJJSE&K YV~?yKAE{7j7tM9AB)B>E[[{@[?W~?[J[[[[BZYY i) ?ʼI=PH?i0@< ȿ))ȿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037802.423165 s, next control iter: 1743037802.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11301", header.stamp.nsec: 0"0 temperature: 13.387959"* salinity: 33.391624", density: 1025.000000"* values[0]: 0.693984"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037802.823165 s.VJ~,lZ)AJ"J*J2J:J1?BJ1?nJJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084872< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743037802.823347F (some fields omitted in printout)AGz@Aar@A6QX~? AFBAW&"AAHkNA"AZAbAjArAzAAAT@Ay:rAi@A;AԱ=AA`NA4׿AeѼ*A%2:?2Aս:A[=BA%2:?JAսRA[=٘i)I9i@Y@G JѼJJJJVE&K YV~?yDKAE>O9)B;E[[|@[{/W~?[KO[[[[BZYY i) HҼIwH?i4@<  Zƿ)) ZƿXy@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037802.863165 s, next control iter: 1743037803.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037803.243165 s.VJ~,`Z)AAףp=@Ap]1@A:X~? AnFA&"AA'kNA"AZAbAjArAzAAA,@AYČrAK i@A>yA=AA AOؿA. м*A):?2Agoֽ:A=BA):?JAgoֽRA=٘i)I9 i@Y G JѼJJJJYE&K YlV~?y !JAE77 Q9@B)B8E[[W}@[W~?[T[[[[BZYY i) ,ټIОH?i8@a< Ŀ))Ŀ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037803.263165 s, next control iter: 1743037803.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037803.663165 s.VJ~,qZ)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11302, header.stamp.nsec: 00 temperature: 13.388293* salinity: 33.391602, density: 1025.000000* values[0]: 0.692717F (some fields omitted in printout)A@At@A$X~? AJA57&"AArwkNA"AZAbAjArAzAAAP@A]edrA\h@ARA =ASAPAkٿA{ϼ*Ab!:?2Aj׽:A=BAb!:?JAj׽RA=YTh@@fy =SٓH?DK+ 5@y^ ?)Th@ I٘i)I9\h@Yk G JϼJ <JJJ[E&K<|> YrWV~?y&WJAfER9)B[[T @[W~?[Y[[[[BZYY i) vI!H?iz;@< נ))נ@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037803.683165 s, next control iter: 1743037804.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743037804.083165 s.DVJ~,R[)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084872< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037804.083287F (some fields omitted in printout)A)\5@A^(@AX~? A+OA&"AA-VkNA"AZAbAjArAzAAAIS?ABrAƭg@AxA<=AA@AK9ڿAoѼ*A:?2A3׽:A^=BA:?JA3׽RA^=٘i)I9g@Y G JLмJJJJ^E&K YBV~?y,IAE)7ŧ7T9?B)B5E[[@[zW~?[t_[[[[ZZ¸BZYY i¸=) ԼIH?is>@< C))C>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037804.103165 s, next control iter: 1743037804.483175 s, wait time: 0.380010 sBV~?), rAdjusting time to match Gazebo time: 1743037804.503165 s.J "J *J 2J :J -1?BJ -1?VJ~nJ95vJ,U4 [)AARk@Ap[[x^@AtW~? ASA&"AAZ5kNA"AZAbAjArAzAAAm?AnXrAf@AA>U=AA@A@tۿAּ*Ap:?2A׽:A=BAp:?JA׽RA=٘i)I9f@Y G JӼJJJJaE&K Y,V~?yP2fIAEb77iV9)B3E[[Q@[V~?[d[[[[ZZBZYY i) ȼII?iA@< ;꼿));꼿Lՙ@YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037804.523165 s, next control iter: 1743037804.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11303, header.stamp.nsec: 00 temperature: 13.388589* salinity: 33.391632, density: 1025.000000* values[0]: 0.691451F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037804.923165 s.;VJ~,;[)AA{G@A;@ADW~? AsXA/&"AAkNA"AZAbAjArAzAAAMyyE?AqėrA2f@AM:A=AxA`dA ۿA/*A:?2Aֽ:A<BA:?JAֽRA<٘i)I92f@Y G J_JJJJcE&K YxV~?y8HAEŧ7b74X9)B[[H@[V~?[j[[[[ZZBZYY i) |IiE@< +))+j@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037804.943165 s, next control iter: 1743037805.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037805.343165 s. elevatorAngleAction: 0.083276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037805.343315F (some fields omitted in printout)Ap= @A<*@AfW~? AI]A&"AAjNA"AZAbAjArAzAAA:gC?A%rARe@A4<A8=A 6A@AŁܿAF*A!:?2ATֽ:A<BA!:?JATֽRA<٘i)I9Re@Y G JJJJJfE&K Y%V~?y=tHAEb77Y9)B0E[[P݁@[V~?[4p[[[[ZZBZYY i) IiI@= ?B))?BK@y(=qӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037805.363165 s, next control iter: 1743037805.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11304*, header.stamp.nsec: 0*0 temperature: 13.388940** salinity: 33.391594*, density: 1025.000000** values[0]: 0.690028*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037805.763165 s.;VJ~,0p[)AA @ADX@AۺW~? A@bA s&"AAjNA"AZAbAjArAzAAA3?AbrAvd@As<At=AA}bA@AݿA*A':?2Akֽ:Ar<BA':?JAkֽRAr YU~?y>D"HAE777[9>B)B,E[[s@[V~?[u[[[[ZZBZYY i) eIiL@= 鵿))鵿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037805.783165 s, next control iter: 1743037806.163180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037806.183165 s.VJ~,V[)AJ"J*J2J:JBJnJvJA(\B@Au׃5@AW~? AXgA&"AA˶jNA"AZAbAjArAzAAA-P͆:?A9=۠rAc@A -<AS.=AvAA޿AIӼ*Af):?2Aֽ:A;BAf):?JAֽRA;٘i)I9c@Y G JNJJJJkE&K YfU~?yJGAE]9)!B[[G @[jV~?[{[[[[ZZBZYY i) 8&IiN@n[= c))cB+@>uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037806.203165 s, next control iter: 1743037806.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037806.603165 s.S4VJ~,$[)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743037806.603349F (some fields omitted in printout)AQx@A¢"Nk@AW~? AlAT&"AAbjNA"AZAbAjArAzAAAB1c?AH$ rAZc@A9A.1<AEA`AZ޿An_*A-':?2A4ֽ:A+`BA-':?JA4ֽRA+`٘i)I9c@Y0 G J¼B=JJJJnE&K YU~?yQ~GAEŧ7b7__9)&B*E[[D@[FV~?[[[[[ZZBZYY i) M䎼IiQ@]= o>))o>?@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037806.643165 s, next control iter: 1743037807.003199 s, wait time: 0.360034 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11305 , header.stamp.nsec: 0 0 temperature: 13.389314 * salinity: 33.391579 , density: 1025.000000 * values[0]: 0.688514 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037807.023165 s.ZVJ~,{[)AJ"J*J2J:JB0?BJB0?nJ85vJAHz@A΍ @A7W~? AqA@E&"AA|zjNA"AZAbAjArAzAAA2`('?A&[)AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083276< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037807.863302F (some fields omitted in printout)A@A G @A2YW~? A|Ao&"AAG@jNA"AZAbAjArAzAAAyCQy̿A8!rAb@A\AA^A`A?mAU*A :?2Aֽ:AkBA :?JAֽRAkYu@YyA\ٓH`r`f?p?fu?>?( T?)u@ I٘i)I9b@Y G JJ$FJJJvE&Kw> YU~?ydFAYE)7ŧ7d9)-B[[Z@[2V~?[[[[[ZZBZYY io=) d^Ii[@P{ = ?O))?O |@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037807.903165 s, next control iter: 1743037808.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037808.283165 s.7RWJ~,\)AA(\O@A}.PB@AFW~? AA&"AA$jNA"AZAbAjArAzAAAu9ܿA0T*rA!a@A1tA֌ A A@xA`A7h*A}9?2Aֽ:A ڼBA}9?JAֽRA ڼ٘i)I9a@Y~ G Jt_JJJJyE&K Y~U~?ykGAE777f9)$E[[+@[{V~?[ę[[[[BZYY i=) LIi^@= ))&@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037808.303165 s, next control iter: 1743037808.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 113072, header.stamp.nsec: 020 temperature: 13.3896412* salinity: 33.3915942, density: 1025.0000002* values[0]: 0.6871772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037808.703165 s.Ժ WJ~,-\)AJ"J*J2J:JBJnJvJAQ@A4Dx@A4W~? AA1&"AAMjNA"AZAbAjArAzAAA*A= rA(a@Ai9;A:AD A{A Az!f;*Ad9?2AB׽:A8vBAd9?JAB׽RA8v뼙٘i)I9a@Y G JӅ:JJJJ|E&K YmU~?yr4GAE{7j7Th9)"E[[@[ApV~?[[[[[BZYY i) \:Ii`@$= ۰))۰@z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037808.723165 s, next control iter: 1743037809.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037809.123165 s.8WJ~,aG\)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037809.123284F (some fields omitted in printout)AG@AY8֭@A"W~? ApAo&"AA0iNA"AZAbAjArAzAAAo xA0 )rAcb@AKl<A^Ab AȈ߿ACnAx;*A29?2Aoh׽:ABA29?JAoh׽RA٘i)I9b@Y G Jʧ;JJJJ~E&K Ys\U~?yyRGAE77{7j9),B[[R@[geV~?[[[[[BZYY i) {(Ii4d@ = 7f))7fM6@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037809.143165 s, next control iter: 1743037809.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037809.543165 s.IWJ~,b\)AJ"J*J2J:J/?BJ/?nJz85vJA= ף@ACF@AW~? A|A{&"AAiNA"AZAbAjArAzAAAw@0A4t4jrAOb@AЀd<AV|A A޿A``A-<*A9?2AUH׽:A=BA9?JAUH׽RA=٘i)I9Ob@Y G J <JJJJE&K Y>KU~?ypGAE{7j7k9[@AW~? AAh2&"AAiNA"AZAbAjArAzAAAї=NAr3,rAb@Ay;AWAA`I޿A@ Ae<*AW9?2Aֽ:AQ BAW9?JAֽRAQ YC|@wySW/z;ٓHVB??0 h ?G?x?+?)C|@ I٘i)I9b@Y G J]G<Jl߽JJJE&Kx> Yo elevatorAngleAction: 0.056672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743037810.383283F (some fields omitted in printout)A(\@A3k) O@AVV~? A砩AI&"AAoiNA"AZAbAjArAzAAA&"AAiNA"AZAbAjArAzAAAm*[yAWrbrA,c@AMaAA8LA ܿA`%A<*A9?2AZHֽ:An BA9?JAZHֽRAn ٘i)I9c@Y} G JV<C=JJJJE&K YU~?ysHAE77Iq9,B)BE[[\@[=V~?[`[[[[BZYY i) 1mлIin@·= C))C~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037810.823165 s, next control iter: 1743037811.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037811.223165 s.g3WJ~,H\)AJ"J*J2J:JBJnJvJAz@AqTn@AV~? AA&"AAniNA"AZAbAjArAzAAAǓpA rAd@A5=wAmXA A&ۿA AJ<*A;9?2A_ֽ:A& BA;9?JA_ֽRA& ٘i)I9d@Y G J<JJJJE&K YU~?yHAE7777s9) B[[@[4V~?[Ũ[[[[BZYY i) AlIiq@= ))@yeh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037811.263165 s, next control iter: 1743037811.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037811.643165 s.y9WJ~,*\)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056672< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743037811.643291F (some fields omitted in printout)A ףp@A+f@AaV~? AHAB&"AA:WiNA"AZAbAjArAzAAA)A0&rAd@Au AYAA`ۿA`5Aq\<*Aq9?2A˻ֽ:AVN BAq9?JA˻ֽRAVN ٘i)I9d@Y/ G JQ<JJJJE&K Y6U~?yt@IAE{7t9+B)BE[[+~@[D,V~?[.̨[[[[BZYY i=) rIiu@6= Ӿ))Ӿ&@*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11310, header.stamp.nsec: 00 temperature: 13.389287* salinity: 33.391518, density: 1025.000000* values[0]: 0.689104F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037811.663165 s, next control iter: 1743037812.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037812.063165 s.@WJ~,R ])AJ"J*J2J:Ji0?BJi0?nJ85vJA33333@A'&@AV~? AﺩA&"AAs@iNA"AZAbAjArAzAAAKHA3ʝrA'He@A&;AAMAFڿA|AtK<*A9?2A(׽:ABA9?JA(׽RAYTd@Pyh,';ٓH@Ǿۿ?4?L@/ۿ? YT~?yaIAPE77v9)B[[q@[ $V~?[Ҩ[[[[BZYY i) hIiv@y= y))yl1@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037812.103165 s, next control iter: 1743037812.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037812.483165 s.}_GWJ~,])AA\h@AM[@A=V~? AAG>&"AAX*iNA"AZAbAjArAzAAAyZȾAQ*'rAe@A&I<AAA wٿA PAq<*A>9?2An׽:A\BA>9?JAn׽RA\٘i)I9e@Y G J<JJJJE&K YT~?yNJAE77j7tx9*B)BE[[J@[6V~?[5٨[[[[BZYY i) d,Iix@= W6))W6E¤@?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037812.523165 s, next control iter: 1743037812.883183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11311, header.stamp.nsec: 00 temperature: 13.389026* salinity: 33.391506, density: 1025.000000* values[0]: 0.690300F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037812.903165 s.MWJ~,9])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037812.903284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A1@AWV~? AȩA&"AAiNA"AZAbAjArAzAAA B=A14c-rAFhf@A6<AADA`ؿA`8AA<*A9?2Am׽:A1tBA9?JAm׽RA1t٘i)I9hf@Y: G Jw<JJJJE&K YcT~?y<wJAE77?z9)B[[0@[V~?[ߨ[[[[BZYY i) IIiz@ = ))􎿩R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037812.923165 s, next control iter: 1743037813.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037813.323165 s.zTWJ~,6T])AAGz@AeVp@AV~? AsϩAY3&"AA+iNA"AZAbAjArAzAAA⬄Ar%hrA;f@Av/<A0NAA׿AKBAޤ<*AI9?2A,׽:AJBAI9?JA,׽RAJ٘i)I9f@Y G Jj<JJJJE&K YT~?y)ƨJAE{7{7 |9)B[[`@[ V~?[O[[[[BZYY i) OIi}@ S"= ))[@yl=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037813.343165 s, next control iter: 1743037813.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11312*, header.stamp.nsec: 0*0 temperature: 13.388772** salinity: 33.391499*, density: 1025.000000** values[0]: 0.691439*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037813.743165 s.W[WJ~,uo])AJ"J*J2J:JBJnJvJAףp= @A7n1@A{V~? Au֩A^&"AAhNA"AZAbAjArAzAAAAvGrA}g@Av9AqA2A׿A~A)T<*A_:?2AEֽ:A>BA_:?JAEֽRA>٘i)I9}g@Y G J<JJJJE&K YT~?yΨGKAE777}9)B)BE[[fO@[V~?[[[[[BZYY i) 9Ii\@-M$= y))yaq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037813.783165 s, next control iter: 1743037814.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037814.163165 s.{}bWJ~,q])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743037814.163330F (some fields omitted in printout)A@@A2@A_oV~? AݩA!&"AAhNA"AZAbAjArAzAAAӹ˪AիrAh@Ac])AAA@.ֿA@AFK<*AN:?2A(ֽ:ABAN:?JA(ֽRAY@y)ٓH տ? /?տw?c̱?+?)@ I٘i)I9h@Y8 G JY<Je<JJJE&Kix> Y6T~?y^֨KAE9)BE[[ߍ@[V~?[[[[[BZYY i) Nj:Ii@ %= {9)){9|@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037814.183165 s, next control iter: 1743037814.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037814.583165 s.hWJ~,S])AJ"J*J2J:JBJnJvJA)\u@A裌h@AMcV~? AA&"AA hNA"AZAbAjArAzAAA:ck ApbrAh@A }AAAWտAYA<*A:?2A{ֽ:ABA:?JA{ֽRA٘i)I9h@Y G JI<JJJJE&K YT~?yިLAE77j9)B[[Fo@[U~?[0[[[[BZYY i) q;Iiׁ@1&= g))gA@¾*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037814.603165 s, next control iter: 1743037814.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11313, header.stamp.nsec: 00 temperature: 13.388557* salinity: 33.391487, density: 1025.000000* values[0]: 0.692597F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037815.003165 s.z pWJ~,U4])AAR@A{,}@AWV~? AA &"AAhNA"AZAbAjArAzAAAnk, A# rA4i@AMKA!iA1zA{ԿA@(A p<*A:?2Aֽ:ABA:?JAֽRA٘i)I9i@Y G J<JJJJE&K YT~?yfLA E49)BE[[@[]U~?[[[[[BZYY i) @;Ii܂@v'= )) @I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037815.023165 s, next control iter: 1743037815.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037815.423165 s.uvWJ~,])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065910< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199062 time: 1743037815.423281F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A;@ALV~? ADA|&"AAբhNA"AZAbAjArAzAAAͿ}: ADrAi@A9A%AAӿA\A!<*A:?2A ׽:AȈBA:?JA ׽RAȈ٘i)I9i@Y,G Jט<JJJJE&K YST~?y4LA E9)ܯB[[Y@[*= m~))m~=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037815.883165 s, next control iter: 1743037816.243180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037816.263165 s.WJ~,,^)AJ"J*J2J:JBJnJvJAL@A^a?@A7V~? AA[&"AAhNA"AZAbAjArAzAAA:dX2 A]bXRrAj@AIu<Aav<ٓHϿ ?jR?`g Ͽ?܄?}??) @ ItI٘i)I9j@YG JԈ<C=JoC<JJJE&Kx> YЌT~?y~MAE9(B)ԯBE[[@[U~?[[[[[BZYY i) Z;Ii@t+= z))z̩@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037816.283165 s, next control iter: 1743037816.663181 s, wait time: 0.380016 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 113156, header.stamp.nsec: 060 temperature: 13.3881216* salinity: 33.3914576, density: 1025.0000006* values[0]: 0.6946766F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037816.683165 s.lWJ~,+^)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037816.683333F (some fields omitted in printout)A(\@A#u@A(.V~? A A&"AAshNA"AZAbAjArAzAAA[ EMA9_*sA:j@A*c<AAA@пA`AEk<*AU9?2AU׽:ABAU9?JAU׽RA񼙘٘i)I9j@YG Jǃ<JJJJE&K YT~?yMAEZ7_9)ЯB[[i9@[U~?[[[[[BZYY i)  ;Ii@^R,= u))ud[@ϳ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037816.683165 s, next control iter: 1743037817.083186 s, wait time: 0.400021 s rAdjusting time to match Gazebo time: 1743037817.103165 s.#WJ~,F^)AJ"J*J2J:J1?BJ1?nJ:5vJAQ@ADmF@A%V~? A-A6&"AA?ehNA"AZAbAjArAzAAAyCAd*sAbk@Aaױ;AAmIAz пA ?A<*A9?2A`ֽ:ArnBA9?JA`ֽRArn٘i)I9bk@YBG J<JJJJE&K YT~?y0NAEj7*9)ͯBE[[Ǒ@[zU~?[{"[[[[BZYY i) i;Ii}@4m-= /q))/q@y}=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037817.123165 s, next control iter: 1743037817.503184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743037817.523165 s.WJ~,{a^)AAHz@A!A @AYV~? AAN&"AAWhNA"AZAbAjArAzAAAv&)>A/^. sAk@AoAjAA`OοA>A#<*A9?2Aֽ:A_BA9?JAֽRA_٘i)I9k@YG J3<JJJJE&K Y-xT~?yNAEb779)ɯB[[U@[>U~?[<)[[[[BZYY i) ] elevatorAngleAction: 0.074694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037817.943298F (some fields omitted in printout)Aq= #@AFt@A/V~? A{ A &"AAJhNA"AZAbAjArAzAAAG'IAFsAxGl@AIfA A<޿A+̿AdAq<*A9?2Apֽ:A+BA9?JApֽRA+٘i)I9Gl@YG J<B=JJJJE&K YKqT~?y5"NAE7779)ƯB[[d@[eU~?[/[[[[BZYY i) _S^)AAY@ArdL@A V~? A5(Av &"AA>hNA"AZAbAjArAzAAAű[AC2sAl@AjtAΉAۿA"ʿA@AU<*A9?2Ayֽ:ABA9?JAyֽRAY\,@ۿyʉ}tٓHV¿?@R ?`¿({?`6?@?)\,@ I٘i)I9l@YG Jk<C=JcӻJJJE&KXx> Y=mT~?y*>OAۿEŧ7b79'B)BE[[q@[U~?[6[[[[BZYY i) p, elevatorAngleAction: 0.074694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037819.203310F (some fields omitted in printout)AQ@A R@AU~? A7AG &"AA-)hNA"AZAbAjArAzAAA+Z'MAS sAm@AvS;AAAֿAaƿAAYڌ<*A9?2Ax8׽:A9BA9?JAx8׽RA9٘i)I9m@YG JՍ<JJJJE&K Y eT~?y[<OA$Eŧ7ŧ79)B[[+@[U~?[_D[[[[BZYY i) K elevatorAngleAction: 0.083836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037820.463294F (some fields omitted in printout)Afffff@ANZY@AU~? AzOAy &"AA{hNA"AZAbAjArAzAAALa߈ArI.sAo@A$<AĔA`οAPAAH<*A9?2A׽:A BA9?JA׽RA Yn@fxοy Ô$<ٓH  ?`Έ|@@?1?]?`?)n@ I٘i)I9o@YG Jِ<JPJJJE&KXx> Y[T~?yVQAxο,E7{79(B)BE[[4@[2U~?[X[[[[BZYY i) z elevatorAngleAction: 0.083836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743037821.723304F (some fields omitted in printout)Az@A ;@AU~? AlgA'&"AAgNA"AZAbAjArAzAAA=sF VAq+=sAp@AoAIsA`ƿA`kArLA<*A9?2ABֽ:ABA9?JABֽRA٘i)I9p@YwG J <B=JJJJE&K Y>XT~?yp@RA4Eb7b7ߟ9)BE[[Ŀ[U~?[m[[[[BZYY i) b YXT~?ySAn9E7{7u9)B[[k[U~?[z[[[[BZYY i) % elevatorAngleAction: 0.083836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743037822.983304F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Aw@AxU~? AA&"AAWgNA"AZAbAjArAzAAAAKsA|ar@A <AA亾AŧAmAl<*A9?2AVH׽:AڒBA9?JAVH׽RAڒ٘i)I9ar@YG J<JJJJE&K YiZT~?yVSAq8= _b3))_b3_b3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037823.003165 s, next control iter: 1743037823.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037823.403165 s.&WJ~,_)AAQ@A]@AU~? AAQ3&"AAgNA"AZAbAjArAzAAA߈iAxPsAEr@A`w<AHAA  A@sA<*A59?2Aa׽:Ai?BA59?JAa׽RAi?٘i)I9r@YG JL<JJJJE&K Y\T~?ySA?E77 9)BE[[[U~?[[[[[BZYY i) `)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201112 time: 1743037824.243405F (some fields omitted in printout)Aףp=J@A4=@AU~? AA+&"AAgNA"AZAbAjArAzAAA`:6$AZsAm0t@AAO;A3A4AeZA wAf<*Ag9?2Aֽ:A&[BAg9?JAֽRA&[٘i)I90t@YG J<B=JJJJE&K Yu_T~?yTADEb79,B)B[[[U~?[v[[[[BZYY i) ڃ<C=JfJJJE&K x> YcT~?y^@UAhGE{7j7j9)B[[t[U~?["[[[[BZYY i)  elevatorAngleAction: 0.083836< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037825.503297F (some fields omitted in printout)AR@AVy@AU~? AAf&"AA gNA"AZAbAjArAzAAArD AzRqisAx8v@AoAP뱽Ay[A`.ե?AlAz<*Aǡ9?2A^0ֽ:AKBAǡ9?JA^0ֽRAK٘i)I98v@YG Js<JJJJE&K Y mT~?y,VALE77779){B[[[U~?[o[[[[BZYY i) '= elevatorAngleAction: 0.092815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037826.763292F (some fields omitted in printout)Ǎ@AC@AU~? AȪAH&"AA2gNA"AZAbAjArAzAAA7A)*xsAZKx@AgyU<ASA9Aw?AIAD<*A9?2Am@׽:ABA9?JAm@׽RAY4@/_y2OKV<ٓHc??q?໽?@b?`?`?)4@ I٘i)I9Kx@YG JF<JJzJJJE&KHx> Yu}T~?y٩WA_TE77j7_9)kB[[߁[U~?[.[[[[ZZZZ¸>BZYY i¸>é) 7a)AJ"J*J2J:JBJnJvJA@A$@AU~? AA>%"AA`hNA"AZAbAjArAzAAA]AeDjsA1|@Ao>pAd3AjsA?A`Ay<*Ag9?2Aeֽ:A0BAg9?JAeֽRA0Y6u@M^yp3ypٓHv??_`?`=?y?`@9?)6u@ I٘i)I91|@Y~G J<B=J=JJJE&Kw> YT~?yYA^bE77U9)NB[[[V~?[ݩ[[[[ZZZZBZYY i ) НJJJ E&K3w> YT~?y,tZAcoEb77Jǔ92B)BB$E[[[8V~?[[[[[BZYY ik) XS9?2AN׽:A1=BA>9?JAN׽RA1=٘i)I9}@Y^G JJJJJE&K Y%U~?yEDYA DwEZ7Z7̔9)FB[[U[ETV~?[[[[[BZYY i) n<V~? A4A=%"AAe|hNA"AZAbAjArAzAAA ALVsAR}@A`Am=A܂Ax?A AV*A9?2Aֽ:A+=BA9?JAֽRA+=٘i)I9R}@Y.G J(;JJJJE&K Y U~?y'LYAzE{7{7uΔ9)IB[[AƋ[ ^V~?[[[[[BZYY i) , YU~?ySdYAa|E77@Д95B)MB,E[[[EhV~?[[[[[BZYY ij) o;Iio@Y7= 3))33GƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037833.083165 s, next control iter: 1743037833.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037833.483165 s.t_XJ~,^b)AA\!@A[!@ATV~? ACA%"AA hNA"AZAbAjArAzAAAq߃ AzEsAw|@AY;At=A{A0?A@-A*Ak9?2A)ֽ:A!=BAk9?JA)ֽRA!=٘i)I9w|@YG J͍JJJJE&K Y?+U~?y[YAE7777 Ҕ9)QB[[a[rV~?[v![[[[BZYY i) /;IiŽ@6= ~g))~g~g,ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037833.503165 s, next control iter: 1743037833.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11332, header.stamp.nsec: 00 temperature: 13.567640* salinity: 33.375008, density: 1025.000000* values[0]: 0.580645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037833.903165 s.ȝXJ~,yb)AJ"J*J2J:JBJnJvJAQ"@AQd"@A{_V~? AJA%G%"AAhNA"AZAbAjArAzAAAao A ͦsA{@A^<A׫=AvA` ?A=Aі*A9?2Aս:A=BA9?JAսRA=٘i)I9{@YVG J]JJJJE&K Yo:U~?ymbXAEb77Ӕ96B)VB/E[[-[}V~?[X'[[[[BZYY i)  ;IiC@6= v))vv+֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037833.923165 s, next control iter: 1743037834.303176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037834.323165 s.vXJ~,%b)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037834.323313F (some fields omitted in printout)AGzT"@AnG"@A\kV~? AQA"%"AAhNA"AZAbAjArAzAAAunKNAVsAZ{@Aur<Aߜ=AmqA?AAҴ*A9?2AAֽ:Aլ=BA9?JAAֽRAլ=٘i)I9Z{@YG JJJJJ E&K YIU~?yiBXAEՔ9)[B[[[ʈV~?[,-[[[[BZYY i) 0נ;Ii@5= \s))\s\sy= kתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037834.363165 s, next control iter: 1743037834.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11333*, header.stamp.nsec: 0*0 temperature: 13.567869** salinity: 33.375008*, density: 1025.000000** values[0]: 0.580026*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037834.743165 s.WXJ~,ib)AJ"J*J2J:J|?BJ|?nJ5vJAףp="@A^2}"@AwV~? AYA.%"AAhNA"AZAbAjArAzAAAd0XZ#AsAz@A5<Aܛ=A2lA?AAA?*A9?2Alֽ:AE =BA9?JAlֽRAE =٘i)I9z@YG JJJJJ"E&K YXU~?yFqWAEjה98B)aB3E[[À[LV~?[2[[[[BZYY i) k*;Iiԍ@Ɗ5= |a))|a|a֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037834.783165 s, next control iter: 1743037835.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037835.163165 s.v}XJ~,qb)AA"@A =b"@AV~? A`A%"AAhNA"AZAbAjArAzAAAkAXʊsAZ)z@An/AY=AbfA?A KA5*Ay9?2Aֽ:An=BAy9?JAֽRAn=Y6@fysY=/ٓH:?`?@٨?@)`?`-& e@?)6@ I٘i)I9)z@YAG J;J+<JJJ%E&Kx> YWjU~?y-xzWAfE775ٔ9)fB[[3"}[V~?[8[[[[BZYY i) 8G;Iǐ@T94= `IP))`IP`IPOӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037835.183165 s, next control iter: 1743037835.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037835.583165 s.XJ~,Sb)AJ"J*J2J:Jg?BJg?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057325< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037835.583280F (some fields omitted in printout)A)\"@A"3"@AБV~? A gA%"AAhNA"AZAbAjArAzAAAup2Aذ3sAy@AGA0=AODaATi?A/ A'*A9?2A׽:A<BA9?JA׽RA<٘i)I9y@YG JJJJJ(E&K Y{U~?yWAE77{7۔9)lB6E[[x[4V~?[E>[[[[BZYY i)  ;Ii@!$3= >))>>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037835.623165 s, next control iter: 1743037835.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11334, header.stamp.nsec: 00 temperature: 13.568104* salinity: 33.375027, density: 1025.000000* values[0]: 0.579365F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037836.003165 s.y XJ~,P4c)AAR+#@A2z#@AV~? AmAA%"AA$ iNA"AZAbAjArAzAAAT<\A1$T#@AV~? AtA%"AAH!iNA"AZAbAjArAzAAA⫗A_sA|x@A7+As=A$VA?A;Am*Ae9?2Aֽ:Ag<BAe9?JAֽRAg<٘i)I9|x@Y<G J-JJJJ-E&K YU~?y〉EVAEj7j7ޔ99B)uB9E[[o[yV~?[cI[[[[BZYY i) 9IiЊ@<1= <))<<ZĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037836.443165 s, next control iter: 1743037836.823175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11335", header.stamp.nsec: 0"0 temperature: 13.568314"* salinity: 33.375023", density: 1025.000000"* values[0]: 0.578738"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037836.843165 s.XJ~,5c)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066417< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200852 time: 1743037836.843395F (some fields omitted in printout)Ap= #@A?#@AaV~? AZ{A%"AA7iNA"AZAbAjArAzAAAuA8)sA_w@AθAe=A\QA@?AFFA}I*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9w@YG J.JJJJ0E&K YpU~?yɓUAEŧ7b7`9;B){B=E[[ok[V~?[N[[[[BZYY i) 9&Ii@O1=  ))  y,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037836.863165 s, next control iter: 1743037837.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037837.263165 s.XJ~,Pc)AJ"J*J2J:JBJnJvJA#@A l#@AqV~? AA %"AAMiNA"AZAbAjArAzAAA hAsAcqw@AS(<A=ALA?AyA*d*A9?2AhMֽ:A}<BA9?JAhMֽRA} Y"U~?yUALEb77+9)B[['g[V~?[9T[[[[BZYY i) sϺIiT@A/= `))`ゥ`kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037837.283165 s, next control iter: 1743037837.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 113362, header.stamp.nsec: 020 temperature: 13.5684992* salinity: 33.3750342, density: 1025.0000002* values[0]: 0.5781482F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037837.683165 s.lXJ~,gkc)AA(\$@A#@AV~? AnAN%"AAdiNA"AZAbAjArAzAAAganyAkz[sAv@AKy<A0=A{GADY?AnA֥*AF9?2AZEֽ:AkD<BAF9?JAZEֽRAkD<٘i)I9v@YJG JΛJJJJ5E&K YU~?yj'UAE779B)BGE[[8U[W~?[i[[[[BZYY i) Z5Iif@,= B))BBYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037838.983165 s, next control iter: 1743037839.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037839.363165 s.XJ~,>c)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075961< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037839.363298F (some fields omitted in printout)A$@A F$@A W~? AaA%"AAiNA"AZAbAjArAzAAAnXAnsA[u@AKBrÀ=AV2A S?A`A+}*A9?2AHA׽:A<BA9?JAHA׽RA Y(V~?ySA2E7{7 9)B[[P['W~?[$n[[[[BZYY i) _ϻIi @rL*= ))|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037839.383165 s, next control iter: 1743037839.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11338&, header.stamp.nsec: 0&0 temperature: 13.568806&* salinity: 33.375053&, density: 1025.000000&* values[0]: 0.577124&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037839.783165 s.XXJ~,c)AJ"J*J2J:JBJnJvJA(\%@AoKS%@A.W~? AXA*%"AAiNA"AZAbAjArAzAAAlZ=A5:stAt@A#^A[c=A&-A@8?A,Aw*A9?2A>׽:A^<BA9?JA>׽RA^<٘i)I9t@YG JSyJJJJBE&K Y:>V~?yfSAEb779?B)BJE[[3RL[6W~?[s[[[[BZYY i) 9Ii@(= P))PP*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037839.803165 s, next control iter: 1743037840.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037840.203165 s.YJ~, d)AAQE%@A8%@A@W~? A3A%"AAiNA"AZAbAjArAzAAA֣NEqA)tAGt@A"A%!=A(A`[?A@A"~*A9?2Aֽ:Ao<BA9?JAֽRAo<٘i)I9Gt@YG JHyJJJJEE&K YSV~?yVĪSAEj7j79@B)BME[[G[tFW~?[w[[[[BZYY i) \Ii@'= p;))p;p;y}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037840.223165 s, next control iter: 1743037840.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037840.623165 s.X YJ~,a'd)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075961< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037840.623282F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz%@A)m%@ARW~? AA)E%"AAjNA"AZAbAjArAzAAAEӿA(5WtAfs@AB;AYm=A#A?A A_݄*AE9?2Anֽ:AZ=BAE9?JAnֽRAZ=٘i)I9s@YkG J0B=JJJJHE&K YiV~?yɪRAE7779)B[[[C[UVW~?[|[[[[BZYY i) Ii@d&= ~<))~<~<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037840.643165 s, next control iter: 1743037841.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11339 , header.stamp.nsec: 0 0 temperature: 13.568899 * salinity: 33.375057 , density: 1025.000000 * values[0]: 0.576703 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037841.043165 s.YJ~,Bd)AA= ף%@AƄ%@AeW~? AA%"AA4jNA"AZAbAjArAzAAA@ӬQkA s tAis@A"sd<A =AA`|?A~,Af*A9?2A'>ֽ:A.=BA9?JA'>ֽRA.=٘i)I9is@Y&G JEC=JJJJKE&K Y2V~?yϪcRAE77K9)BPE[[>[fW~?[[[[[BZYY i) &Ii|@%= 0#=))0#=0#= YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037841.063165 s, next control iter: 1743037841.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037841.463165 s.WYJ~,]d)AJ"J*J2J:J?BJ?nJ5vJAffff%@AV_%@AxW~? AA=i%"AAPjNA"AZAbAjArAzAAA}DzqW%?AStADr@Ao<A^=A2A`aX?A K߿A*A9?2ATֽ:Akx=BA9?JATֽRAkx=Y@>y1[=p<ٓHl?n? b?@+w? v@H@?n?)@ I٘i)I9r@YG JދB=JD6<JJJME&Kw> YV~?yԪRAE{7j79BB)BUE[[d:[vW~?[+[[[[BZYY i) _6Ii@#= j=))j=j=hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037841.483165 s, next control iter: 1743037841.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11340, header.stamp.nsec: 00 temperature: 13.569045* salinity: 33.375069, density: 1025.000000* values[0]: 0.576237F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037841.883165 s.yYJ~,+xd)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075961< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743037841.883292F (some fields omitted in printout)A(&@AR&@AW~? AvëA%"AAmjNA"AZAbAjArAzAAAaE?AZtA}r@Am;A7Ό=AqAC?A޿A*A9?2Aֽ:AO=BA9?JAֽRAO=٘i)I9}r@YG JC=JJJJPE&K YV~?y٪QAE779)B[[5[W~?[[[[[BZYY i) EIiO}@"= :=)):=:=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037841.903165 s, next control iter: 1743037842.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037842.303165 s.V$YJ~,wgd)AJ"J*J2J:JBJnJvJAQ&@ABD&@AW~? AȫA%"AA\jNA"AZAbAjArAzAAAbH-?AtAr@AXAS=AiA?A(2޿A圍*A9?2A ׽:A=BA9?JA ׽RA=٘i)I9r@YMG JJJJJSE&K YVV~?y{ުLQAE77j79CB)BXE[[/g1[W~?[2[[[[BZYY i)  \UIi {@ = `E=))`E=`E=1ŪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743037842.323165 s, next control iter: 1743037842.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11341., header.stamp.nsec: 0.0 temperature: 13.569183.* salinity: 33.375065., density: 1025.000000.* values[0]: 0.575740.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037842.723165 s.+YJ~,Hd)AAz&@A/z&@AijW~? AͫA$1%"AAjNA"AZAbAjArAzAAAl/p;?AStAq@AMAn=AA@PI?A _rݿAOl*A-9?2AE׽:Ah=BA-9?JAE׽RAh=٘i)I9q@YG J؍JJJJUE&K YV~?ymPAE{7u9)B[E[[,[ͩW~?[[[[[BZYY i) dIi&y@t=  q=)) q= q=ȪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037842.743165 s, next control iter: 1743037843.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037843.143165 s.Y/2YJ~,*d)AJ"J*J2J:JS?BJS?nJ{5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075961< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037843.143294F (some fields omitted in printout)A ףp&@AHjd&@A0W~? AҫA%"AA4jNA"AZAbAjArAzAAA\XG|?A@ttAq@APwA:=AeAD?AܿAS*Aպ9?2AQ:׽:AM=BAպ9?JAQ:׽RAM=٘i)I9q@YG J叼JJJJXE&K YV~?y^PAE@9DB)B^E[[X([fW~?[闪[[[[BZYY iT) ZtIiw@|= >))>>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037843.163165 s, next control iter: 1743037843.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037843.563165 s.V8YJ~, d)AA3333&@A+)&@AW~? A׫Am%"AAajNA"AZAbAjArAzAAA4ˬj?A #'tA[p@ApAU=AAj?AۿA|*A˸9?2Aֽ:AR =BA˸9?JAֽRAR =Y=@pyS=1ٓH`?CN?ұ?C޿`.? | 沿@YA?)=@ I٘i)I9p@YnG J:B=Jv<JJJ[E&Kx> Y W~?y-PAE777 9)B[[+#[W~?[[[[[BZYY i) IiTt@^= >))>>%ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037843.583165 s, next control iter: 1743037843.963274 s, wait time: 0.380109 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11342, header.stamp.nsec: 00 temperature: 13.569314* salinity: 33.375099, density: 1025.000000* values[0]: 0.575245F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037843.983165 s.?YJ~,d)AJ"J*J2J:JBJnJvJA\('@A'@AW~? AzܫA%"AAkNA"AZAbAjArAzAAA #%h?Aʘ: tA;p@A6K:AI=A{A@$?A`{)ۿA[*Az9?2Aǁֽ:A=BAz9?JAǁֽRA=٘i)I9p@YG J!C=JJJJ]E&K Y%W~?yOAE)7b79FB)ůBbE[[S[W~?[4[[[[BZYY i) SIieq@[~= &>))&>&>ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037844.003165 s, next control iter: 1743037844.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037844.403165 s.&FYJ~,e)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743037844.403272F (some fields omitted in printout)AQ^'@Ax}Q'@AYX~? AA%"AA%'kNA"AZAbAjArAzAAAJU%t?A`D#tAߋo@A2<A=AIAh?A`bڿA *A̬9?2A-ֽ:A=BA̬9?JA-ֽRA=٘i)I9o@YG JJJJJ`E&K  9Y>W~? 9yaOAEb779)ʯBeE[[+[tW~?[:[[[[BZYY i) 搼Iin@= 9>))9>9>y{תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037844.423165 s, next control iter: 1743037844.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11343", header.stamp.nsec: 0"0 temperature: 13.569456"* salinity: 33.375103", density: 1025.000000"* values[0]: 0.574717"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037844.823165 s.LYJ~,:4e)AJ"J*J2J:J ?BJ ?nJF5vJAGz'@An'@AX~? AAH[%"AAGkNA"AZAbAjArAzAAA]&@A0Sol&tAJn@A{<A(=AM޾A ?AYٿA.*AV9?2Aֽ:A=BAV9?JAֽRA=٘i)I9n@YsG JJJJJcE&K YWW~?yNAE{7{7k9GB)ϯBhE[[9[X~?[*[[[[BZYY i) zyIil@v= WK>))WK>WK>۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037844.843165 s, next control iter: 1743037845.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037845.243165 s.SYJ~,~Oe)AAףp='@A42'@A2X~? AA %"AAhkNA"AZAbAjArAzAAA5&@A[)tAhn@An @<A=AӾA?A`5ؿAP*AK9?2AQ^ֽ:A=BAK9?JAQ^ֽRA=٘i)I9hn@YG JίJJJJeE&K YhpW~?y>NAE769)ԯBkE[[[X~?[[[[[BZYY i)  Iij@P= @]>))@]>@]>ߪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037845.263165 s, next control iter: 1743037845.643182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037845.663165 s.ZYJ~,qje)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500J"J dt: 0.420003*J2J2 time: 1743037845.663295F (some fields omitted in printout):JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11344, header.stamp.nsec: 00 temperature: 13.569635* salinity: 33.375107, density: 1025.000000* values[0]: 0.574107F (some fields omitted in printout)A(@A;'@A$IX~? AA%"AA&kNA"AZAbAjArAzAAAD@Acա+tAm@A [;Aa=AȾA,?A`o׿AE*A9?2AKֽ:AT=BA9?JAKֽRAT=٘i)I9m@YG J㱼B=JJJJhE&K YGW~?yk1NAE7ŧ79)ٯB[[ [6*X~?[į[[[[BZYY i) Iisi@h= p>))p>p>QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037845.683165 s, next control iter: 1743037846.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743037846.083165 s.DaYJ~, Se)AA)\5(@AhX((@A_X~? A%A a%"AAkNA"AZAbAjArAzAAA`6jU@AP.tA))1>1>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037846.103165 s, next control iter: 1743037846.483178 s, wait time: 0.380013 s"W~?) rAdjusting time to match Gazebo time: 1743037846.503165 s.gYJ~,P4e)AJ"J*J2J:J?BJ?nJ5vJARk(@Ay^(@A`vX~? AA:%"AADkNA"AZAbAjArAzAAAK? @A`}0tAZl@A]sA=A?VA˥?AUEֿAr*A 9?2A$=׽:A=BA 9?JA$=׽RA=٘i)I9l@YG JJJJJmE&K YW~?y eMAE77{7 9)BqE[[[SQX~?[[[[[BZYY i) ŶIig@V= e>))e>e>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037846.523165 s, next control iter: 1743037846.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11345, header.stamp.nsec: 00 temperature: 13.569807* salinity: 33.375118, density: 1025.000000* values[0]: 0.573491F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037846.923165 s.AnYJ~,e)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199202 time: 1743037846.923285F (some fields omitted in printout)A{G(@Aj=(@A`X~? AA<%"AAkNA"AZAbAjArAzAAAzl @Aܺw2tA l@A9WAέ=AA@.?AKlտAY*AA9?2A`׽:A=BAA9?JA`׽RA=٘i)I9 l@YG JJJJJpE&K YW~?y MAE{7j7` 9)BtE[[=[8eX~?[f[[[[BZYY i) ,YIig@o,= y>))y>y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037846.963165 s, next control iter: 1743037847.323189 s, wait time: 0.360024 s rAdjusting time to match Gazebo time: 1743037847.343165 s.))1Ӝ>1Ӝ>JYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743037847.363165 s, next control iter: 1743037847.743180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11346&, header.stamp.nsec: 0&0 temperature: 13.569994&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.572826&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037847.763165 s.6{YJ~,e)AA )@Ae(@AX~? AA:%"AAN7lNA"AZAbAjArAzAAA@A7tAj@AB;A[=A AF?AӿAdHϼ*A9?2A'ֽ:AF=BA9?JA'ֽRAF=Y@-”yZ=/;ٓH ?p^? ٴ?Cҿ`&?`)D@Dz?`?)@ IrI٘i)I9j@YG J1ʼJ=JJJvE&K > YX~?y#LA”Ej7Z79)BxE[[5:[FX~?[[[[[BZYY i) !ͼIic@= >))dz>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037847.783165 s, next control iter: 1743037848.163178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037848.183165 s.˂YJ~,g f)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.244634@ elevatorAngleAction: -0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037848.183292F (some fields omitted in printout)A(\B)@ACn5)@AX~? A9AF%"AA[lNA"AZAbAjArAzAAAq  @A]#9tA j@Ag<Aͳ=A|A@w?AҿA]Eּ*A[9?2Aս:A=BA[9?JAսRA=٘i)I9 j@YrG JҼJJJJxE&K Y"X~?y'KAE779KB)B{E[[-[X~?[ê[[[[BZYY i) fXԼIi]`@ߗ= >)) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037848.203165 s, next control iter: 1743037848.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037848.603165 s.64YJ~,&f)AAQx)@A ҌEk)@AX~? AeA%"AAlNA"AZAbAjArAzAAA?-@A@5n;tAiWi@AD'j<A4=A0ǀAԪ?AѿA|ټ*Ax9?2AԽ:A=BAx9?JAԽRA=٘i)I9Wi@YG J=ؼJJJJ{E&K Y=X~?y3KAEj7j79)B~E[[پ[X~?[ƪ[[[[BZYY i) ۼIiJ]@/ = 2>))2>2>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037848.643165 s, next control iter: 1743037849.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11347 , header.stamp.nsec: 0 0 temperature: 13.570199 * salinity: 33.375141 , density: 1025.000000 * values[0]: 0.572113 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037849.023165 s.ZYJ~J"J, |Af)A*J2J:Jv?BJv?nJ5vJAHz)@A| )@AY~? Ak A%|%"AAllNA"AZAbAjArAzAAA 7R@Ar)) l> l>Y""YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037849.043165 s, next control iter: 1743037849.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037849.443165 s.5ÖYJ~,5]\f)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743037849.443308F (some fields omitted in printout)Aq= )@Ad)@AY~? AI AxB%"AAlNA"AZAbAjArAzAAAnx@A"w>tA g@AA=AeWAi?A7пA|ּ*A9?2Aս:A=BA9?JAսRA=٘i)I9g@Y& G J ؼJJJJE&K YsX~?yDJAE77{7 9) BE[[pǾ[X~?[̪[[[[ZZ¸BZYY i¸➩=) zּIiIX@Jl = >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037849.463165 s, next control iter: 1743037849.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11348, header.stamp.nsec: 00 temperature: 13.570420* salinity: 33.375149, density: 1025.000000* values[0]: 0.571339F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037849.863165 s.+YJ~,>wf)AJ"J*J2J:JC?BJC?nJ^5vJA*@Ac *@A4Y~? AA %"AAlNA"AZAbAjArAzAAAN@A:gT@tA7g@A܏RAL=A1AAL+?A&οAԼ*AW9?2A %ֽ:A=BAW9?JA %ֽRA=Y@ݿByH=fSٓHsL?  ?@? ȿfm?'piQ?)@ I٘i)I97g@Y G JռJ;JJJE&Kt> YX~?y_ IABEb779)B[[D[X~?[2Ϫ[[[[ZZBZYY i) ²ʼIi;T@= >))a>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037849.883165 s, next control iter: 1743037850.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037850.283165 s.9RYJ~,f)AA(\O*@APB*@A,MY~? AA%"AA;mNA"AZAbAjArAzAAA@AtzAtAArf@AtAQĮ=Af,A N?A%̿A*A&9?2AMֽ:ADf<BA&9?JAMֽRADf<٘i)I9rf@Y@ G JJJJJE&K Y7X~?y "OIAEj7j79)BE[[Q [N Y~?[Ѫ[[[[ZZBZYY i) 񤾼IiP@z= e>)) e>e>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037850.303165 s, next control iter: 1743037850.683181 s, wait time: 0.380016 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11349., header.stamp.nsec: 0.0 temperature: 13.570659.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.570554.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037850.703165 s.ԺYJ~,f)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: 0.082823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743037850.703262F (some fields omitted in printout)AQ*@A3x*@AeY~? AA%"AA7mNA"AZAbAjArAzAAAk%B@AX\CtA}e@AA=A|A }s?AʿAd *A>9?2A#lս:AC<BA>9?JA#lսRAC<٘i)I9e@Y G JB=JJJJE&K YX~?y#HAEŧ7b79LB)BE[[-[Y~?[!Ԫ[[[[ZZBZYY i) IiCM@]^= _>))_>_>y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037850.723165 s, next control iter: 1743037851.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037851.123165 s.6YJ~,Xf)AAG*@A,ح*@A~Y~? A8Ay%"AA]]mNA"AZAbAjArAzAAA\r'@AXѻDtAEd@AYt:Au=AA”?A`G6ɿAe*A9?2Aqս:A=f<BA9?JAqսRA=f<٘i)I9d@Y: G JC=JJJJE&K YX~?y\%ZHAE77K9TB).BE[[uj[5Y~?[o֪[[[[ZZBZYY i) LIi[J@= A>))A>A>*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037851.143165 s, next control iter: 1743037851.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037851.543165 s.IYJ~,f)AJ"J*J2J:J?BJ?nJ5vJA= ף*@Arp*@AY~? APASO%"AAFmNA"AZAbAjArAzAAAI?X@A~FtAd@A5*<ARy1=A)A?A :fǿA%ռ*A9?2Aս:A;BA9?JAսRA;٘i)I9d@Y G JrJJJJE&K YMX~?y'GAEb779)4BE[[u [KY~?[ت[[[[ZZBZYY i) |uIiG@< A>))A>A>HyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037851.583165 s, next control iter: 1743037851.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11350, header.stamp.nsec: 00 temperature: 13.570951* salinity: 33.375175, density: 1025.000000* values[0]: 0.569651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037851.963165 s.~YJ~, f)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743037851.963305F (some fields omitted in printout)Affff&+@AZ+@A=Y~? A@A'%"AAfmNA"AZAbAjArAzAAAT@A1GtAXc@A#f<Ap<ABBA`"?AࡑſA*A9?2Aս:A{BA9?JAսRA{Y2@qy <f<ٓH? ߶?7?ƶj?񹐿FҌ?l?)2@ I٘i)I9Xc@Y] G JfǼJJJJE&Knv> Y~Y~?y'GAE77 9)9BE[[[aY~?[ڪ[[[[ZZBZYY i=) A$IiC@N< 3?))z~3?3?!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037851.983165 s, next control iter: 1743037852.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037852.383165 s.YJ~,g)AJ"J*J2J:J?BJ?nJ5vJA(\+@AO+@AY~? AAW%"AAmNA"AZAbAjArAzAAAq@AEGHtA!b@Aʄ#<A<AtA?A`sÿAm*A9?2Aս:AM@BA9?JAսRAM@٘i)I9b@Y G JўJJJJE&K Y6Y~?y(GAEŧ7b7"9)=BE[[5V[$xY~?[ܪ[[[[ZZBZYY i=) NхIi?@iP< ?)) ??bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037852.423165 s, next control iter: 1743037852.783174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11351&, header.stamp.nsec: 0&0 temperature: 13.571157&* salinity: 33.375195&, density: 1025.000000&* values[0]: 0.568910&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037852.803165 s.|AYJ~,g3g)AA+@AT+@AY~? AA%"AA=mNA"AZAbAjArAzAAAp*Mx@A^SDItAtb@Aײ9A>ܻA~(IA` ?AA(*A>9?2A Խ:AwBA>9?JA ԽRAw٘i)I9tb@Y G Je`JJJ*FJE&K YRY~?ya)uGAEj7j7v$9SB)@BE[[#y[Y~?[nު[[[[ZZBZYY i) vIi$<@<  ?)) ? ?9(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037852.843165 s, next control iter: 1743037853.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037853.223165 s.gYJ~,HNg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077429< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743037853.223280F (some fields omitted in printout)J"J*J2J:JBJnJvJAz+@A+@AY~? A A%"AAnNA"AZAbAjArAzAAA9ú(@A:)JtA=b@Ae AbA8A !?AA4*A9?2AԽ:AdìBA9?JAԽRAdì٘i)I9=b@Y G JcJJJJE&K YoY~?y**QGAE7777A&9)AB[[f[Y~?[![[[[ZZBZYY i) [XbIi9@< \?))\?\?y=)Y)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037853.263165 s, next control iter: 1743037853.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037853.643165 s.xYJ~,*ig)AA ףp+@AjN^d+@ASZ~? Ak!A%"AACnNA"AZAbAjArAzAAA-W 0 @AMJtAR)b@AuA;rA>A`4?A`dAŚ*A9?2AԽ:AӼBA9?JAԽRAӼ٘i)I9)b@Y G JBJJJJE&K YBY~?y*-GAE7 (9)BBE[[#S[Y~?[[[[[BZYY i) vMIiM6@X< "?))"?"?d4*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11352, header.stamp.nsec: 00 temperature: 13.571186* salinity: 33.375206F, density: 1025.000000* values[0]: 0.568577F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743037853.663165 s, next control iter: 1743037854.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037854.063165 s.YJ~,R g)AJ"J*J2J:JBJnJvJA33333,@A&&,@A1Z~? A"A~%"AAjnNA"AZAbAjArAzAAAzC96 @A!KtA3b@AQMA3A~/<AF?AA@u;*A9?2AGIս:A BA9?JAGIսRA Y'i@]8 YY~?y*jGA8<E7ŧ7)9)ABE[[#@[aY~?[![[[[BZYY iGg=)  elevatorAngleAction: 0.056465< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743037854.483320F (some fields omitted in printout)A\h,@A Y[,@AJZ~? A#A{%"AAϑnNA"AZAbAjArAzAAAIh!@AۀALtAEXb@A?oAYAG=AT?A۴A;*A9?2Aս:AEBA9?JAսRAE٘i)I9Xb@Y G J;JJJJE&K YY~?y*GAEb77+9)@BE[[-[|Y~?[o[[[[BZYY iÆ=) ,Ii-@q< `?)) `?`?Ӓ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037854.523165 s, next control iter: 1743037854.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11353, header.stamp.nsec: 00 temperature: 13.571087* salinity: 33.375225, density: 1025.000000* values[0]: 0.568670F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037854.903165 s.YJ~,͹g)AJ"J*J2J:JBJnJ5vJAQ,@A|eު,@AdZ~? A\$Ai%"AAnNA"AZAbAjArAzAAA~"@ASLtAVb@A2;AjSxA:U=A|c?A밿Am0<*A9?2ARԽ:A6BA9?JARԽRA6٘i)I9b@Y G Jm<JJJJE&K YY~?y*GAE777k-9)>BE[[˨[Z~?[[[[[BZYY i) KIi*@K< e"?))e"?e"?ا*YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037854.923165 s, next control iter: 1743037855.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037855.323165 s.vYJ~,%g)AAGz,@A,`p,@A~Z~? A%An[%"AAFnNA"AZAbAjArAzAAAC "@A &MtAb@A]b<AdLJA_,=A6m?AfA%[<*A9?2APս:ABA9?JAPսRA٘i)I9b@Y G JD<B=JJJJE&K YgY~?y*HA E{7{76/9RB);BE[[+c[]Z~?[[[[[BZYY i) | Ii&@Ŏ< 7'?))7'?7'?yG2= *Y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037855.343165 s, next control iter: 1743037855.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11354*, header.stamp.nsec: 0*0 temperature: 13.570816** salinity: 33.375214*, density: 1025.000000** values[0]: 0.569027*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037855.743165 s.WYJ~,qg)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: 0.4200272 time: 1743037855.743308F (some fields omitted in printout)Aףp= -@A^2,@AZ~? A%AP%"AAoNA"AZAbAjArAzAAA3@#@AkcʐsMtAILc@AsY<AS吽AC=At?AA <*A9?2AS|ս:Aϒ BA9?JAS|սRAϒ ٘i)I9Lc@YV G Jn<C=JJJJE&K YZ~?yt*[HA E719)8BE[[[1Z~?[[[[[BZYY i) ^Ii#@< ,?)),?,?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037855.763165 s, next control iter: 1743037856.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037856.163165 s.s}ZJ~,q h)AA@-@A2-@AZ~? A%AG%"AA/oNA"AZAbAjArAzAAAaJJ#@AW]>MtAc@A㰹;AA=ANy?A`A><*A9?2Arս:ABA9?JArսRAY@{=ycW3;ٓH?}_s?`u?7p?? 6w?r?)@ I٘i)I9c@Y G J<JJJJE&Kt> Y4Z~?yx)HA=Ej7SI729)4BE[[[HZ~?[U[[[[BZYY i) ջIia@]< 0?))ڪx0?0? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037856.183165 s, next control iter: 1743037856.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037856.583165 s.ZJ~,S%h)AJ"J*J2J:JBJnJvJA)\u-@AUh-@AZ~? A&AB%"AAmVoNA"AZAbAjArAzAAA]{|$@AMtArFd@A⢻An웽A>A{?A`Aʦ<*A9?2AYս:AJBA9?JAYսRAJ٘i)I9Fd@Y G J <JJJJE&K YPZ~?y}(&IAEb7b749QB)/BE[[6;[H`Z~?[[[[[BZYY i) ͶIi/@< t5?)) t5?t5?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037856.603165 s, next control iter: 1743037856.983181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11355, header.stamp.nsec: 00 temperature: 13.570516* salinity: 33.375256, density: 1025.000000* values[0]: 0.569615F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037857.003165 s.y ZJ~,P4@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: 0.4199932 time: 1743037857.003302F (some fields omitted in printout)AR-@Axy-@AZ~? A&A@%"AA}oNA"AZAbAjArAzAAAly3%@A!MtAd@ATAH6A>A@ ~?A~?A鰲<*Ar9?2A]ӽ:A-BAr9?JA]ӽRA-٘i)I9d@YF G J<JJJJE&K YlZ~?y'IAE{7j7a69)*B[[,h[1xZ~?[v[[[[BZYY i) ɅIic@< ؂:?))؂:?؂:?.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037857.023165 s, next control iter: 1743037857.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037857.423165 s.uZJ~,[h)AJ"J*J2J:JBJnJvJA{G-@A;-@A[~? A%A8B%"AAToNA"AZAbAjArAzAAAC;ķ%@A?𖏪MtApe@AxihAmA1.>A@%|?A ?A,)<*A79?2AW$Խ:ABA79?JAW$ԽRA٘i)I9pe@Y G J<JJJJE&K YZ~?y&IAEb77,89)%BE[[[HZ~?[[[[[BZYY i) ztIi@+o< Pe??))Pe??Pe??C*Ys0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037857.443165 s, next control iter: 1743037857.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11356, header.stamp.nsec: 00 temperature: 13.570129* salinity: 33.375252, density: 1025.000000* values[0]: 0.570378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037857.843165 s.ZJ~,uh)AAp= .@A/ .@A[~? A%AF%"AAoNA"AZAbAjArAzAAA8U&@AD+yyMtA f@A6A=A0C>A@w?Az?A<*A9?2AGԽ:AA$ BA9?JAGԽRAA$ ٘i)I9 f@Y G J<B=JJJJE&K YZ~?y%XJAE99PB) BE[[[Z~?[[[[[BZYY i) 7Ii@E< OD?))OD?OD?A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037857.863165 s, next control iter: 1743037858.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037858.263165 s.$ZJ~,ؐh)AJ"J*J2J:JBJnJvJvPublished 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: 0.4199882 time: 1743037858.263275F (some fields omitted in printout)AL.@A?.@A4[~? A%A(N%"AA2oNA"AZAbAjArAzAAAb *&@A;/MtAf@AWQ!;AOAPY>A q?A '?Ađ<*A9?2Aս:AqBA9?JAսRAqY@2Y>y|O!;ٓH:1?ʿ@? 1H?%璿?)*d?` ?)@ I٘i)I9f@Y_ G Jv<C=JSJJJE&Kt> YZ~?y#JAY>Ej7Z7;9)BE[[":9[Z~?[[[[[BZYY i) +IiM @Ж< *I?))Єv*I?*I?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037858.283165 s, next control iter: 1743037858.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 113572, header.stamp.nsec: 020 temperature: 13.5696992* salinity: 33.3752902, density: 1025.0000002* values[0]: 0.5711842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037858.683165 s.l*ZJ~,kh)AA(\.@Au׃u.@AN[~? An$AX%"AApNA"AZAbAjArAzAAAx]'@A&xLtA :g@A=<ANAn>A@g?A@?A<*A9?2A/ֽ:A7BA9?JA/ֽRA7٘i)I9:g@Y G J<JJJJE&K Y1Z~?y!)KA E{7j7=9OB)BE[[ <[Z~?[[[[[BZYY i) !Ii@< JN?))UNJN?JN?\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037858.683165 s, next control iter: 1743037859.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743037859.103165 s.1ZJ~,h)AJ"J*J2J:JBJnJvJAQ.@A[$F.@Ah[~? A#Af%"AABpNA"AZAbAjArAzAAAU)-(@ALLtAg@AAp<A{$A:>A]?A ܴ?AVo<*AL:?2AOԽ:ARdBAL:?JAOԽRARd٘i)I9g@Y G J,<JJJJE&K YZ~?yKA#E7777V?9)BE[[=[ Z~?[[[[[BZYY i) nIi@< R?)) R?R?$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037859.123165 s, next control iter: 1743037859.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037859.523165 s.7ZJ~,{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: 0.4199872 time: 1743037859.523267F (some fields omitted in printout)AHz.@Aht.@A[~? A"A5x%"AA$jpNA"AZAbAjArAzAAA"?`(@AnjKtAZh@A;%<A㕽AL>A`O?A ?A&[<*A#:?2AFԽ:A"BA#:?JAFԽRA"٘i)I9Zh@Yj G J֪<JJJJE&K Ya[~?y#KA%Ej7j7!A9NB) BùE[[in=[ [~?[n[[[[BZYY i) Fa:Ii@i< vW?))vW?vW?Y*YYYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743037859.543165 s, next control iter: 1743037859.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11358, header.stamp.nsec: 00 temperature: 13.569285* salinity: 33.375282, density: 1025.000000* values[0]: 0.571973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037859.943165 s._d>ZJ~,_]h)AJ"J*J2J:JBJnJvJAq= #/@A[/@A][~? A!A%"AANpNA"AZAbAjArAzAAAT g)@AjKtA(h@AD9ATAgs>A??AW"?A<*A:?2AwԽ:A3BA:?JAwԽRA3٘i)I9h@Y G Ji<JJJJE&K Y.[~?yIdLA(E77B9)B[[z0=[&"[~?[[[[[BZYY i) :Ii?|< \?))\?\?&*Y8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037859.963165 s, next control iter: 1743037860.343180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037860.363165 s.EZJ~,}>i)AAY/@Ap!L/@A[~? A< Aڣ%"AA\pNA"AZAbAjArAzAAA*@Aԣ;JtAyi@Ab AA7p>A-?A@ʿ?A<*A:?2AԽ:A BA:?JAԽRA Yg=2˟>y ٓH`?ӿ@`1? u?Y;? H @?)g= I٘i)I9yi@YG J<JW<JJJE&Ks> YI[~?yLA˟>+E{7{7D9)BƹE[[Z=[v:[~?[>[[[[BZYY i) 1;Ii?< Fa?))1uFa?Fa?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037860.383165 s, next control iter: 1743037860.763177 s, wait time: 0.380012 sI[~?)&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11359&, header.stamp.nsec: 0&0 temperature: 13.568923&* salinity: 33.375328&, density: 1025.000000&* values[0]: 0.572739&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037860.783165 s.[KZJ~,2i)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239447> elevatorAngleAction: 0.065803< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037860.783304F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\/@AߤiP/@A[~? AAJ%"AALpNA"AZAbAjArAzAAARaً*@A+JZItAj@A`6oAGA>A?A?A梧<*A:?2A<&ս:AmBA:?JA<&սRAm٘i)I9j@YoG Jy<JJJJE&K Yd[~?y'MA-EF9MB)BɹE[[j=[R[~?[m[[[[BZYY i) Vn;Ii?< (f?))F(f?(f?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037860.803165 s, next control iter: 1743037861.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037861.203165 s.SZJ~,&Mi)AAQ/@A./@AH[~? A0A%"AAqNA"AZAbAjArAzAAAAxi}u9+@A;aI_HtAj@APP?A+A>A?AO?A8<*A=:?2A޳ӽ:ABA=:?JA޳ӽRA٘i)I9j@YG J5<JJJJE&K Y[~?y,MA0E77LH9LB)B̹E[[d >[k[~?[s[[[[BZYY i) ;Ii?<  k?))  k? k?*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037861.223165 s, next control iter: 1743037861.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037861.623165 s.[YZJ~,mgi)AJ"J*J2J:J?BJ?nJ5vJAG/@A/@A\~? AlA%"AA,qNA"AZAbAjArAzAAA%!+@AZf 0KGtAXk@A~(As&AU>Al?A}~?A<*A%B:?2A<Խ:A{BA%B:?JA<ԽRA{٘i)I9k@YG J<JJJJE&K Y[~?yxMA3E777J9)BϹE[[=>[>[~?[Q[[[[BZYY iƙ=) 㿴;Ii?Z< p?))p?p?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037861.643165 s, next control iter: 1743037862.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11360 , header.stamp.nsec: 0 0 temperature: 13.568505 * salinity: 33.375324 , density: 1025.000000 * values[0]: 0.573491 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037862.043165 s.`ZJ~,Âi)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743037862.043314F (some fields omitted in printout)A= ף00@A(c|#0@A\~? AA %"AA?SqNA"AZAbAjArAzAAAYm,@AFtA”k@A<A5A >A 6?AAP?A<*AA:?2Aս:A@BAA:?JAսRA@򼙘٘i)I9k@YaG JK<JJJJE&K Ya[~?yKNA5Eb77K9IB)BѹE[[3>[[~?[[[[[BZYY i) sc;Ii|?Y<  v?)) v? v?E*YWYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037862.063165 s, next control iter: 1743037862.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037862.463165 s.YgZJ~,i)AJ"J*J2J:J?BJ?nJ 5vJAfffff0@Am]Y0@AC5\~? AkA|G%"AAyqNA"AZAbAjArAzAAA+ޔ*-@AB!wDtA l@A!Ch<AiPAw>A@?A@#?A(Ɉ<*A;:?2Aս:A+BA;:?JAսRA+YE> >yL6h<ٓHB?xٿzӫ ?`iN?ư?`$?`?)E> I٘i)I9 l@YG J<B=J5K<JJJE&Ks> YF[~?y< NA>8Ej7Z7M9)B[[]!H>[x[~?[[[[[BZYY i) ;Ii?.< 2{?))Kt2{?2{?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037862.483165 s, next control iter: 1743037862.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11361, header.stamp.nsec: 00 temperature: 13.568144* salinity: 33.375355, density: 1025.000000* values[0]: 0.574191F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037862.883165 s.ymZJ~,@i)AA(0@A}:0@ARN\~? A/Axq%"AAqNA"AZAbAjArAzAAA -@A}j<|CtA|l@A|+U<AĆA>A@?A?A^<*A 6:?2Aս:A{8BA 6:?JAսRA{8٘i)I9|l@YG JQ<C=JJJJE&K Y([~?yNA;Eb77wO9HB)BԹE[[-p\>[[~?[[[[[BZYY i)  elevatorAngleAction: 0.075086BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4200122 time: 1743037863.303304F (some fields omitted in printout)A0@A0@AAg?A?A <*AN:?2Aӽ:ABAN:?JAӽRA٘i)I9l@Y3G JЇ<JJJJE&K Y \~?y.ZOA>E77AQ9GB)B׹E[[mp>[[~?[=ߪ[[[[BZYY i) A@yC?A?A<*AM:?2Aӽ:A;uBAM:?JAӽRA;uqI٘i)I9dm@Y{G J<JJJJE&K Y\~?yOA@E7)7 S9FB)ۯBڹE[[{Ă>[V[~?[Pݪ[[[[BZYY i) (tAm@A,ZAA(L>A8?A"?Aœ<*AG:?2A Խ:A1BAG:?JA ԽRA1٘i)I9m@YG J$<JJJJE&K Y6\~?y PACE{7{7T9)ׯBݹE[[$>[\~?[7۪[[[[BZYY i) 7 elevatorAngleAction: 0.075086< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743037864.563299F (some fields omitted in printout)A3333s1@Aӝ'f1@A\~? A A7%"AA5rNA"AZAbAjArAzAAA3W|/@Ag=tA5[n@AZfA9aA?A@?A ?A <*AA:?2AԽ:ApBAA:?JAԽRApY >?y]fٓH?K߿()G?? ?ˌ ?) > I٘i)I9[n@YG J<JJJJE&Kzs> YrO\~?ymPA?FE777V9)ӯB[[g>[[0\~?[ت[[[[BZYY i) $Gj)AJ"J*J2J:JQ?BJQ?nJy5vJA\1@Aq1@A;\~? AAp%"AAZrNA"AZAbAjArAzAAAO$C0@A48^@;tAIn@AA0#A\%?A`?A?A8<*A+;:?2Aqս:ABA+;:?JAqսRA٘i)I9n@Y^G J<JJJJE&K Yh\~?yPAHE77{7lX9EB)ίBE[[>[H\~?[֪[[[[BZYY i) V[a\~?[Ԫ[[[[BZYY i =) e elevatorAngleAction: 0.084046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037865.823307F (some fields omitted in printout)AGz2@AOo2@A\~? A<A%"AA{rNA"AZAbAjArAzAAA1X0@ArN7tAUo@A0D<A3AS?A`Dd?A ?Am<*A3S:?2AlԽ:AkBA3S:?JAlԽRAk٘i)I9o@YG Je<JJJJE&K YQ\~?yQANE7777\9@B)BE[[>[y\~?[FѪ[[[[BZYY i) cu[\~?[YΪ[[[[BZYY i) gm?y /c<ٓH?@cf@`T? -?v詿+?>??)> I٘i)I9p@YG JY<C=J^JJJE&Ks> Y\~?yORA?SE{7j7_9)B[[Ǻ>[̩\~?[O˪[[[[BZYY i)  elevatorAngleAction: 0.084046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743037867.083345F (some fields omitted in printout)A)\µ2@A+l2@A1?]~? AtAV%"AAPsNA"AZAbAjArAzAAAk T1@A 0tATq@AS?A|Ak!?A2?A b'?Al<*As5:?2A}Sս:Ax.BAs5:?JA}SսRAx.٘i)I9Tq@YG J<JJJJE&K Y+\~?ypݪRAVE{7aa9>B)BE[[G>[\~?[Ȫ[[[[BZYY i) [\~?[Ī[[[[BZYY i) %B)B[[C>[i\~?[[[[[BZYY i) 0 elevatorAngleAction: 0.084046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743037868.343294F (some fields omitted in printout)Ap= W3@AI3@A]~? AdAS%"AAusNA"AZAbAjArAzAAAp~5w2@A \)tAs@A~8A8䥽AZ0?A?A?A <*A::?2A1yԽ:ABA::?JA1yԽRA٘i)I9s@YG J,<JJJJE&K Y%]~?yEΪSA^E7777f9:B)BE[[i>[! ]~?[T[[[[BZYY i) t(<*A12:?2A_ս:AdBA12:?JA_սRAdYp>P6?y]ٓH#?I`>@9?9?<?(`Q?)p> I٘i)I9s@YOG Jɹ<JՑJJJE&Kft> Y:]~?yȪ[TAP6?`E{7j7h98B)BE[[lj?[U ]~?[t[[[[BZYY i) ̀ elevatorAngleAction: 0.084046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743037869.603306F (some fields omitted in printout)AQ3@A2F3@A]~? AݫA%"AAsNA"AZAbAjArAzAAAk^՛=3@AI~#>!tA]t@Ai<A(A@?AE?A`?A#F<*A@=:?2AYԽ:ApBA@=:?JAYԽRAp٘i)I9t@YG J<JJJJE&K Ye]~?y=UAfEb7b7"l9)B[[ W ?[N]~?[%[[[[BZYY i) 1; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037870.043165 s, next control iter: 1743037870.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037870.443165 s.6ZJ~,:]k)AAq= c4@Aj-V4@A]~? AӫA9W%"AAtNA"AZAbAjArAzAAAR~hS3@AIHjtA1v@Aϭ;A@jAJ?Aٸ?Aw?A<*A/:?2Af ս:A{BA/:?JAf սRA{٘i)I91v@YG J\<JJJJE&K YM]~?yVAkE7{7o95B)BE[[lL?[4|]~?[[[[[BZYY i) I; $?))$?$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037870.463165 s, next control iter: 1743037870.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11369, header.stamp.nsec: 00 temperature: 13.565190* salinity: 33.375477, density: 1025.000000* values[0]: 0.579927F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037870.863165 s.+ZJ~,>k)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084046< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743037870.863281F (some fields omitted in printout)J"J*J2J:JBJnJvJA4@Anl4@AD^~? AΫA%"AA9tNA"AZAbAjArAzAAA7K3@A}JctAv@A˻AAO?A@po?A9?At#<*Aq(:?2Aս:AaBAq(:?JAսRAaY?MP?yﲽԠ̻ٓH?8 %? Z?@ =V?`{y?)? I٘i)I9v@YAG J<JNIJJJ E&Kt> Y]~?y#VAP?nE77q92B){BE[[Լ?[g]~?[d[[[[BZYY i) o^k; Xf?))5yXf?Xf?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037870.883165 s, next control iter: 1743037871.263181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037871.283165 s.6RZJ~,k)AA(\4@AP4@A^~? AɫA%"AAXtNA"AZAbAjArAzAAAC5?94@A|HtAĔw@A ^A泽A0T?A@#?A ~?A!<*A`!:?2A=ս:APBA`!:?JA=սRAP٘i)I9w@YG J+<JJJJ E&K Y]~?yWApE777Ls91B)tBE[[9!?[v]~?[~[[[[BZYY i) XJ1A; z$?)) z$?z$?0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037871.303165 s, next control iter: 1743037871.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11370., header.stamp.nsec: 0.0 temperature: 13.564757.* salinity: 33.375477., density: 1025.000000.* values[0]: 0.580851.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037871.703165 s.ӺZJ~,k)AJ"J*J2J:J?BJ?nJ5vJAQ5@AT4@Az+^~? AHīA$}%"AAwtNA"AZAbAjArAzAAA5u4@AWtABMx@ArbA[A Z?A@?A@?A<*A2:?2A,Խ:A8=BA2:?JA,ԽRA8=٘i)I9Mx@YG J<JJJJE&K Y}]~?y^WA DsEŧ77u9)nB[[ &?[[]~?[g[[[[ZZZZ¸>BZYY i¸> ) `FA; s?))s?s?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037871.723165 s, next control iter: 1743037872.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037872.123165 s.F[J~,l)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083807< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037872.123299F (some fields omitted in printout)AG:5@AO-5@A?^~? AA %"AAtNA"AZAbAjArAzAAAn4@AyYtAMy@A9ݻAۂAM_?A ?A`e?AL$<*A+:?2AԽ:ABA+:?JAԽRA٘i)I9y@YG JP<JJJJE&K Y]~?yXAvEb77v9/B)gBE[[R,?[ ]~?["[[[[ZZZZBZYY i) CC: f: ~?))~?~?6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037872.563165 s, next control iter: 1743037872.943185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11371, header.stamp.nsec: 00 temperature: 13.564324* salinity: 33.375488, density: 1025.000000* values[0]: 0.581793F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037872.963165 s.x[J~,=l)AAffff5@AZ5@A3e^~? A곫Aܸ%"AAqtNA"AZAbAjArAzAAA$h $5@A| tAfz@AM<A啽Aj?A`8?Aba?A ;<*AE::?2A-ֽ:A|<BAE::?JA-ֽRA| Y^~?yXAi?{Eŧ7b7wz9+B)VBE[[{7?[]]~?["[[[[ZZZZBZYY i) :?2Aaֽ:A8PBA@>:?JAaֽRA8P٘i)I9w{@Y G J<JJJJE&K Y^~?yAYA~E77B|9*B)NBE[[=?[^~?[e[[[[ZZZZBZYY i) &<*AR:?2A&ս:A%BAR:?JA&սRA%٘i)I91|@Y~G J<JJJJE&K Y %^~?y|YAE7{7 ~9)HB[[ӻB?[n'^~?[y}[[[[ZZZZBZYY i) a5@AsA&T}@AvAJhA݂~?A E?A`?A<*AJG:?2ABս:A<BAJG:?JABսRA<٘i)I9T}@Y/G J<C=JJJJ"E&K YG^~?ynoZAE9%B):B E[[$N?[ZO^~?[q[[[[ZZZZBZYY i) XFzJJJ$E&K+v> YV^~?y@gdZAف?E77m9#B)6B E[[S?[b^~?[j[[[[ZZZZBZYY ifB|) xgJJJ2E&Ku> Y^~?y[AYA?Eŧ7b7b9)1B[[/p?[&^~?[EH[[[[BZYY ih) x~ ֽ:Ar%=BAn:?JAe>ֽRAr%=٘i)I94}@YG JUJJJJ4E&K Y-^~?yr9YAE77{7-9)4B[[v?[^~?[@[[[[BZYY i) KZ;IH?iI5 -?))-?-?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037877.603165 s, next control iter: 1743037877.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11376, header.stamp.nsec: 00 temperature: 13.562982* salinity: 33.375530, density: 1025.000000* values[0]: 0.584382F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037878.003165 s. `[J~,4m)AAR+8@Ay8@A4)_~? AhA^k%"AAuNA"AZAbAjArAzAAA&Kwv7@A-lsA|@AnͻA=A3 ?A.?A@?A6*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9|@YG J~JJJJ7E&K Y^~?y1;YAEj7Z79B)3BE[[Vy|?[ ^~?[z9[[[[BZYY i) ;IGH?iO $ ?))??ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037878.023165 s, next control iter: 1743037878.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037878.423165 s.uf[J~,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: -0.056840< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037878.423313F (some fields omitted in printout)A{Ga8@A=T8@A6_~? AaAX%"AAzvNA"AZAbAjArAzAAA'67@A6sA6P|@AKZA[=A?A?A5?Ag*A:?2A$"׽:A.> =BA:?JA$"׽RA.> =٘i)I9P|@YG JlJJJJ:E&K Y ^~?y)XAEŧ7b7‘9B)4BE[[0?[^~?[1[[[[BZYY i) v ;I0H?i`{ ?))??y1iѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037878.463165 s, next control iter: 1743037878.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11377, header.stamp.nsec: 00 temperature: 13.563081* salinity: 33.375553, density: 1025.000000* values[0]: 0.583970F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037878.843165 s.l[J~,m)AAp= 8@AKi8@AC_~? AZAy%"AA%vNA"AZAbAjArAzAAA=^7@A_}=sA{@A]ZA+=AuV?A Y?^~?ys)XAқ?Eŧ7ŧ7W9);B[[5?[ _~?[6"[[[[BZYY i) zx;I\H?iB-ݻ ?))??yQ߈֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037879.283165 s, next control iter: 1743037879.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 113782, header.stamp.nsec: 020 temperature: 13.5632682* salinity: 33.3755462, density: 1025.0000002* values[0]: 0.5834012F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037879.683165 s.lz[J~,Zm)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066164< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743037879.683279F (some fields omitted in printout)A(\9@A8@A\_~? AlLA%"AA)LvNA"AZAbAjArAzAAAt.8@Ai<`sAz@A;AU'=AAe?A`?A?A8t*A:?2A+ֽ:Aǹ =BA:?JA+ֽRAǹ =pI٘i)I9z@YG JҮJJJJBE&K Y^~?y1WAEj7j7"9)@B[[N?[_~?[7[[[[BZYY i) <;I[H?i:5 Ƃ?))Ƃ?Ƃ?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037879.683165 s, next control iter: 1743037880.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037880.103165 s.[J~,n)AJ"J*J2J:JBJnJvJAQ89@Ad]F+9@Azh_~? A2EAe%"AAR^vNA"AZAbAjArAzAAA:,68@A2ZDsAz@A~H<A=A?A &?A ?AD*A\:?2Af|ֽ:A =BA\:?JAf|ֽRA =٘i)I9z@Y5G JJJJJDE&K Y^~?yWWAE77형9B)ABE[[ ?['_~?[[[[[BZYY i) F;IĴH?iD k?))k?k?lժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037880.123165 s, next control iter: 1743037880.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037880.523165 s.[J~,|!n)AAHzn9@Aua9@As_~? A=A"%"AAovNA"AZAbAjArAzAAAcX8@A7sA{y@AT\e<A=AZ?A`?A`Q?Ay*A:?2Aֽ:A2 =BA:?JAֽRA2 =٘i)I9{y@YG JyJJJJGE&K Y^~?yVAE7{79B)EBE[[ ?[4_~?[ [[[[BZYY i)  -:IH?iM} [?))[?[?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037880.543165 s, next control iter: 1743037880.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11379, header.stamp.nsec: 00 temperature: 13.563483* salinity: 33.375557, density: 1025.000000* values[0]: 0.582737F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037880.943165 s.Zd[J~,J]f-sAx@AK <Aw=A2?An?A?AB*A:?2Apֽ:Acj=BA:?JApֽRAcj=٘i)I9x@Y|G JJJJJJE&K YU_~?ykVAEb7b79)IB[[Q?[7A_~?[[[[[[BZYY i) '9ICH?iT" -P?))-P?-P?GϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037880.983165 s, next control iter: 1743037881.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037881.363165 s.[J~,>Wn)AA9@AaK9@Aˈ_~? A/A%"AA|vNA"AZAbAjArAzAAAU8@Ax|sARSx@A>yںAϓ=A?Au?A?Aԇ*A:?2AI׽:A=BA:?JAI׽RA=YT׌??yϓ=: ۺٓH?0?`???u&O[`?)T׌? I٘i)I9Sx@Y#G JJJJJME&Kx> Y\_~?y"VA?E77M9B)KBE[[-?[M_~?[[[[[BZYY i) QIH?iGb 7?))7?7?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037881.383165 s, next control iter: 1743037881.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11380&, header.stamp.nsec: 0&0 temperature: 13.563712&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.582070&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037881.783165 s.X[J~,rn)AJ"J*J2J:J?BJ?nJ?5vJA(\:@A1P:@A_~? A'AX%"AAvNA"AZAbAjArAzAAAx`8@A usAw@A 1AZ=A?A&1?AQ?A *A.:?2A׽:Ax<BA.:?JA׽RAx<٘i)I9w@YG J4JJJJOE&K Yb_~?y\UAEj7Z79)OB[[&?[=X_~?[L[[[[BZYY i) vIPH?im9 Z&?))Z&?Z&?@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037881.803165 s, next control iter: 1743037882.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037882.203165 s.[J~,?n)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066164< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037882.203291F (some fields omitted in printout)AQE:@AaH8:@Aߛ_~? A A%"AA5vNA"AZAbAjArAzAAAh8@A׭sAVCw@A7kAK9=A=?A` J?A @?A*A:?2At׽:AN<BA:?JAt׽RAN<٘i)I9Cw@Y~G JJJJJRE&K Yh_~?yީ\UAE7777⡕9 B)RBE[[?[b_~?[[[[[BZYY i) e.IxH?ijw`X (?))(?(?OŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037882.223165 s, next control iter: 1743037882.603181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037882.623165 s.S[J~,Ln)AJ"J*J2J:JBJnJvJAGz:@Am:@A_~? AkA%"AAvNA"AZAbAjArAzAAAǽS.8@An%w1sA"v@A-)A*`=A"а?AO?A@a9?AY*Ax:?2AT׽:Ar!<BAx:?JAT׽RAr!<٘i)I9v@Y.G JJJJJUE&K Yn_~?yM֩TAEj7Z79)VB[[G)?[l_~?[ީ[[[[BZYY i) `kINjH?i~*#  @)) @ @ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037882.643165 s, next control iter: 1743037883.023175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11381 , header.stamp.nsec: 0 0 temperature: 13.563928 * salinity: 33.375561 , density: 1025.000000 * values[0]: 0.581453 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037883.043165 s.[J~,n)AA= ף:@A,_:@A_~? AA%"AAvNA"AZAbAjArAzAAAQO9@Au%͂sAx?v@AigAo=AV?A@?A_?Aښ*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9?v@YG JhJJJJWE&K Yt$_~?yͩTAEŧ7b7w9 B)WBE[[;8?[Dv_~?[թ[[[[BZYY i) *IO\H?i8E& @))@@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037883.063165 s, next control iter: 1743037883.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037883.463165 s.X[J~,n)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066164< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743037883.463320F (some fields omitted in printout)Affff:@A*]:@A_~? A A%"AA"vNA"AZAbAjArAzAAA#9@ATM̟sA:u@Aۊ<A=Aܵ?Aw)?A?AO_*A+:?2A4ֽ:A<BA+:?JA4ֽRA Y(_~?yũ8TA?E77B9)[B[[C?[~_~?[̩[[[[BZYY i$) "1IMH?iMw. @))@@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037883.483165 s, next control iter: 1743037883.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11382, header.stamp.nsec: 00 temperature: 13.564116* salinity: 33.375576, density: 1025.000000* values[0]: 0.580884F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037883.883165 s.y[J~,8n)AA(;@As֧;@A_~? ABAJB%"AAvNA"AZAbAjArAzAAAj(P49@AjJ.ssA1;u@A!g<A<=A(n?AU?Aܥ?AÙ*Ay:?2Acֽ:A<BAy:?JAcֽRA<٘i)I9;u@YAG JٚC=JJJJ]E&K Y,_~?y[SAE{7j7 9)_B[[,S?[_~?[é[[[[BZYY i) 1һIt>H?i]4 @@))@@@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037883.903165 s, next control iter: 1743037884.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037884.303165 s.W[J~,{go)AJ"J*J2J:J?BJ?nJ5vJAQ;@A͔D;@A_~? AsA`%"AAHvNA"AZAbAjArAzAAA> OH9@A?LIsAt@AA<A=A?A{?A@^?Aܯ*A:?2A=ֽ:A,=BA:?JA=ֽRA,=٘i)I9t@YG JJJJJ_E&K Y1_~?ySAE{7ت9B)bBE[[g?[<_~?[[[[[BZYY i)  7I.H?ih:  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037884.323165 s, next control iter: 1743037884.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11383., header.stamp.nsec: 0.0 temperature: 13.564314.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.580292.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037884.723165 s.[J~,H.o)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743037884.723285F (some fields omitted in printout)Az;@Az]z;@A_~? AAKs%"AA2vNA"AZAbAjArAzAAAr[9@A ~sA)Dt@AV;Az=A#?A=?A?A*A:?2AD(׽:A<BA:?JAD(׽RA<٘i)I9Dt@YG JJJJJbE&K YE5_~?y#SAE9B)cBE[[1~?[_~?[7[[[[BZYY i) IH?ik= Ո@))Ո@Ո@y<{繪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037884.743165 s, next control iter: 1743037885.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037885.143165 s.U/[J~,*Io)AJ"J*J2J:JBJnJvJA ףp;@Af;@A_~? AA %"AAQvNA"AZAbAjArAzAAACx7l9@AYsAs@AA=Aq?AM?A?A(ᆼ*A2 :?2A t׽:Aڪ<BA2 :?JA t׽RAڪ<٘i)I9s@YdG JcJJJJeE&K Yz9_~?y:RAEj7m9)gB[[?[Ԛ_~?[ۧ[[[[BZYY i) IH?if@  @)) @ @0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037885.163165 s, next control iter: 1743037885.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037885.563165 s.[J~,x do)AA3333;@AW'g(;@A_~? AAa%"AAwNA"AZAbAjArAzAAA[|9@A:LׇsAn`s@A0]A܉=A?A J?A?APN*A:?2A׽:A<BA:?JA׽RA Y:_~?yniRA?E)7)789)jB[[S?[_~?[[[[[BZYY i) "'IG?ioLG َ @))َ @َ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037885.603165 s, next control iter: 1743037885.963181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11384, header.stamp.nsec: 00 temperature: 13.564517* salinity: 33.375568, density: 1025.000000* values[0]: 0.579742F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037885.983165 s.[J~,~o)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743037885.983297F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(<@A^<@A_~? A٪AjB%"AA,wNA"AZAbAjArAzAAAlk9@A*sAr@AH\TA`\=AN?A`gؿ?A%+?AO<*A*9?2APj׽:Ae=BA*9?JAPj׽RAe=٘i)I9r@YG JJJJJjE&K Y'<_~?y RAE77779)nB[[wǷ?[_~?[ [[[[BZYY i) o6IG?iL & @))& @& @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037886.003165 s, next control iter: 1743037886.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037886.403165 s.&[J~,͙o)AAQ^<@ApDQ<@A_~? AѪA%"AAwNA"AZAbAjArAzAAA-9@A+en~sA0{r@AA2 =A@?A?A=?A$莼*A9?2A׽:AE=BA9?JA׽RAE=٘i)I9{r@YG J֊JJJJmE&K Y~=_~?yՇQAEb77ͳ9B)oBE[[?[H_~?[[[[[BZYY i) >'FI3G?i5NP 6@))6@6@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037886.423165 s, next control iter: 1743037886.803176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11385, header.stamp.nsec: 00 temperature: 13.564684* salinity: 33.375576, density: 1025.000000* values[0]: 0.579249F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037886.823165 s.[J~,>o)AJ"J*J2J:JBJnJvJAGz<@An<@A_~? AɪAz&"AAwNA"AZAbAjArAzAAAy(9@AH9ysA8r@A九;Akё=A?AFV?A-N?A*A69?2A_ֽ:Am =BA69?JA_ֽRAm =٘i)I9r@YIG JjJJJJpE&K Y>_~?y TQAE77{79)sB[[`?[Q_~?[[[[[BZYY i) UIjG?if'S  @)) @ @ȪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037886.843165 s, next control iter: 1743037887.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037887.243165 s.[J~,qo)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037887.243293F (some fields omitted in printout)Aףp=<@Ap]1<@A_~? AA&"AA wNA"AZAbAjArAzAAAÓt]9@Ab+RtsA~q@ATfO<A0=AL?A`=?A\?A9!*A9?2A}ֽ:Ak =BA9?JA}ֽRAk =٘i)I9~q@YG JRJJJJrE&K Y+@_~?y=vPAEj7Z7b9)wB[[%?[_~?[Zx[[[[BZYY i) S-eIG?i,U @))@@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037887.263165 s, next control iter: 1743037887.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037887.663165 s.[J~,qo)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11386, header.stamp.nsec: 00 temperature: 13.564907* salinity: 33.375591, density: 1025.000000* values[0]: 0.578686F (some fields omitted in printout)A=@AVJ<@A;_~? AùA&"AAi$wNA"AZAbAjArAzAAA!9@Ap,iosAp@A87c<A'=A?AYǰ?Ag?A*A 9?2Aֽ:A.=BA 9?JAֽRA.=Y?\?y$=c<ٓHXǫ F??T@4?`3`f?4?)? I٘i)I9p@YG J,Jj<JJJuE&KFx> Y>_~?yrmPA?E{7j7-9B)yBE[[D?[!_~?[n[[[[BZYY i) [tIG?i7Z v0@))v0@v0@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037887.683165 s, next control iter: 1743037888.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037888.083165 s.D\J~, Sp)AA)\5=@A#(=@AM_~? AAP&"AA'wNA"AZAbAjArAzAAA:Ρ:9@A/qŨ~jsANop@A;A͗=A?AZ?A:q?Azߢ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9op@YUG JJJJJxE&K Y=_~?yd-PAE7779)~B[[f?[_~?[e[[[[BZYY i) āI^G?ii?_ \@))\@\@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037888.103165 s, next control iter: 1743037888.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037888.503165 s.\J~,@4 p)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076464< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743037888.503275F (some fields omitted in printout)J"J*J2J:JBJnJvJARk=@A-x^=@A_~? AA6&"AA*wNA"AZAbAjArAzAAA3u(N9@AubesAo@AWAS=AE?A#?A(x?A 硼*A69?2A5׽:AF =BA69?JA5׽RAF =٘i)I9o@YG JJJJJzE&K Y;_~?y[OAEŧ77¼9)B[[i?[_~?[r[[[[[BZYY i) [I\G?iǰxFb B@))B@B@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037888.543165 s, next control iter: 1743037888.903175 s, wait time: 0.360010 s ;_~?) [tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11387, header.stamp.nsec: 00 temperature: 13.565137* salinity: 33.375591, density: 1025.000000* values[0]: 0.578038F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037888.923165 s.;\J~,;p)AA{G=@A ==@A_~? AA݋&"AA,wNA"AZAbAjArAzAAA9@A_{`sA^o@A% 8A2=A?A`Ɣ?A}|?A򏡼*A9?2Aq׽:Ay =BA9?JAq׽RAy =٘i)I9^o@YG JJJJJ}E&K Y:_~?ySdOAEb79)B[[°?[1_~?[Q[[[[BZYY i) I6lG?i0c z@))z@z@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037888.943165 s, next control iter: 1743037889.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037889.343165 s.<\J~,Up)AJ"J*J2J:J?BJ?nJ5vJAp= =@A;=@AO_~? AyA)&"AA-wNA"AZAbAjArAzAAAm)U9@Ax9~[sAn@AJhAg=A?Amu?A@}?A*A9?2A^j׽:A =BA9?JA^j׽RA =٘i)I9n@Y]G J(JJJJE&K Y}8_~?yHJNAEb77X9B)BE[[?[_~?[H[[[[BZYY i) I YG?iXGd ]@))]@]@תYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037889.363165 s, next control iter: 1743037889.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11388*, header.stamp.nsec: 0*0 temperature: 13.565377** salinity: 33.375576*, density: 1025.000000** values[0]: 0.577431*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037889.763165 s.3\J~,pp)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743037889.763281F (some fields omitted in printout)A >@A]&=@A>_~? AdAn&"AA0.wNA"AZAbAjArAzAAAH!9@AWȨVsA;Nn@AA=A *?A@̓A|?Axզ*A9?2A ׽:An=BA9?JA ׽RAn=Y?D?y=fٓHÿ͚@<?ĿN?*!ԃ@?)? I٘i)I9Nn@Y G JdJn5<JJJE&KSx> Y4_~?yANA?E)7b7#•9)B[[u?[k_~?[g>[[[[BZYY i) IyEG?i赿8h @))@@yvw۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037889.803165 s, next control iter: 1743037890.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037890.183165 s.J "J *J 2J :J ?BJ ?"\J~nJ5vJ,^p)AA(\B>@A,j5>@A_~? APA4e&"AA-wNA"AZAbAjArAzAAACکU9@A(̯QsAKm@ApMAA=A?A4A x?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9m@YG J.JJJJE&K Y/_~?y8)NAE{7{7Õ9B)BE[[#?[a_~?[4[[[[BZYY i) vI1G?il`l Qr@))Qr@Qr@ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037890.203165 s, next control iter: 1743037890.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037890.603165 s.94)\J~,p)AAQx>@A |Ek>@A_~? A>A&"AAy,wNA"AZAbAjArAzAAA49@A 1@A@A_~? A.yAj&"AAm*wNA"AZAbAjArAzAAA 09@A(qGsA7l@A?i<A1=A?AAjj?AT(*AN9?2AKIֽ:A\=BAN9?JAKIֽRA\=٘i)I9l@YG JJJJJE&K Y&_~?y'RMAE77Ǖ9B)BE[[w?[_~?[p![[[[BZYY i) ecI G?iF@AA>@A_~? A!qA=&"AA'wNA"AZAbAjArAzAAA9n9@A~֩CsAk@Ax;<A{=A`?A䝱A_?A4z*Aϻ9?2Aֽ:A=BAϻ9?JAֽRA=٘i)I9k@YG J忼B=JJJJE&K Y"_~?yLAEb7b7Mɕ9)B[[?[_~?[[[[[BZYY i) 5ڽIF?i~m  !@)) !@ !@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037891.463165 s, next control iter: 1743037891.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11390, header.stamp.nsec: 00 temperature: 13.565941* salinity: 33.375553, density: 1025.000000* values[0]: 0.576029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037891.863165 s.+=\J~,>p)AJ"J*J2J:JBJnJvJA?@A& ?@A _~? AiA&"AA#wNA"AZAbAjArAzAAA :C9@AϏj->sAGk@A,;A=Aa?A7uA"R?AK¼*A9?2ALֽ:A=BA9?JALֽRA=YX??ya=n,;ٓH7Hп`fd? Sп ? c1e?@?)X? I٘i)I9Gk@Y2G J¼C=J0v<JJJE&Kfx> YQ_~?yNsLA?E)7ŧ7˕9)B[[?[_~?[L[[[[BZYY i) j%żIlF?i@.p ˬ"@))ˬ"@ˬ"@3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037891.903165 s, next control iter: 1743037892.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037892.283165 s.1RD\J~,q)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085706< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743037892.283259F (some fields omitted in printout)A(\O?@AR\UB?@A_~? AaAqw&"AA|wNA"AZAbAjArAzAAA{9@A Y^~?y*JA!?E7 ԕ9B)BE[[С?[j_~?[Uߨ[[[[ZZ¸BZYY i¸ܫ=) %=ּI~{F?i뽿s |*@))|*@|*@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037894.003165 s, next control iter: 1743037894.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037894.383165 s.e\J~,rq)AJ"J*J2J:JBJnJvJA(\@@AO@@A_~? An9A[ &"AAGvNA"AZAbAjArAzAAA2lW9@ASNܯ!sA@g@AsS<Am*=A?AſAe?A.[߼*Ai9?2AAֽ:A=BAi9?JAAֽRA=٘i)I9@g@Y G JRܼJJJJE&K Y^~?yIAEՕ9B)ȯB E[[H?[+`_~?[&֨[[[[ZZBZYY i) .ʼIgF?is y ,@))y ,@y ,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037894.403165 s, next control iter: 1743037894.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11393", header.stamp.nsec: 0"0 temperature: 13.387369"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.693116"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037894.803165 s.zAl\J~,gq)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198692 time: 1743037894.803278F (some fields omitted in printout)A@@A?߄@@A_~? A1A &"AAvNA"AZAbAjArAzAAA_͍D9@ADsMsAqf@A6U_<Ak=AT0?A@ǿA?A*A9?2A73ֽ:AR=BA9?JA73ֽRAR=٘i)I9qf@Y@ G J0JJJJE&K Y^~?yۨ5IAEb77ו9)ίB[[?[T_~?[ ͨ[[[[ZZBZYY i)  IRF?i$as -@))-@-@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037894.823165 s, next control iter: 1743037895.203180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037895.223165 s.gs\J~,Hq)AJ"J*J2J:J<1?BJ<1?nJ95vJAz@@Aui@@A_~? A)A &"AA(vNA"AZAbAjArAzAAAZlw`/9@A*sAEe@Ar;AcĘ=Au?AiɿA?A*A9?2Awֽ:A!<BA9?JAwֽRA!<٘i)I9e@Y G JFB=JJJJE&K Y^~?y^ӨHA E7nٕ9)կB[[#?[H_~?[ Ĩ[[[[ZZBZYY i) IE>F?i~|q //@))//@//@yC@=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037895.243165 s, next control iter: 1743037895.623179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037895.643165 s.xy\J~,*q)AA ףp@@AQd@@AP_~? A"AH &"AApvNA"AZAbAjArAzAAA9@A_,9sAnd@AvfAnt=A@A˿A/j?A*A 9?2Aֽ:A=b<BA 9?JAֽRA=b<oI٘i)I9d@Y4 G JC=JJJJE&K Y^~?y$˨@HA E7778ە9B)ޯBE[[&@[$<_~?[*[[[[ZZBZYY i) IC*F?i =n j0@))j0@j0@pYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11394, header.stamp.nsec: 00 temperature: 13.387735* salinity: 33.391632, density: 1025.000000* values[0]: 0.691450F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743037895.663165 s, next control iter: 1743037896.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037896.063165 s.\J~,J r)AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083917< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037896.063290F (some fields omitted in printout)A33333A@Ax'-&A@At_~? AfA* &"AAvNA"AZAbAjArAzAAAc9@AG#sAc@AkvMA20=A@ASͿAF?A|˼*A9?2Aֽ:A;BA9?JAֽRA;Y?@y-/0=MٓH`wܿw?ܿ`٠?(@ ?)? I٘i)I9c@Y G JB=J߽JJJE&K_w> Y=^~?y=èHA@E{7{7ݕ9)B[[]@[._~?[V[[[[ZZBZYY i˽=) 6I)F?i຿3o R2@))R2@R2@wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037896.083165 s, next control iter: 1743037896.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037896.483165 s.z_\J~,r)AA\hA@A'[A@A_~? AAt&"AAvNA"AZAbAjArAzAAAS8@A ,z sAp]c@AzAm<AHe@A$ϿA?A1<*AS9?2AEֽ:ABBAS9?JAEֽRAB٘i)I9]c@Y` G JC=JJJJE&K Y^~?yYGAEj7Z7ޕ9)B[[KR@[ _~?[[[[[ZZBZYY i) mIF?i0n 3@))3@3@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037896.503165 s, next control iter: 1743037896.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11395, header.stamp.nsec: 00 temperature: 13.388113* salinity: 33.391651, density: 1025.000000* values[0]: 0.689821F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037896.903165 s.ȍ\J~,9r)AJ"J*J2J:J0?BJ0?nJ,95vJAQA@A$CA@A9_~? A, A &"AAvNA"AZAbAjArAzAAA67q8@A&sAb@A)AX<A@AyпA@]?Az*A9?2Arֽ:A#BA9?JArֽRA#٘i)I9b@Y G JB=JJJJE&K Y^~?ysGAE779B)BE[[.@[_~?[[[[[ZZBZYY i) I2E?i/ m v5@))v5@v5@nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037896.943165 s, next control iter: 1743037897.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037897.323165 s.{\J~,:Tr)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073604< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743037897.323293F (some fields omitted in printout)AGzA@A}sA@Aې_~? AAA&"AAݬvNA"AZAbAjArAzAAA@ 8@A~~)@sAb@Ar"dA`:A@A$`ѿA?A1*A9?2Aֽ:AytBA9?JAֽRAyt٘i)I9b@Y G J\C=JJJJE&K Yu^~?yTGAEb77c9)BE[[}@[:_~?[[[[[ZZBZYY i=) uIE?i0i  7@)) 7@ 7@yl=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037897.343165 s, next control iter: 1743037897.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11396*, header.stamp.nsec: 0*0 temperature: 13.388363** salinity: 33.391670*, density: 1025.000000** values[0]: 0.688796*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037897.743165 s.W\J~,qor)AJ"J*J2J:JT0?BJT0?nJ85vJAףp= B@AZh4A@A_~? A,A/&"AARvNA"AZAbAjArAzAAAd#8@A49rA Fb@A<AFA L@ADҿA?Aջ*A9?2A?ֽ:A>!BA9?JA?ֽRA>!٘i)I9Fb@Y G JJJJJE&K Yݍ^~?yGAE77.9B)BE[[@[&^~?[B[[[[ZZBZYY i) j`IGE?i?kpe 8@))8@8@ye=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037897.763165 s, next control iter: 1743037898.143174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743037898.163165 s.}}\J~,qr)AA@B@A&2B@A|_~? AA&"AAvNA"AZAbAjArAzAAAiDs8@Ajr+rA!%b@Ali<AA@A %ӿA"m?A!*Ah9?2Aֽ:AżBAh9?JAֽRAżY?@ytJi<ٓH@ ѝ? ?⓿W^?V-? ?)? I٘i)I9%b@Y G JJ6JJJE&KAx> Y~^~?y1EGA@Ej7j79)B[[0 @[]^~?[ [[[[BZYY izl=) LNIE?i3e ,:@)),:@,:@y(=0.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037898.183165 s, next control iter: 1743037898.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037898.583165 s.\J~,Rr)AJ"J*J2J:J>0?BJ>0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057734< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743037898.583277F (some fields omitted in printout)A)\uB@A |EhB@Aq_~? AmAQ&"AAvNA"AZAbAjArAzAAAtR8@AɰrA!b@A%4<A82A @A`ԿA/:?AhB;*A9?2Ażֽ:A!BA9?JAżֽRA!輙٘i)I9!b@Y G JJJJJE&K Yo^~?yqGAEb779 B)BE[[N9 @[^~?[[[[[BZYY i=) 0=IE?iѱc ;@));@;@y=$o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037898.603165 s, next control iter: 1743037898.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11397, header.stamp.nsec: 00 temperature: 13.388460* salinity: 33.391663, density: 1025.000000* values[0]: 0.688263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037899.003165 s.x \J~,L4r)AARB@AaR||B@A}f_~? A(A&"AAAnvNA"AZAbAjArAzAAA&d\g08@A@rA@b@A3a:ALYA- @AԿA ?A;*A>9?2A?hֽ:AiBA>9?JA?hֽRAi٘i)I9@b@Y G JA;JJJJE&K Y`^~?yFGA!E779)BE[[ @[^~?[x[[[[BZYY i) 3+I E?i` O=@))O=@O=@ye=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037899.023165 s, next control iter: 1743037899.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037899.423165 s.u\J~,r)AJ"J*J2J:J00?BJ00?nJ85vJA{GB@A =B@AZ_~? AީA%m&"AA\vNA"AZAbAjArAzAAAӻ 8@AHW!rAb@A A|wAo @A@տA`?A709<*A9?2AKֽ:A BA9?JAKֽRA ٘i)I9b@Y G J<JJJJE&K YlQ^~?yЅGA$EX9)B[[^@[e^~?[Rp[[[[BZYY i) GI{E?i(u\\ _>@))_>@_>@y3=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037899.443165 s, next control iter: 1743037899.823178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11398, header.stamp.nsec: 00 temperature: 13.388444* salinity: 33.391708, density: 1025.000000* values[0]: 0.688342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037899.843165 s.ݼ\J~,r)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067725< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198692 time: 1743037899.843291F (some fields omitted in printout)Ap= C@AΩd C@AwN_~? AשA &"AAJvNA"AZAbAjArAzAAA%S]7@Ai!rAFb@AmmA#A @A@sֿA ?An<*A]9?2Ayս:A6fBA]9?JAyսRA6f٘i)I9b@Y G JR<JJJJE&K YPB^~?yZ~GA'Ej7Z7#9 B)BE[[2@[P^~?[h[[[[BZYY i) I}iE?i^V r@@))r@@r@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037899.863165 s, next control iter: 1743037900.243183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037900.263165 s.\J~,s)AJ"J*J2J:JBJnJvJALC@A?C@AA_~? AЩAr&"AA7vNA"AZAbAjArAzAAAR87@AKg]6rADc@A%TA^oA@A`]׿A 8Z?Ar<*A;9?2A_$ֽ:A!BA;9?JA_$ֽRA!Y @@yClTٓH @3?q?`J> ??) @ I٘i)I9Dc@YQ G J<JJJJE&Kw> Y0^~?ylwVHA@)EZ79)B[[@[^~?[Qa[[[[BZYY il=) IWE?iGPU B@))B@B@"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037900.283165 s, next control iter: 1743037900.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 113992, header.stamp.nsec: 020 temperature: 13.3883532* salinity: 33.3916782, density: 1025.0000002* values[0]: 0.6888932F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037900.683165 s.l\J~,R+s)AA(\C@AkcuC@A4_~? AɩAH &"AA,$vNA"AZAbAjArAzAAAAM7@AfrA-c@AA'AA\@A32ؿA@?A_<*A֦9?2A8ֽ:A{BA֦9?JA8ֽRA{٘i)I9c@Y G JՐ<JJJJE&K Yx^~?y~pHA,E7779 B)BE[[2@[bp^~?[ Z[[[[BZYY i) MԻIEE?iR C@))C@C@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037900.683165 s, next control iter: 1743037901.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743037901.103165 s.\J~,Fs)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037901.103277F (some fields omitted in printout)J"J*J2J:JBJnJvJAQC@AJC@A&_~? A©Az&"AAvNA"AZAbAjArAzAAA;o7@Ak]rAuAd@A4;ArA@AٿA9?A<*A9?2Aֽ:Au BA9?JAֽRAu ٘i)I9Ad@Y G J><B=JJJJE&K Y ^~?yiIA/E79B)BE[[:@[[^~?[R[[[[BZYY i) ɡI4E?iOzN E@))E@E@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037901.123165 s, next control iter: 1743037901.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037901.523165 s.\J~,|as)AAHzC@AuC@A_~? A*A&"AAuNA"AZAbAjArAzAAA#poME7@APrAd@A ]<A7A@A@ٿA?AU?<*A9?2A%!׽:Ac BA9?JA%!׽RAc ٘i)I9d@Y? G J<C=JJJJE&K Y]~?ybxIA2Eb7ŧ7N9)B[[W,@[uF^~?[L[[[[BZYY i) I#E?iI 0F@))0F@0F@y[l=*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037901.543165 s, next control iter: 1743037901.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11400, header.stamp.nsec: 00 temperature: 13.388163* salinity: 33.391693, density: 1025.000000* values[0]: 0.689735F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037901.943165 s.J Xd\J~"J*J2J,B]|s)A:J0?BJ0?nJ&95vJAq= #D@A=BD@A] _~? AwA&"AAFuNA"AZAbAjArAzAAAYdA7@A;rAZe@AVc<AA[@AڿAYT?AWY<*A(9?2A" ׽:AWMBA(9?JA" ׽RAWM٘i)I9Ze@Y G J<B=JJJJE&K Y2]~?y[IA4Eb79B)BE[[@[0^~?[YE[[[[BZYY i) pISE?iҗTB :H@)):H@:H@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037901.963165 s, next control iter: 1743037902.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037902.363165 s.\J~,>s)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057632< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037902.363318F (some fields omitted in printout)AYD@Ap!LD@Af^~? AܮA&"AAuNA"AZAbAjArAzAAA瑖6@A=rAAe@A;A%A@A`ziۿA@?Ar<*A^9?2Aֽ:ABA^9?JAֽRAY@@y$U;ٓH@"I I? ? 5P>?? |??)@ I٘i)I9e@Y G J<C=J+9JJJE&KCx> Y]~?y\UAJA@7E79)B[[LD@[^~?[>[[[[BZYY i) 4N4I6E?iᕿ? sZH))tZHAI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037902.403165 s, next control iter: 1743037902.763180 s, wait time: 0.360015 s]~?)\U&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11401&, header.stamp.nsec: 0&0 temperature: 13.387957&* salinity: 33.391697&, density: 1025.000000&* values[0]: 0.690706&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037902.783165 s.V\J~,s)AJ"J*J2J:JBJnJvJA(\D@AߤiPD@A^~? AYA&"AAuNA"AZAbAjArAzAAAz86@A@rAf@AraiAAL@A,ܿA?Ab<*A9?2APjֽ:A*HBA9?JAPjֽRA*H٘i)I9f@YK G J]<JJJJE&K Y]~?yOJA:E79B)BE[[@[^~?[g8[[[[BZYY i^o=) IlD?i璿Y < F))FPK@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037902.803165 s, next control iter: 1743037903.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037903.203165 s.\J~, s)AAQD@ACD@A2^~? AA7&"AA_uNA"AZAbAjArAzAAA\H6@AGrAg@AGAA$@A@ܿAp~?A <*An9?2A;ֽ:Aw}BAn9?JA;ֽRAw}٘i)I9g@Y G J<JJJJE&K Yq]~?yHKA elevatorAngleAction: 0.066619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199522 time: 1743037903.623275F (some fields omitted in printout)J"J*J2J:JBJnJvJAGD@A+D@A^~? AA&"AAuNA"AZAbAjArAzAAAK8kj\6@ArA.g@AtkAASp@AݿA 2?A Ԫ<*A+9?2AeMֽ:AHBA+9?JAeMֽRAH٘i)I9g@Y G JY<B=JJJJE&K Yٜ]~?yVBwKA?Eŧ7b7C9B)دBE[[I@[]~?[=,[[[[BZYY i) 7I8D?i݉Nw0 C))C gN@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037903.663165 s, next control iter: 1743037904.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11402 , header.stamp.nsec: 0 0 temperature: 13.387739 * salinity: 33.391712 , density: 1025.000000 * values[0]: 0.691737 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037904.043165 s.¨]J~,t)AA= ף0E@AŪA#E@AU^~? AhA&"AA>ouNA"AZAbAjArAzAAA)6@A<'rA%9h@A A͊A|@Ai޿A?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I99h@YU G J<C=JJJJE&K YE]~?y<KABEj7j79B)կBE[[g@[ڽ]~?[y&[[[[BZYY i) "hs:ID?i҃4( .B)).BO@y `=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037904.063165 s, next control iter: 1743037904.443184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743037904.463165 s.`]J~,t)AJ"J*J2J:JBJnJvJAfffffE@AC(^YE@AJ^~? AMAZ&"AAUuNA"AZAbAjArAzAAA*]5@AN|=rANh@A:A-A@A@&%߿A ?A<*Ap9?2Aֽ:AhBAp9?JAֽRAhY @0@y'E:ٓH@X_ƫB? ?wmj?S? ?) @ I٘i)I9h@Y G J<B=JV<JJJE&K&x>  9Ys]~? 9yN6:LA@DE779)ѯB[[ @[]~?[ [[[[BZYY i) $P:I,D?i?% @))@yQ@߸*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037904.483165 s, next control iter: 1743037904.863187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11403, header.stamp.nsec: 00 temperature: 13.387542* salinity: 33.391712, density: 1025.000000* values[0]: 0.692697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037904.883165 s.y ]J~,88t)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743037904.883299F (some fields omitted in printout)A(E@ASE@Aט^~? AOA&"AA;uNA"AZAbAjArAzAAAd5@A?rA6i@A0<AwEAYu@A9߿A 3A?A<*A9?2A0׽:Ai8BA9?JA0׽RAi8٘i)I96i@Y G J<C=JJJJE&K Y#^]~?y0LAGE79B)үBE[[v"@[]~?[m[[[[BZYY i) n9;ID?iz[t ?))?%S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037904.903165 s, next control iter: 1743037905.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037905.303165 s.T]J~,ogSt)AJ"J*J2J:Jq1?BJq1?nJ:5vJAE@A?E@A^~? AmAv&"AA uNA"AZAbAjArAzAAAڈG5@AϦrAni@Ap<AA@AnHA`?A <*A9?2A+6׽:ABA9?JA+6׽RA뼙٘i)I9i@Y6G JЉ<JJJJE&K YH]~?y*LAJE{7j7n9B)ѯB޹E[[v#@[ t]~?[7[[[[BZYY i) uw;ID?i1q\ =))=ȈT@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037905.343165 s, next control iter: 1743037905.703175 s, wait time: 0.360010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11404*, header.stamp.nsec: 0*0 temperature: 13.387367** salinity: 33.391727*, density: 1025.000000** values[0]: 0.693546*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037905.723165 s.]J~,Hnt)AAzF@AUסE@At^~? A}A}&"AAuNA"AZAbAjArAzAAAS5@A'uwrAj@A1<A؂A' @AടA)?A`<*A9?2A׽:A6BA9?JA׽RA6٘i)I9j@Y{G J<JJJJE&K Y3]~?y=%KMALE77{799)ͯB[[ ~%@[Z]~?[7[[[[BZYY iπ=) l;IcD?ie  <)) <V@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037905.763165 s, next control iter: 1743037906.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037906.143165 s.a/"]J~,5*t)AJ"J*J2J:J1?BJ1?nJD:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200672 time: 1743037906.143336F (some fields omitted in printout)A ףp=F@A6e0F@A,b^~? AxAX&"AAtNA"AZAbAjArAzAAḀ(P5@A'bzrAj@Apֲ:A4WAS!@AA@u@?A@<*Ap9?2Adֽ:ASBAp9?JAdֽRAS򼙘٘i)I9j@YG J<JJJJE&K Yq]~?yMAOE7779 B)˯B۹E[[ &@[A]~?[o [[[[BZYY i) ~#;IĆD?iXGQ I:))I:lW@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037906.163165 s, next control iter: 1743037906.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037906.563165 s.(]J~,[ t)AA3333sF@AD(fF@A6O^~? AxrAt&"AAItNA"AZAbAjArAzAAA4@AvlrAj@AAkA`"@A`(GAR?Ah<*A9?2Ahֽ:A$BA9?JAhֽRA$Yz@"@y:j36ٓH@X`=rP?9 ?~c'`uJ?K ?)z@ I٘i)I9j@YG J<J^;JJJE&K'x> Y"]~?yMA"@REj7Z7 9!B)ɯBعE[[(@[']~?[[[[[BZYY i) ;I{D?iAQ ?9))?9vY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037906.603165 s, next control iter: 1743037906.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11405, header.stamp.nsec: 00 temperature: 13.387234* salinity: 33.391739, density: 1025.000000* values[0]: 0.694291F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037906.983165 s.J "J *J 2J :J 1?BJ 1?nJ _:5vJ /]J~,t)AA\F@A`5F@A;^~? AmA|0&"AAOtNA"AZAbAjArAzAAAC4@AQYkUrAnk@AkAANA?#@AHA?A<*Au9?2ASֽ:ABAu9?JASֽRA٘i)I9nk@YJG J<JJJJE&K Y\~?yUNATE77 9#B)ȯBչE[[M*@[ ]~?[f[[[[BZYY i) ;IpD?iaH&> w7))w7>Z@yd=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037907.023165 s, next control iter: 1743037907.383181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037907.403165 s.&6]J~,t)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743037907.403290F (some fields omitted in printout)AQF@Ax}F@A<(^~? AgA&&"AA̒tNA"AZAbAjArAzAAAdk4@At1krAk@A)KA찄A:.%@A:A`b?A <*A9?2Aֽ:A+BA9?JAֽRA+٘i)I9k@YG J<JJJJE&K Y\~?yNAWEŧ7ŧ7c 9)įB[[+@[O\~?[3[[[[BZYY i) A3 elevatorAngleAction: 0.075441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743037908.663302F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11407, header.stamp.nsec: 00 temperature: 13.386921* salinity: 33.391727, density: 1025.000000* values[0]: 0.695835F (some fields omitted in printout)AG@A^rG@A5]~? AXAH&"AA"7tNA"AZAbAjArAzAAAr3@A*RrA@.m@A_<AGA3)@A`A?A)<*A.9?2A6I׽:A BA.9?JA6I׽RA Yr@$)@y򩋽 `<ٓHe ޿ ?~?@q?`=?1?)r@ I٘i)I9.m@YZG JX<C=J90JJJE&Kmx> Y\~?ypOA$)@_E79)B[[/@[n\~?[[[[[BZYY i) ; elevatorAngleAction: 0.075441< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743037909.923295F (some fields omitted in printout)A{G!H@A-;H@AR]~? AJAS&"AAsNA"AZAbAjArAzAAAR2@A⊓brAmn@AeA=A-@A eA?AΙ<*Ay9?2Aoֽ:A.H BAy9?JAoֽRA.H ٘i)I9n@Y2G JŔ<JJJJE&K YE\~?yPAgE#9,B)BŹE[[Y4@[Q\~?[\[[[[BZYY i,=) ,wi Y\~?y/QA/@mE77{79.B)BE[[XA7@[*\~?[[[[[BZYY i)  elevatorAngleAction: 0.084467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037911.183309F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\H@AH@Ah]~? A >A&"AAssNA"AZAbAjArAzAAA]vb'2@A䤏rA'p@A, AJA0@A]A@W?Ah<*Ac9?2AԒֽ:ApBAc9?JAԒֽRAp٘i)I9'p@Y)G J<C=JJJJ E&K Y[~?yQA DoE7790B)BE[[w8@[[~?[[[[[BZYY i)  elevatorAngleAction: 0.084467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743037912.443289F (some fields omitted in printout)Aq= cI@A8VI@A$]~? A2A&"AAT sNA"AZAbAjArAzAAAݛV1@AsڧrAq@A/m<A{A4@A A ?AP<*A 9?2A5׽:ABA 9?JA5׽RA٘i)I9q@Y&G J/<JJJJE&K Y[~?y0SAwE7"94B)BE[[<@[[~?[ܧ[[[[BZYY i) E7v)AJ"J*J2J:JBJnJvJAI@AяI@A ]~? A$/A&"AArNA"AZAbAjArAzAAA1s1@AE2~rA/Vr@At'<A Ag86@A >A?A(<*A9?2A;ֽ:ABA9?JA;ֽRAY$(@*6@y(<ٓH`ԑҿ?U? $`qMڴ?? Y?)$(@ I٘i)I9Vr@Y~G J#<JJJJE&K2x> Y[~?yާSA*6@zEj7j7$95B)BE[[m>@[[~?[Tۧ[[[[BZYY i) T elevatorAngleAction: 0.084467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200712 time: 1743037913.703325F (some fields omitted in printout)AQJ@AYI@A\~? A(A &"AAbrNA"AZAbAjArAzAAA40@AwK}zrAs@AAP~A8@A~A0?A<*A(9?2AU!ֽ:A%eBA(9?JAU!ֽRA%e٘i)I9s@Y<G J޾<JJJJE&K YY[~?yاTAEb77D(97B)BE[[BA@[Y[~?[ا[[[[BZYY i) \[~?yT֧TAE7777*98B)BE[[ƩB@[*>[~?[ק[[[[BZYY i) s[: 3))3*u@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037914.563165 s, next control iter: 1743037914.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11413, header.stamp.nsec: 00 temperature: 13.385774* salinity: 33.391708, density: 1025.000000* values[0]: 0.701518F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037914.963165 s.{]J~,v)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743037914.963273F (some fields omitted in printout)AffffJ@A::ZJ@AW\~? AA0!&"AA2rNA"AZAbAjArAzAAAqG(F/@AZ7urAu@ANACӰAө<@A <"A`?A9<*A 9?2Aݨֽ:ABA 9?JAݨֽRAY*.@L<@y ӰqOٓH=Idȿ?.?`f*(@Z?{iq?)*.@ I٘i)I9u@YsG Jx<J:JJJ$E&K$x> Y[~?yҧUA<@EZ7-9;B)BE[[tE@[,[~?[֧[[[[BZYY i) QF: ))/v@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037914.983165 s, next control iter: 1743037915.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037915.383165 s.ص]J~,@v)AJ"J*J2J:J3?BJ3?nJ{<5vJA(J@AzJ@A{\~? AEAkd!&"AAw rNA"AZAbAjArAzAAAtBy.@Aox6srA9v@A;AӱAD>@A`IA1?AW<*AΌ9?2A׽:ABAΌ9?JA׽RA٘i)I99v@YG J<JJJJ&E&K YKZ~?ycЧNVAEŧ7b7n/9}; )) x@K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037915.423165 s, next control iter: 1743037915.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11414", header.stamp.nsec: 0"0 temperature: 13.385513"* salinity: 33.391716", density: 1025.000000"* values[0]: 0.702756"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037915.803165 s.A]J~,gv)AAK@AK@Ab\~? AA!&"AA qNA"AZAbAjArAzAAAp>=.@A= &rrAv@AKb<AVಽA]?@A@nA@ Z?A/<*A9?2A(׽:AВBA9?JA(׽RAВ٘i)I9v@YDG J<JJJJ)E&K YZ~?yΧVAEb77919=B)BE[[f<4; ))sy@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037915.823165 s, next control iter: 1743037916.203183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743037916.223165 s.g]J~,Hw)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084467< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743037916.223311F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGK@A:K@AJ\~? AA!&"AAdqNA"AZAbAjArAzAAAyT-@A׷n6prAyw@AuW<AoA9@@A`ːA?AG2<*A9?2Aֽ:ABA9?JAֽRA٘i)I9w@YG J9<JJJJ,E&K YZ~?yͧB)BE[[7I@[+Z~?[է[[[[BZYY i넿=) E^; z@))z@;z@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037916.243165 s, next control iter: 1743037916.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037916.643165 s.u]J~,*)w)AA ףp}K@ADipK@A0\~? AoA!&"AAqNA"AZAbAjArAzAAAg\u,@A worAAx@Av;A״ABA@AA?Ax<*AՆ9?2A˜ֽ:ABAՆ9?JA˜ֽRA٘i)I9Ax@YG J<JJJ+FJ.E&K Y=Z~?yP˧WAE777749?B)}BE[[J@[EZ~?[֧[[[[ZZZZ¸>BZYY i¸>먽) !ZJ; ))H|@o*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037916.663165 s, next control iter: 1743037917.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11415, header.stamp.nsec: 00 temperature: 13.385271* salinity: 33.391701, density: 1025.000000* values[0]: 0.704015F (some fields omitted in printout) =Z~?) P˧ rAdjusting time to match Gazebo time: 1743037917.063165 s.]J~,[ Dw)AJ"J*J2J:J:4?BJ:4?nJ<5vJA3333K@A,-K@A\~? AyA"&"AAlvqNA"AZAbAjArAzAAAteĢR,@AcDnrAx@AwAA)C@AA?A<*AH9?2A!-ֽ:ABAH9?JA!-ֽRAY:*5@\0C@y]󵽙sٓH[`w%? ]?݊ö?`nt?):*5@ I٘i)I9x@YG Jq<J>ûJJJ1E&Kw> Y&}Z~?yʧ,XA0C@E{7{769@B)xBE[[?YL@[Z~?[k֧[[[[ZZZZBZYY i) Ĕ; m))m }@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037917.083165 s, next control iter: 1743037917.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037917.483165 s.w_]J~,^w)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037917.483300F (some fields omitted in printout)A\K@A%K@Am[~? AA;"&"AA(PqNA"AZAbAjArAzAAA+@A_i+h*mrAfy@ASAA kD@A@RA7?A&=*A9?2Aս:AWvBA9?JAսRAWv٘i)I9y@YG Jj<JJJJ4E&K YaZ~?yɧXAE77d89AB)sBE[[M@[,dZ~?[֧[[[[ZZZZBZYY i) JJJ>E&Kv> YY~?y^ǧ9ZAtHE{7{7?9)ZB[[S@[]Y~?[ڧ[[[[ZZZZBZYY ia) {n5vJ Cu^J~,Hx)AA{GaM@AN>=TM@AJ[~? A A"&"AA$@pNA"AZAbAjArAzAAA)wDv'@A_4hrA}@A-9A/'<A͉DAeA C?AJR;*A}9?2Aֽ:A}\<BA}9?JAֽRA}\<٘i)I9}@YG J<JJJJGE&K YY~?yǧZAE77D9)SBE[[*W@[Y~?[^ߧ[[[[ZZZZBZYY i) dJJJLE&KEx> Y3cY~?yȧZAAEZ7SI7H9)}E[[}Y@[yY~?[=[[[[BZYY iEh) W?< ))b)@ڨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037922.143165 s, next control iter: 1743037922.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037922.523165 s.'^J~,{x)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037922.523292F (some fields omitted in printout)AHznN@A paN@AZ~? A A#&"AAY{oNA"AZAbAjArAzAAAv`=Hc$@A̼grA_}@AEe <A=Ai>ArAzAi*A9?2Aս:A, =BA9?JAսRA, =٘i)I9_}@Y6G JKJJJJTE&K YY~?y˧YAE77M9DB)YBtE[[]@[/Y~?[2[[[[BZYY i)  ]x)AJ"J*J2J:JBJnJvJAq= ףN@A˖N@AîZ~? A A"&"AASoNA"AZAbAjArAzAAAEsz#@AZ߻grAY|@A(q<A=A<AnARJA%Ƌ*A-9?2Aս:Ae=BA-9?JAսRAe=٘i)I9|@YG JJJJJWE&K YX~?y̧YAE{7j7O9)\B[[^@[Y~?[[[[[BZYY i) ;ID?iz?'U< m))m@yfŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037922.963165 s, next control iter: 1743037923.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037923.363165 s.5^J~,}>x)AAN@A/N@AϔZ~? Al A"&"AA,oNA"AZAbAjArAzAAA0e(#@Abd X`E)?`C?)ɧH@ I٘i)I9x|@YG JbB=J'=JJJYE&Kiw> Y!X~?yuΧAYAq;E77zQ9)`BqE[[G`@[lX~?[[[[[BZYY i) P8;I%D?iu?u\< y))yg1@~ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037923.403165 s, next control iter: 1743037923.763177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11422", header.stamp.nsec: 0"0 temperature: 13.384545"* salinity: 33.391697", density: 1025.000000"* values[0]: 0.708064"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037923.783165 s.J "J *J 2J :J C5?BJ C5?nJ >5vJ a;^J~,x)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037923.783299F (some fields omitted in printout)A(\O@A +TO@AzZ~? A Ae"&"AANoNA"AZAbAjArAzAAA+="@A8hrA{@A;A+'=A):A]AUʰA*AŚ9?2Auֽ:AI=BAŚ9?JAuֽRAI=٘i)I9{@YXG J]C=JJJJ\E&K YX~?yQЧXAEj7Z7DS9)dBoE[[ϒa@[X~?[t[[[[BZYY i) ܺ;Il E?iL?e< ))݉@ ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037923.823165 s, next control iter: 1743037924.183185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743037924.203165 s.C^J~, y)AAQEO@AH8O@AaZ~? A A"&"AAnNA"AZAbAjArAzAAA=^!@A7irAg{@A%@ŻA{=A8AQA cA*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9g{@YG JJJJJ_E&K YX~?y,ҧwXAE7)7U9)iBlE[[Mb@[:X~?[z[[[[BZYY i) ;I E?i?Vo< ))b@KתYFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743037924.223165 s, next control iter: 1743037924.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037924.623165 s.\I^J~,q'y)AJ"J*J2J:JBJnJvJAGzO@A mO@A5GZ~? A A]"&"AAnNA"AZAbAjArAzAAAIQ!@APƙirAz@AaA=Aw7ABAuzAe੼*A9?2A׽:AR =BA9?JA׽RAR =٘i)I9z@YG JJJJJaE&K YWX~?yԧXAE7{7V9)mBiE[[!d@[-X~?[[[[[BZYY i) T|;I5E?i?;Bz< st))st2@تYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037924.643165 s, next control iter: 1743037925.023181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11423, header.stamp.nsec: 00 temperature: 13.384811* salinity: 33.391666, density: 1025.000000* values[0]: 0.707063F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037925.043165 s.P^J~,By)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743037925.043298F (some fields omitted in printout)A= ףO@AO@Av-Z~? A A"&"AAЏnNA"AZAbAjArAzAAAKs㻵 @ANrJjrAIz@AiAŝ=A)6A1A`*FA2V*A9?2AIֽ:AI7=BA9?JAIֽRAI7=٘i)I9Iz@YUG JJJJJdE&K YhX~?yէWAEŧ77X9)rBfE[[ee@[X~?[[[[[BZYY i) L?;IKE?i?V< s))s~ԋ@$٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037925.063165 s, next control iter: 1743037925.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037925.463165 s.J "J *J 2J :J 4?BJ 4?nJ =5vJ ^W^J~, ]y)AAffffO@AZO@AZ~? A?A"&"AAhnNA"AZAbAjArAzAAA  @AѳzkrAUy@AHA=AL4A@A@A/*A69?2Aֽ:Ae=BA69?JAֽRAe=Y++O@j4y=ٓH 1Wk?@2ӿyl W蜳} ?)++O@ I٘i)I9y@YG JkJ<JJJgE&Kx> YMX~?yاDWA4E7oZ9)vBcE[[f@[ԋX~?[U[[[[BZYY i) r;I;bE?i?< __))__x@<تYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037925.483165 s, next control iter: 1743037925.863182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11424, header.stamp.nsec: 00 temperature: 13.385072* salinity: 33.391666, density: 1025.000000* values[0]: 0.705991F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037925.883165 s.y]^J~,8xy)AA(P@A-P@A7Y~? AA؄"&"AABnNA"AZAbAjArAzAAAp]/@AckrA_y@Ag;A(=A}3A  AA+*A9?2AmOֽ:A*x=BA9?JAmOֽRA*x=٘i)I9y@YG JJJJJiE&K Y 3X~?yWۧVAE7777:\9){B[[!g@[uX~?[[[[[BZYY i) M:IyE?i?}8< ;));←@3֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037925.903165 s, next control iter: 1743037926.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037926.303165 s.Ud^J~,sgy)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037926.303275F (some fields omitted in printout)J"J*J2J:JBJnJvJAQP@A?DP@AY~? AOAg"&"AANnNA"AZAbAjArAzAAA6э(@AlrAx@AK<AE=Ab2A`AA@bÿA!*A9?2Aֽ:A/S=BA9?JAֽRA/S=٘i)I9x@YBG JJJJJlE&K Y4X~?yާrVAE7^9)B`E[[4i@[_X~?[[[[[BZYY i) d:9IґE?i?b< OO))OO@!ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037926.323165 s, next control iter: 1743037926.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11425*, header.stamp.nsec: 0*0 temperature: 13.385344** salinity: 33.391644*, density: 1025.000000** values[0]: 0.704920*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037926.723165 s.k^J~,Hy)AAzP@AqTnzP@A]Y~? AA/F"&"AAmNA"AZAbAjArAzAAAݲI@A8zdnrAw@Ar<Aq=A1AAſAK*A9?2Ap)ֽ:A?=BA9?JAp)ֽRA?=٘i)I9w@YG JHJJJJoE&K Y[W~?yVAE{7j7_9)B]E[[tj@[IX~?[W [[[[BZYY i) ~7AIE?i?u< ;));꿩L\@GϪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037926.743165 s, next control iter: 1743037927.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037927.143165 s.W/r^J~, *y)AJ"J*J2J:JO4?BJO4?nJ=5vJA ףpP@AͩdP@AY~? AA+""&"AAcmNA"AZAbAjArAzAAA|vc@AO'56orAWw@A<A`X=A/A` A@oǿAo*A9?2Avֽ:A;=BA9?JAvֽRA;=٘i)I9Ww@YG JJJJJrE&K YW~?yUAE{7a9)BZE[[k@[4X~?[7[[[[BZYY i)  غIE?i?]< wR))wR迩=@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037927.163165 s, next control iter: 1743037927.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037927.563165 s.x^J~,V y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037927.563292F (some fields omitted in printout)A3333P@AU3k)P@AY~? AA!&"AA4mNA"AZAbAjArAzAAA YW~?y>UAj.Ej7dc9)BWE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #69q/E^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ))ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037927.603165 s, next control iter: 1743037927.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11426, header.stamp.nsec: 00 temperature: 13.385625* salinity: 33.391659, density: 1025.000000* values[0]: 0.703798F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037927.983165 s.^J~,y)AJ"J*J2J:J,4?BJ,4?nJ<5vJA\(Q@AQ@A|Y~? A[A!&"AA:mNA"AZAbAjArAzAAAIQf@ACM qrA_Bv@Aз2A Í=A-A exA@%)˿AGÛ*Au9?2A׽:AO<BAu9?JA׽RAO<mI٘i)I9Bv@YG JoC=JJJJwE&K Y׮W~?yTAEŧ7b7/e9)BTE[[4n@[ X~?[l[[[[BZYY i) fIuE?i?F< WO)) WO㿩<@^êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037928.003165 s, next control iter: 1743037928.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037928.403165 s.&^J~,z)AAQ^Q@AE`QQ@A1cY~? AAy!&"AA}\mNA"AZAbAjArAzAAAQw@AJ*q\srAu@AW=|A =A,AQAͿA"*A:?2A½:A<BA:?JA½RA<٘i)I9u@YG JJJJJzE&K YW~?y1|TAE{7{7f9)B[[qo@[W~?[[[[[BZYY i) (IE?iC@< @)) ࿩ڐ@5ªYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743037928.423165 s, next control iter: 1743037928.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11427", header.stamp.nsec: 0"0 temperature: 13.385887"* salinity: 33.391640", density: 1025.000000"* values[0]: 0.702806"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037928.823165 s.^J~,4z)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: -0.066040< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743037928.823300F (some fields omitted in printout)AGzQ@ArQ@A~JY~? AkA=q!&"AA6mNA"AZAbAjArAzAAAVL@Am[trABu@A?CAd=AU+A`=AsοA*A5:?2A9ý:Aَ<BA5:?JA9ýRAَ<٘i)I9Bu@YEG JGB=JJJJ|E&K Y-{W~?yTAEj7j7h9CB)BRE[[Up@[W~?[[[[[BZYY i) װIF?ia@I< \޿))\޿x@YW YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037928.843165 s, next control iter: 1743037929.223181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037929.243165 s.^J~,~Oz)AAףp=Q@Ag}1Q@A1Y~? A"A>!&"AAmNA"AZAbAjArAzAAA#u@AEpvrAt@AqAf=A]*Ae#A`WпAVL*A7:?2AŽ:A;<BA7:?JAŽRA;<٘i)I9t@YG JޔC=JJJJE&K Y[aW~?yPSAE77j9)BOE[[:q@[W~?[r#[[[[BZYY i) %ϻI7F?i @<  ۿ)) ۿ@ɻY5]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037929.263165 s, next control iter: 1743037929.643181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037929.663165 s.^J~,qjz)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11428, header.stamp.nsec: 00 temperature: 13.386098* salinity: 33.391636, density: 1025.000000* values[0]: 0.701886F (some fields omitted in printout)AR@A Q@AlY~? A$A!&"AADlNA"AZAbAjArAzAAAזLW@Ax,SxrAHt@A(<A=A}B)AA пAB*A:?2AȽ:As<BA:?JAȽRAs<٘i)I9Ht@YG JtJJJJE&K YGW~?yYSAEŧ7b7Zl9)BLE[[s@[W~?['[[[[BZYY i) -IWF?i@\< K~ٿ))K~ٿH@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037929.683165 s, next control iter: 1743037930.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037930.083165 s.D^J~, Sz)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743037930.083315F (some fields omitted in printout)A)\5R@A(R@AY~? A'A &"AA@lNA"AZAbAjArAzAAA̸ 0@AM<zrAs@A ~<A =A (AA܉ѿA㓼*A:?2Aʽ:A[=BA:?JAʽRA[=٘i)I9s@YbG J퓼JJJJE&K Y-W~?yoRAEb77$n9)BIE[[ Pt@[VW~?[,[[[[BZYY i) pmINwF?i@(< g׿))g׿J@y蘙YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037930.123165 s, next control iter: 1743037930.483181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037930.503165 s.J "J *J 2J :J 3?BJ 3?nJ K<5vJ ^J~,a4z)AARkR@AzI|^R@AX~? A*A1 &"AA}lNA"AZAbAjArAzAAA ? @A7|rATQs@A3!b<AC=A&AA@WҿA*A:?2Aoͽ:Ag=BA:?JAoͽRAg=٘i)I9Qs@YG JݒB=JJJJE&K YW~?yRAE7o9)B[[u@[$W~?['1[[[[BZYY i) IјF?i@s< cԿ))cԿB@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037930.523165 s, next control iter: 1743037930.903183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11429, header.stamp.nsec: 00 temperature: 13.386333* salinity: 33.391624, density: 1025.000000* values[0]: 0.700992F (some fields omitted in printout)2W~?)2 rAdjusting time to match Gazebo time: 1743037930.923165 s.6^J~,z)AA{GR@AL…br@A ׻A=Ap$A`TTAԿAqފ*A:?2A(ҽ:Ax=BA:?JA(ҽRAx=٘i)I9br@YG JJJJJE&K Y1V~?yQAEb7b7s9)BCE[[w@[,tW~?[:[[[[BZYY i) o4IF?iY(@W}< #п))#п @/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037931.363165 s, next control iter: 1743037931.743176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11430*, header.stamp.nsec: 0*0 temperature: 13.386565** salinity: 33.391640*, density: 1025.000000** values[0]: 0.700144*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037931.763165 s.6^J~,z)AA S@A+PR@AX~? A5A&"AA5lNA"AZAbAjArAzAAAj1#%X @Ao#+rAq@A\nA!)=A"A@A}ԿA\L*A0}:?2Aӽ:A}=BA0}:?JAӽRA}=٘i)I9q@Y>G JCJJJJE&K Y\V~?y tQAE7Ou91B)B@E[[x@[ecW~?[Z?[[[[BZYY i) CIG?i,/@8< ?Ϳ))?Ϳ @"ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037931.803165 s, next control iter: 1743037932.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037932.183165 s.^J~,R {)AJ"J*J2J:JBJnJvJA(\BS@AZ5S@AiX~? A8Aя&"AAzlNA"AZAbAjArAzAAAZt# @A|џgrAxq@AsA =ATR!A`4A`"տACǍ*AAs:?2ATԽ:A;=BAAs:?JATԽRA;=٘i)I9xq@YG J}JJJJE&K YV~?y=QAE77j7w90B)B=E[[ z@[SW~?[(D[[[[BZYY i) SI,G?iZ6@i< u˿))u˿c2@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037932.223165 s, next control iter: 1743037932.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037932.603165 s.@4^J~,Ԛ&{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075042< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743037932.603299F (some fields omitted in printout)AQxS@AwFkS@A\sX~? A<AG&"AAVkNA"AZAbAjArAzAAAMV@AP*rAp@AGA==A AخAֿAܔ*Ai:?2A@ս:A=BAi:?JA@սRA=٘i)I9p@YG JJJJJE&K YV~?yPAE77x91B)B>E[[?{@[JCW~?[H[[[[BZYY i) pbIUG?i=@o< 7ɿ))7ɿ@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037932.623165 s, next control iter: 1743037933.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11431 , header.stamp.nsec: 0 0 temperature: 13.386776 * salinity: 33.391617 , density: 1025.000000 * values[0]: 0.699304 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037933.023165 s.Z^J~,|A{)AJ"J*J2J:J3?BJ3?nJ;5vJAHzS@AVS@A\X~? A{@A&"AAkNA"AZAbAjArAzAAAu@A$"rA\p@A;A=A]A@ysA@"]׿Af*Aka:?2Azս:A. =BAka:?JAzսRA. =٘i)I9p@Y_G JJJJJE&K YxV~?y]RPAE7z9)B;E[[.[|@[3W~?[M[[[[BZYY iڬ) LqIG?iE@(< #ǿ))#ǿO@O̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037933.063165 s, next control iter: 1743037933.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037933.443165 s.=^J~,W]\{)AAq= S@AдS@AFX~? ADAW&"AA2kNA"AZAbAjArAzAAA͗I@A 7rAUo@AOZ<Ad=Ah{A`5A -ؿA􏤼*AY:?2Aս:A=BAY:?JAսRA=٘i)I9o@Y G JJJJJE&K Y _V~?yOAE77{7z|90B)B8E[[r}@[%W~?[R[[[[BZYY i) OI_G?iN@= wĿ))wĿ=ۗ@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037933.483165 s, next control iter: 1743037933.843182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11432, header.stamp.nsec: 00 temperature: 13.386991* salinity: 33.391602, density: 1025.000000* values[0]: 0.698427F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037933.863165 s.+^J~,>w{)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: -0.084402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743037933.863291F (some fields omitted in printout)AT@Ad T@A/X~? AHAX\&"AA:kNA"AZAbAjArAzAAA :@ARwC5rAymo@A%u<A/=A,A@_AؿA*A N:?2Aֽ:A^=BA N:?JAֽRA^=Yg@y*= <ٓHZ`]?ਫ਼q #rO?@f?)g@ I٘i)I9mo@YG JKJ<JJJE&Ko.? Y~IV~?yOAE{7j7E~9)B5E[[-~@[W~?[X[[[[BZYY i) I@G?iP@= #}¿))#}¿p@:ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037933.903165 s, next control iter: 1743037934.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743037934.283165 s.8R^J~,{)AA(\OT@ADQOBT@AX~? A'MA&"AAfkNA"AZAbAjArAzAAAizw@AO&&ߐrAn@AW<A?q=AUAAٿA~*A6C:?2Aֽ:A3=BA6C:?JAֽRA3=٘i)I9n@YcG JJJJJE&K Y3V~?yM$$OAE77{79)B[[W@[MW~?[Z][[[[BZYY i) IH?iS@= *))*'@yQԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037934.303165 s, next control iter: 1743037934.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11433., header.stamp.nsec: 0.0 temperature: 13.387235.* salinity: 33.391590., density: 1025.000000.* values[0]: 0.697433.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037934.703165 s.պ^J~, {)AJ"J*J2J:J2?BJ2?nJ7;5vJAQT@Ao.xT@AX~? AQA)&"AAEkNA"AZAbAjArAzAAAiy|EJ?AwmrAVn@AKiA=A*vAkA`eڿA *A8:?2A_6׽:A=BA8:?JA_6׽RA=٘i)I9Vn@YG JwB=JJJJE&K YaV~?y)NAE)7b7ځ9/B)B1E[[w@[|V~?[b[[[[BZYY i) ?I5H?i2W@ = s۽))s۽@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037934.723165 s, next control iter: 1743037935.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037935.123165 s.=^J~,v{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743037935.123307F (some fields omitted in printout)AGT@A:wխT@AW~? AKVAX&"AA$kNA"AZAbAjArAzAAAnw_?A֙srA2m@Al=A$=AAA#AcۿA*A.:?2Ab׽:A2X=BA.:?JAb׽RA2X=٘i)I9m@YG J7C=JJJJE&K YV~?y/XNAE7ŧ79)B.E[[ @[V~?[5h[[[[BZYY i) ΞI'dH?i[@, = g))g+@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037935.163165 s, next control iter: 1743037935.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743037935.543165 s.I^J~,{)AJ"J*J2J:Jk2?BJk2?nJ;5vJA= ףT@A&oT@AW~? A[A,&"AAkNA"AZAbAjArAzAAAr'?A^2]rA?m@AvA'~=AAA`I*ܿA*A$:?2AU׽:Ac=BA$:?JAU׽RAc=٘i)I9?m@YeG J JJJJE&K YJU~?y^5MA Eb77o90B)ƯB0E[[@[V~?[m[[[[BZYY i) _I(H?i8_@= H))H@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037935.563165 s, next control iter: 1743037935.943181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11434, header.stamp.nsec: 00 temperature: 13.387465* salinity: 33.391571, density: 1025.000000* values[0]: 0.696466F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037935.963165 s.x^J~,{)AAffff&U@A[U@AW~? A_A&"AAjNA"AZAbAjArAzAAA=?Am\rAl@Ae=AU=A]{A@:AܿAl*A:?2AKt׽:AY)=BA:?JAKt׽RAY)=Yn@Ԋyyݦ=X>ٓH *?@l (N@մ`F?)n@ I٘i)I9l@Y G JìJ<JJJE&Ky> YU~?y;MA E77:9/B)ʯB,E[[.@[HV~?[Us[[[[BZYY i) IH?ia@tg= ))P@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037935.983165 s, next control iter: 1743037936.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037936.383165 s._J~,+|)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743037936.383317F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\U@AqOU@AW~? AeA=&"AAjNA"AZAbAjArAzAAAG|2?AuorAl@AA=A:AAAݿAͦ*A:?2A׽:Ae=BA:?JA׽RAe=٘i)I9l@YG JصJJJJE&K Y,U~?y BMAEj7j79)ίB)E[[@[ۿV~?[y[[[[BZYY i) IH?ild@0= ))@YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743037936.403165 s, next control iter: 1743037936.783177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11435&, header.stamp.nsec: 0&0 temperature: 13.387747&* salinity: 33.391575&, density: 1025.000000&* values[0]: 0.695452&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037936.803165 s.uA _J~,sg3|)AAU@A؄U@AoW~? A,jAc&"AA/jNA"AZAbAjArAzAAA1\?A~rAtk@A <Ay=AAA`޿Aż*A :?2Aֽ:A=BA :?JAֽRA=٘i)I9tk@YMG JIJJJJE&K YU~?ydHLAEb77ϊ9)ӯB[[qS@[ԲV~?[~[[[[BZYY i) vII?ig@7= i))ilu@5YFFF]]:Waiting for Gazebo time sync: latest Gz time: 1743037936.823165 s, next control iter: 1743037937.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037937.223165 s.g_J~,HN|)AJ"J*J2J:JBJnJvJAzU@A~U@AW~? AuoAt&"AAjNA"AZAbAjArAzAAAך|?A򖳮ϥrAj@Ah~<A=AEAA߿A̼*A:?2A3ֽ:Ae=BA:?JA3ֽRAe=٘i)I9j@YG JɼB=JJJJE&K Y U~?yN2LAE77{79.B)دB&E[[@[0V~?[[[[[BZYY i) üIi#k@ }=  %)) %@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037937.243165 s, next control iter: 1743037937.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037937.643165 s.x_J~,*i|)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084402< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037937.643286F (some fields omitted in printout)A ףpU@AdU@ASuW~? AtAH &"AAVkjNA"AZAbAjArAzAAAR?A+trA<j@A'Z<AS=A{cA`QA@~߿Aϼ*Ah9?2Aֽ:A =BAh9?JAֽRA =٘i)I9j@Y}G JiμC=JJJJE&K Y~U~?yUKAE777e9/B)ޯB'E[[t@[V~?[K[[[[BZYY i) 2˼Iio@6= ?䭿))?䭿˖@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037937.663165 s, next control iter: 1743037938.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11436, header.stamp.nsec: 00 temperature: 13.388045* salinity: 33.391567, density: 1025.000000* values[0]: 0.694298F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037938.063165 s. _J~,R |)AJ"J*J2J:JBJnJvJA33333V@A('&V@AObW~? AdzA&"AA8NjNA"AZAbAjArAzAAAsthTA)4|rAoi@A;A/=AAA<@Aϼ*AV9?2Ag(׽:A=BAV9?JAg(׽RA=Yu@y/=;ٓH &3? 謿͸`ưp?J?)u@ I٘i)I9oi@YG JϼJD<JJJE&Kx> YU~?y\KKAEj7Z7/9)B$E[[T@[V~?[5[[[[BZYY i) vlҼIi/q@[= /))/O(@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037938.083165 s, next control iter: 1743037938.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037938.483165 s.v_'_J~,|)AA\hV@A/-[V@AOW~? A A4&"AA1jNA"AZAbAjArAzAAA EvտArA elevatorAngleAction: 0.082909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743037940.163285F (some fields omitted in printout)A@W@A[w2W@AW~? AŗAi&"AACiNA"AZAbAjArAzAAAR$QAukrAe@A^Қ;AQ=AA@Tq޿A`VA?*A9?2A1ֽ:A~<BA9?JA1ֽRA~ Y+U~?y)HA|(E7{7%9.B)BE[[Շ@[WV~?[c[[[[ZZBZYY i) eIiF@]`#= _))_@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037940.183165 s, next control iter: 1743037940.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037940.583165 s.H_J~, S%})AJ"J*J2J:JBJnJvJA)\uW@AhW@ALV~? AA&"AAiNA"AZAbAjArAzAAAE>A/%4rA e@AFn\<A{=A@AཱུݿA!-A7*A9?2A4ֽ:A<BA9?JA4ֽRA<٘i)I9 e@Yh G JTJJJJE&K YU~?yHA+E{79)B[[|e@[MV~?[[[[[ZZBZYY i) kIi@i$= !))!w@y-=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037940.603165 s, next control iter: 1743037940.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11439, header.stamp.nsec: 00 temperature: 13.388923* salinity: 33.391537, density: 1025.000000* values[0]: 0.690540F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037941.003165 s.u P_J~,@4@})AARW@A~AzW@AV~? AEA x&"AAiNA"AZAbAjArAzAAAA rAQ4d@AXcs<Aq=A/A`lܿAByA*A9?2Axֽ:AEp<BA9?JAxֽRAEp<٘i)I94d@Y G JJJJJE&K Y U~?y HA.Eŧ7b79-B) BE[[z@[eDV~?[̺[[[[ZZBZYY i) Ii@o&= 囿))囿u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037941.043165 s, next control iter: 1743037941.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037941.423165 s.uV_J~,[})AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082909:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJ dt: 0.420052vJ2 time: 1743037941.423340F (some fields omitted in printout)A{GW@A~:W@A-V~? AA&"AALziNA"AZAbAjArAzAAALUAۿrAqc@AB<A`,=AA6ܿA@XALм*A:?2A)ֽ:A?;BA:?JA)ֽRA?;٘i)I9qc@Ym G JfJJJJE&K Y~T~?y~GA0E7779/B)BE[[ʂ@[];V~?[ [[[[ZZBZYY i) Ii@8R(= W))WŤ@rYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743037941.443165 s, next control iter: 1743037941.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11440, header.stamp.nsec: 00 temperature: 13.389313* salinity: 33.391518, density: 1025.000000* values[0]: 0.688963F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037941.843165 s.\_J~,u})AAp= X@AGq X@AV~? A-A"~&"AAbiNA"AZAbAjArAzAAAtaj5A,rARb@A?0TACb<AMApsۿA AB餼*A9?2A\ֽ:AeBA9?JA\ֽRAe٘i)I9b@Y G J@JJJJE&K YwT~?y(GA3E{7j7P9.B)BE[[b@[2V~?[LǨ[[[[ZZBZYY i) +Ii(@q*= u))u]2@YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743037941.863165 s, next control iter: 1743037942.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037942.263165 s. d_J~,Eؐ})AJ"J*J2J:J70?BJ70?nJ85vJALX@A{?X@AV~? AǷAB&"AAuKiNA"AZAbAjArAzAAA[6Aėk7rAVb@AXABf<AA7ڿATAqq*A9?2Aֽ:A&'BA9?JAֽRA&'Y @yKc<^XٓHqܿ%??)`oܿۊ] ?) @ I٘i)I9Vb@Y G JB=JH;JJJE&Kv> YT~?yؤGA6Ej7SI79)B[[@[W*V~?[ͨ[[[[ZZBZYY iK=) WVIi@l+= 9))9@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037942.283165 s, next control iter: 1743037942.663185 s, wait time: 0.380020 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 114412, header.stamp.nsec: 020 temperature: 13.3895652* salinity: 33.3915182, density: 1025.0000002* values[0]: 0.6878752F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037942.683165 s.lj_J~,x})AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064110< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743037942.683328F (some fields omitted in printout)A(\X@AHuX@A)V~? AyA|&"AA5iNA"AZAbAjArAzAAAcDAJS rA4a@ALAN;AAkٿA@lA*Aq9?2AOֽ:AXrBAq9?JAOֽRAXr٘i)I9a@Y G JNC=JJJJE&K YJT~?yGA8E77壖9)B[[j.@[V"V~?[Ԩ[[[[ZZBZYY im{=) xsIi@R,= ))eP@P)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037942.683165 s, next control iter: 1743037943.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743037943.103165 s.q_J~,})AJ"J*J2J:JBJnJvJAQX@AfFX@AV~? ABũA&"AA9iNA"AZAbAjArAzAAA2lA[/rAa@A.;AaA`AٿA@Ad*A(9?2Aֽ:A|BA(9?JAֽRA|٘i)I9a@Yl G JJJJJE&K YT~?yGA;E)7)79) BE[[@[V~?[~ڨ[[[[ZZBZYY i) :[_Ii@.= Đ))Đޤ@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037943.123165 s, next control iter: 1743037943.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037943.523165 s.w_J~,{})AAHzX@A> X@AWV~? A"̩As&"AA iNA"AZAbAjArAzAAAqTAEbrAka@A;AAA*A CؿA A^*A99?2Aֽ:A̼BA99?JAֽRA̼٘i)I9a@Y_ G J)BJJJJE&K Y T~?yFA>E7{7{9)!B[[tJ@[}V~?[[[[[BZYY i) ˰KIiX@{/= ))ol@yԙ=5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037943.543165 s, next control iter: 1743037943.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11442, header.stamp.nsec: 00 temperature: 13.389701* salinity: 33.391502, density: 1025.000000* values[0]: 0.687428F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037943.943165 s.Yd~_J~,F]})AJ"J*J2J:J/?BJ/?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074454< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743037943.943309F (some fields omitted in printout)Aq= #Y@AwY@AV~? AөA&"AAhNA"AZAbAjArAzAAA\(AUڡrAa@A)<A:/3AA`$n׿A \AEA8;*A{9?2A)׽:A\BA{9?JA)׽RA\伙lI٘i)I9a@Yb G JZI:JJJJE&K YT~?yzĨFA@EE9)[[׌@[ V~?[_[[[[BZYY i) |8Iiۊ@21= SY))SY@p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037943.963165 s, next control iter: 1743037944.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037944.363165 s._J~,>~)AAYY@AyLY@AZuV~? A#کAc&"AAhNA"AZAbAjArAzAAA]A~$rAa@A,<A YAAֿAA,;*A9?2A>׽:A BA9?JA>׽RA YO@yYZ<ٓHDnֿP?p?hֿ3?`a?m? ?)O@ I٘i)I9a@Yu G J;JJJJE&Kx> YT~?y̨9GACEZ7Z79)BE[[Ye@["V~?[[[[[BZYY igyg=) 'Iiu@2= "))"T@e*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037944.383165 s, next control iter: 1743037944.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11443&, header.stamp.nsec: 0&0 temperature: 13.389693&* salinity: 33.391487&, density: 1025.000000&* values[0]: 0.687516&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037944.783165 s.[_J~,2~)AJ"J*J2J:JBJnJvJA(\Y@ATY@AiV~? ACA&"AAhNA"AZAbAjArAzAAA7ۇAkkGrAb@A"M<AyAEAiտA Ao_&<*AH9?2A ׽:A?BAH9?JA ׽RA?٘i)I9b@Y G J<B=JJJJE&K YT~?yԨGAT~?)ԨFE777۬9/B)E[[@[U~?[k[[[[BZYY i) mIi?@!3= 뇿))뇿@ƨ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037944.803165 s, next control iter: 1743037945.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037945.203165 s._J~,M~)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056512< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743037945.203336F (some fields omitted in printout)AQY@AHY@A:]V~? AvAM&"AAhNA"AZAbAjArAzAAA9 A MlrAeb@A.;AZAٿAԿA`Aaj<*A9?2A!ֽ:A1 BA9?JA!ֽRA1 ٘i)I9eb@Y G JF<C=JJJJE&K YŒT~?y=ݨGAHEb779)B[[@[:U~?[[[[[BZYY i볆=) !Ii8@4= ))@D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037945.243165 s, next control iter: 1743037945.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743037945.623165 s.V_J~,Xg~)AJ"J*J2J:J#0?BJ#0?nJ85vJAGY@A[Y@AQV~? AA&"AA hNA"AZAbAjArAzAAA elevatorAngleAction: 0.065773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743037946.463289F (some fields omitted in printout)AfffffZ@Aip[YZ@A YwT~?yCHAPE{7j79-B)BE[[Z%@[.U~?[[[[[BZYY i) W鮻Ii&@8= -D~))-D~UG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037946.483165 s, next control iter: 1743037946.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11445, header.stamp.nsec: 00 temperature: 13.389364* salinity: 33.391460, density: 1025.000000* values[0]: 0.689045F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037946.883165 s.y_J~,D~)AA(Z@AcdZ@A2V~? AA&"AAzhNA"AZAbAjArAzAAAa AQusAImd@A?^ApAdA:nѿA vA:B<*A9?2A|ֽ:ABA9?JA|ֽRA٘i)I9md@Y G Jn<JJJJE&K YpT~?y+IASE777е9) B[[@[U~?[M[[[[BZYY i) IiĐ@M9= y))yө@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037946.903165 s, next control iter: 1743037947.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037947.303165 s.R_J~,fg~)AJ"J*J2J:JBJnJvJAZ@AZ@A:)V~? Az A~&"AAkhNA"AZAbAjArAzAAA(A EsA6d@A#;AAAпA`A<*A9?2A+*׽:A- BA9?JA+*׽RA- ٘i)I9d@Y^ G J<JJJJE&K YfiT~?yJIAVEj7Z79,B)BE[[=@[U~?[[[[[BZYY i) 8eIi@T:= %u))%u_@%*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037947.323165 s, next control iter: 1743037947.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11446., header.stamp.nsec: 0.0 temperature: 13.389124.* salinity: 33.391445., density: 1025.000000.* values[0]: 0.690206.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037947.723165 s._J~,H~)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743037947.723303F (some fields omitted in printout)Az[@A *Z@AO V~? AA&"AA]hNA"AZAbAjArAzAAA@,lAlnS sAe@A)m<AGA4A`;ϿA'A4g<*A99?2A^׽:A-BA99?JA^׽RA-٘i)I9e@Y G J3<B=JJJJE&K Y8bT~?yIAXE777f9)B[[ɑ@[oU~?["[[[[BZYY i) (Ii@;= !q))!q@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037947.763165 s, next control iter: 1743037948.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037948.143165 s.J X/_J~"J*J2J,* )A:J0?BJ0?nJo95vJA ףp=[@Ah0[@AV~? AA2V&"AAPhNA"AZAbAjArAzAAAd9AHsAlf@AnVz<A?LA3^߿A iͿA NA˪<*A9?2A0F׽:A:BA9?JA0F׽RA:٘i)I9f@Y G J<C=JJJJE&K Y [T~?yRaJA[E709)BE[[T@[DU~?[0)[[[[BZYY i) /ٺIi@e== Ul))Ulv@B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037948.163165 s, next control iter: 1743037948.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037948.563165 s._J~,V $)AA3333s[@A*f[@AV~? Aj$Ag &"AA[DhNA"AZAbAjArAzAAAH7 |A OEsAf@A<AwԘAܿA˿AsAF<*AK9?2AKֽ:ABAK9?JAKֽRAYҊ@ܿy3Ә<ٓH@ÿ7?m?1ÿ,?? Fu??)Ҋ@ I٘i)I9f@Ye G Jū<JI:JJJE&K`x> YVT~?y!JAܿ^E77779)B[[@[rU~?[/[[[[BZYY i) @Ii@h== mih))mih@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037948.583165 s, next control iter: 1743037948.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11447, header.stamp.nsec: 00 temperature: 13.388885* salinity: 33.391430, density: 1025.000000* values[0]: 0.691390F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037948.983165 s._J~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743037948.983340F (some fields omitted in printout)J"J*J2J:JBJnJvJA\[@A[@AV~? A),A) &"AA8hNA"AZAbAjArAzAAA݆A7޼sA@g@AT_AwޖAUڿA@^ɿAGAF<*A9?2A'ֽ:AyBA9?JA'ֽRAy٘i)I9@g@Y G JS<JJJJE&K YTRT~?y)/KAaEŧ77ž9)B[[bl@[U~?[6[[[[BZYY i) \D9Iij@\==  d)) d]@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037949.003165 s, next control iter: 1743037949.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037949.403165 s.&_J~,Y)AAQ[@ApD[@AV~? A3A &"AA-hNA"AZAbAjArAzAAAc^)A?csAg@AUA mA׿A"ǿAwA7<*A,9?2AuTֽ:A"2BA,9?JAuTֽRA"2٘i)I9g@Y G J,<JJJJE&K YMT~?yi2KAcE7779+B)B E[[@[U~?[6=[[[[BZYY i) V_:Ii @>= M_))M_@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037949.423165 s, next control iter: 1743037949.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11448", header.stamp.nsec: 0"0 temperature: 13.388628"* salinity: 33.391384", density: 1025.000000"* values[0]: 0.692594"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037949.823165 s._J~,2t)AJ"J*J2J:JBJnJvJAGz\@A9Cm\@AEU~? A;Ao &"AA#hNA"AZAbAjArAzAAAk2Ҿ9wAfSz"sA6gh@A6XAA>;տAp ƿAA<*At9?2AJ`ֽ:ABAt9?JAJ`ֽRA٘i)I9gh@Yq G J*<JJJJE&K YIT~?y;KAfE{7[–9)B[[@[4U~?[C[[[[BZYY i) ;Iiؕ@\?= UW[))UW[@*YFFF]q:Waiting for Gazebo time sync: latest Gz time: 1743037949.843165 s, next control iter: 1743037950.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037950.243165 s._J~,i)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065773< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037950.243275F (some fields omitted in printout)Aףp=J\@AC5=\@AbU~? ACA` &"AA\hNA"AZAbAjArAzAAAA5A(ݯW'sAh@A 8'AAҿAAĿAA<*A{9?2AWֽ:AFBA{9?JAWֽRAF٘i)I9h@Y G J<B=JJJJE&K Y?ET~?yCbLAiE7777&Ė9)B[[ @[U~?[J[[[[BZYY i) A;IiՖ@A= W))W/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037950.263165 s, next control iter: 1743037950.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743037950.663165 s._J~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11449, header.stamp.nsec: 00 temperature: 13.571852* salinity: 33.374985, density: 1025.000000* values[0]: 0.570485F (some fields omitted in printout)A\@A{r\@AU~? AKA &"AAhNA"AZAbAjArAzAAAs`ТAQ+,sA}i@AI:AAϿA@S]¿A v A1k<*A#9?2AW׽:ABA#9?JAW׽RAY@Ͽy YCT~?yLLAϿ DkE77Ŗ9)߯B[[6@[U~?[?Q[[[[BZYY i>=) Ks;Ii@7*A= MR))MR1@ɾ*YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743037950.683165 s, next control iter: 1743037951.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037951.083165 s.D_J~,S)AA)\µ\@Atys\@A.U~? ASAI+ &"AA hNA"AZAbAjArAzAAAL:ALʛ1sA i@A:<ApA *ͿA@uA!A0Փ<*Ab9?2AW׽:A^BAb9?JAW׽RA^򼙘٘i)I9i@YiG J<C=JJJJ E&K Y>BT~?yeUMAnEb7ǖ9)ۯBE[[A$@[?U~?[W[[[[BZYY i) &;Ii+@PA= LN))LN elevatorAngleAction: 0.074826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743037951.503289F (some fields omitted in printout)J"J*J2J:JBJnJvJAR\@A&|\@AU~? A{[A &"AAhNA"AZAbAjArAzAAAcnAf<5sAvj@A<AAʿA[A5AR<*A\9?2AO_׽:A{BA\9?JAO_׽RA{򼙘٘i)I9vj@YG J<JJJJ E&K Y@T~?y1^|MAqE7777ɖ9)ׯB[[U@[U~?[^[[[[BZYY i) ΁;Ii@-B= UI))UIPѯ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037951.523165 s, next control iter: 1743037951.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11450, header.stamp.nsec: 00 temperature: 13.571630* salinity: 33.374973, density: 1025.000000* values[0]: 0.571103F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037951.923165 s.7_J~,)AA{G!]@A׻?]@AU~? A{cA &"AAgNA"AZAbAjArAzAAAlAlK:sAj@AH<A)AjǿASA@SGAH*<*AA9?2Af$׽:ASBAA9?JAf$׽RAS٘i)I9j@YG J<JJJJE&K Y=?T~?yfMAsE7P˖9)ԯB[[Vǿ[U~?[Ne[[[[BZYY i) j;Ii<@B= E))EEy-2=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743037951.943165 s, next control iter: 1743037952.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037952.343165 s.<`J~,)AJ"J*J2J:JE?BJE?nJ`5vJAp= W]@A"J]@AU~? AkAW&"AAgNA"AZAbAjArAzAAA?ƒA#Ψ?sAYak@A;AhAnſAAVA4<*A9?2Aֽ:ApBA9?JAֽRAp٘i)I9ak@YAG J<JJJJE&K Y=T~?yo8NAvEŧ77͖9)ЯB[[,ſ[U~?[k[[[[BZYY i) 'T;Ii @YC= sIA))sIAsIA*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037952.363165 s, next control iter: 1743037952.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11451*, header.stamp.nsec: 0*0 temperature: 13.571411** salinity: 33.374977*, density: 1025.000000** values[0]: 0.571639*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037952.763165 s.5 `J~,0)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743037952.763273F (some fields omitted in printout)Ǎ]@Aן]@AU~? AsA&"AAgNA"AZAbAjArAzAAA!qg/A2DsALk@AFAA¿AϱAfbAɒ<*A9?2Amֽ:ABA9?JAmֽRAYV@m¿y%GٓH`Ш?:?owx?ތ?@g? O? `?)V@ I٘i)I9k@YG J<J:JJJE&K+x> Y?T~?yxNA¿yE777Ζ9)̯BE[[Yÿ[eU~?[r[[[[BZYY i) ~' elevatorAngleAction: 0.074826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037954.023311F (some fields omitted in printout)AHz.^@AV!^@AU~? AA&"AAgNA"AZAbAjArAzAAAPQ"AxPTSsARm@A AؚAA@vA@myA]<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Rm@YpG J<JJJJE&K Y:CT~?yOAES77FԖ9)BE[[À[U~?[[[[[BZYY i) ;)AJ"J*J2J:JBJnJvJA^@AzS^@AKU~? AᛪA&"AAgNA"AZAbAjArAzAAAI0|Qg+A*71]sAHn@AVq<AZ$AөA,v?AA|A&֑<*A9?2Ae׽:ABA9?JAe׽RAY@a̵yF 3Xr<ٓH@a$? 9?'뙿ˎ@R?ky?`@?7?@C?)@ I٘i)I9Hn@YG J<JOJJJ#E&Kox> YHT~?yylPA̵Eb77ז9)B[[9-[U~?[֓[[[[BZYY i) fZ elevatorAngleAction: 0.074826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743037955.283269F (some fields omitted in printout)A(\^@ANP^@AU~? AA &"AA elevatorAngleAction: 0.083692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743037956.543297F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp_@A-sc_@A:U~? A'A1&"AAgNA"AZAbAjArAzAAAR+!ApsAySp@A^AŚAmA?A`cA [<*A#9?2A5ֽ:AoBA#9?JA5ֽRAo٘i)I9Sp@YDG J<JJJJ.E&K YYT~?yKǩQAE77{7ߖ9)B[[/[U~?[[[[[BZYY i)  Nj`=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037956.563165 s, next control iter: 1743037956.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11455, header.stamp.nsec: 00 temperature: 13.570492* salinity: 33.374989, density: 1025.000000* values[0]: 0.573958F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037956.963165 s.yN`J~,=)AAffff_@ANZ_@AU~? A0ĪA&"AA%gNA"AZAbAjArAzAAAbL9A0\usAp@A쀼A1AeAQ?AVA]t<*A9?2A?ֽ:ABA9?JA?ֽRAYZۗ@Ũy ,NٓH?@6?eo`O? ?? j?)Zۗ@ I٘i)I9p@YG JU<JkRJJJ0E&K!x> Y`T~?yϩ^RAŨE7779)B[[\[xU~?[[[[[BZYY i) E elevatorAngleAction: 0.083692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743037957.803286F (some fields omitted in printout)A`@AX`@AlU~? A5ԪAZ&"AA_gNA"AZAbAjArAzAAA}AsAr@A{H:A AA?A5Aod<*Aֱ9?2A9׽:ABAֱ9?JA9׽RA٘i)I9r@YMG J<JJJJ6E&K YnT~?y1SAEb7b7f9)B[[)[YU~?[[[[[BZYY i) C<A]zA#-A '?A A;<*A 9?2AN׽:AuBA 9?JAN׽RAu٘i)I9+s@YG Jb<JJJJ;E&K Y}T~?yTAEŧ7b79)BE[[ﳤ[V~?[rΩ[[[[BZYY i) A elevatorAngleAction: 0.083692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743037959.063308F (some fields omitted in printout)A3333`@A'`@AaU~? A A%"AA<hNA"AZAbAjArAzAAAwYA%VsAs@A]]><A1A3A@?AAָ<*A9?2A=׽:AߥBA9?JA=׽RAߥYO@齛y".?<ٓH ??TZ??@?`??ˇ?-?)O@ I٘i)I9s@Y\G J<JwJJJ>E&K9x> YȆT~?y)vTAEj7j79)B[[[V~?[ԩ[[[[BZYY i)  elevatorAngleAction: 0.083692< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743037960.323288F (some fields omitted in printout)AGzTa@A2TqGa@AV~? AA,%"AA!)hNA"AZAbAjArAzAAA):A=xsAu@AqȀAʯA8AD$?AA<*Aݛ9?2Aֽ:AOoBAݛ9?JAֽRAOo٘i)I9u@YG J <JJJJFE&K Y"T~?yUAE77&90B)BE[[ [ZV~?[[[[[BZYY i) dhNA"AZAbAjArAzAAAMN@@AаёsA0w@A˃AIAA@?ARA<*Aj9?2A=ֽ:AlFBAj9?JA=ֽRAlFY6_@MyKJٓH??`@'? M?.?@vyp`U?)6_@ I٘i)I9w@YbG J <B=J-JJJKE&Kx> YVT~?y#VAE{7j791B)xB!E[[񶗿[,V~?[2[[[[BZYY i) h elevatorAngleAction: 0.092598< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037961.583283F (some fields omitted in printout)A)\a@Aa@AV~? AAE%"AAJhNA"AZAbAjArAzAAA!PAMsAw@A;AAA$?A *A.<*A9?2Aw׽:A)BA9?JAw׽RA)٘i)I9w@YG J<C=JJJJNE&K YT~?y*-WAES779)sB[[g[4V~?[[[[[[BZYY i) Q׽:AY BAN9?JA >׽RAY ٘i)I9nx@Y4G JS<B=JJJJQE&K Y,T~?y2WAE77{7Q92B)oB%E[[q`[=V~?[|[[[[ZZZZ¸>BZYY i¸>V訽) S?AA <*A9?2Ajֽ:ADZBA9?JAjֽRADZ٘i)I9y@YG JL<JJJJVE&K YT~?yBXAE7779)cB[[5[OV~?[ [[[[ZZZZBZYY i) Z YT~?yJXAE7793B)]B(E[[ی[sA}@AA@A0sAn?AVA6'<*A49?2A\ֽ:A*:BA49?JA\ֽRA*:٘i)I9}@YG J<JJJJaE&K  9Y'U~? 9y`4ZAE7)79)MB[[[Q[wV~?[O$[[[[ZZZZBZYY i) FW)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082474< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743037965.363283F (some fields omitted in printout)Ac@Acc@A}V~? A\A%"AAhNA"AZAbAjArAzAAA]aA)wsAw}@AnMX<AP5;A߆iA .?A@'hA,<*A9?2A ֽ:AV<BA9?JA ֽRAVJJJfE&KVv> YHU~?ynZAiE{7j79)FB[[C[V~?[/[[[[ZZZZBZYY i&z) SxJJJtE&K'x> Y֠U~?yJ&ZArOE7777 9:B)KB:E[[m[;V~?[K[[[[BZYY ig) 2A4֜sA1}@A!Ae=AlEA?A@A3*A9?2AYֽ:A =BA9?JAYֽRA =٘i)I91}@YG JmJJJJyE&K YU~?yYAE77719)QB[[e[V~?[V[[[[BZYY i) Pf;Ii>@ ;2= O))OཀྵOƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037968.323165 s, next control iter: 1743037968.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11467., header.stamp.nsec: 0.0 temperature: 13.567277.* salinity: 33.375027., density: 1025.000000.* values[0]: 0.581078.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037968.723165 s. aJ~,H.)AAze@A]ze@AV~? AA%"AAņiNA"AZAbAjArAzAAA5q%Aa8IY{sAз|@AM/<A =A@Al?AEA*A`9?2Aս:A =BA`9?JAսRA =٘i)I9|@YG J5B=JJJJ|E&K YGU~?yq2YAE)7ŧ79 Y1V~?yyXAp5Eb779>B)aBDE[[W[&W~?["f[[[[BZYY i) q;IiE@sm.= Tl))TlTly4ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037969.583165 s, next control iter: 1743037969.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11468, header.stamp.nsec: 00 temperature: 13.567437* salinity: 33.375031, density: 1025.000000* values[0]: 0.580533F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037969.983165 s.aJ~,~)AJ"J*J2J:J?BJ?nJ5vJA\(f@Af@Ax$W~? AAVb%"AAiNA"AZAbAjArAzAAA+VoAYBsAv{@A;A=AZS0A`h?A`XA뭼*A9?2Aֽ:A0O =BA9?JAֽRA0O =٘i)I9{@YG JBJJJJE&K YV~?yHXAE)7b7\9)fBGE[[hS[W~?[.k[[[[BZYY i) |;Ii@,= %))%%ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037970.003165 s, next control iter: 1743037970.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037970.403165 s.&&aJ~,͙)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743037970.403289F (some fields omitted in printout)AQ^f@ASͬQf@A+6W~? AiA%"AAiNA"AZAbAjArAzAAAwjp^Aw(?A@A<Щ*A69?2Aֽ:AW=BA69?JAֽRAW=٘i)I9wz@YqG J|JJJJE&K Y/V~?yWAEZ7SI7&9)kB[[N[-W~?[*p[[[[BZYY i) dK@;Iią@8+= )) ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037970.423165 s, next control iter: 1743037970.803178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11469, header.stamp.nsec: 00 temperature: 13.567629* salinity: 33.375050, density: 1025.000000* values[0]: 0.579907F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037970.823165 s.,aJ~,O)AJ"J*J2J:JBJnJvJAGzf@A`nf@ABHW~? A6A3{%"AA6jNA"AZAbAjArAzAAAۿA|؏tAGy@A:]mA=A %A[?A๮A*A/9?2A׽:A*%=BA/9?JA׽RA*%=٘i)I9y@YG J4JJJJE&K Y~DV~?yBWAE7779?B)pBJE[[ςJ[(=W~?[u[[[[BZYY i) ;Iiʄ@)= z))zzЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037970.843165 s, next control iter: 1743037971.223180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037971.243165 s.3aJ~,qτ)AAףp=f@A=!7f@AZW~? A嵫A %"AA#jNA"AZAbAjArAzAAAS0 ʿAT tA_y@A wA=AkO A?A`WA'i*A9?2AF ׽:A^=BA9?JAF ׽RA^=٘i)I9_y@YG JB=JJJJE&K YYV~?yyǪVAE79@B)uBME[[ F[LW~?[y[[[[BZYY i) T:Ii@+(= uA<))uA<uA<ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037971.263165 s, next control iter: 1743037971.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037971.663165 s.:aJ~,q)AJ"J*J2J:JN?BJN?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743037971.663301F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11470, header.stamp.nsec: 00 temperature: 13.567821* salinity: 33.375046, density: 1025.000000* values[0]: 0.579322F (some fields omitted in printout)Ag@Ac@f@AmW~? AvA%"AA%@jNA"AZAbAjArAzAAA?AƠV tA7x@AI.A=A=A+?A߿AP*Ak9?2Aֽ:A=BAk9?JAֽRA=Y}@]by=ٓH`?7? Y qV~?y̪xVAbE77{79)zBPE[[A[\W~?[~[[[[BZYY i) 9+9IiQ@&= <))<<˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037971.683165 s, next control iter: 1743037972.063188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743037972.083165 s.DAaJ~, S)AA)\5g@Asw(g@AŀW~? AA]1%"AA\jNA"AZAbAjArAzAAAXf?Am tAIx@A$^m;A˻=A=A}?A M߿A*Aǽ9?2A]ֽ:A=BAǽ9?JA]ֽRA=٘i)I9Ix@YG J JJJJE&K YSV~?yѪVAE{7j7Q!9BB)BRE[[$=[lW~?[U[[[[BZYY i) !IIiЀ@$= @>=))@>=@>=ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037972.103165 s, next control iter: 1743037972.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037972.503165 s.GaJ~,D4 )AJ"J*J2J:JBJnJvJARkg@A¡x^g@AQW~? A=ƫA %"AAHzjNA"AZAbAjArAzAAA_?A>'NtA=w@A,V<AGq=A.3A`a?Ak޿A *A9?2A.&ֽ:A~W=BA9?JA.&ֽRA~W=٘i)I9w@YG JLJJJJE&K YV~?y֪UAE#9)BUE[[k8[>}W~?[[[[[BZYY i) #޺Ii~@2#= +=))+=+=ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037972.543165 s, next control iter: 1743037972.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11471, header.stamp.nsec: 00 temperature: 13.568004* salinity: 33.375080, density: 1025.000000* values[0]: 0.578735F (some fields omitted in printout)JV~?)J֪ rAdjusting time to match Gazebo time: 1743037972.923165 s.@NaJ~,;)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065764< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743037972.923303F (some fields omitted in printout)A{Gg@A+ YV~?yTASES77|(9)B[E[[,+[fW~?[;[[[[BZYY iJ) yIi+w@}0= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037973.803165 s, next control iter: 1743037974.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037974.183165 s.baJ~,)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743037974.183327F (some fields omitted in printout)A(\Bh@Akc5h@AW~? AIګA";%"AAjNA"AZAbAjArAzAAA??AtAͰu@A;Ao=AA?A ۿA2*A:9?2A*׽:AD{<BA:9?JA*׽RAD{<٘i)I9u@YG JxC=JJJJE&K YZV~?y4TAEb77G*9DB)B^E[[Ǭ&[W~?[z[[[[BZYY i) ֲIis@= P >))P >P >KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037974.223165 s, next control iter: 1743037974.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037974.603165 s.:4iaJ~,)AAQxh@A$]Jkh@AW~? AޫAK%"AAkNA"AZAbAjArAzAAAíz!?AI3f"tA#>u@AÁAŅ=AGAF?AڿAF*A9?2A1׽:A@<BA9?JA1׽RA@<٘i)I9>u@YCG J|JJJJE&K YW~?y_SAE{7{7,9)BaE[[&"[W~?[[[[[BZYY i) ѻIip@2= >))>>;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037974.623165 s, next control iter: 1743037975.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11473 , header.stamp.nsec: 0 0 temperature: 13.568308 * salinity: 33.375095 , density: 1025.000000 * values[0]: 0.577649 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037975.023165 s.ZpaJ~,{)AJ"J*J2J:JBJnJvJAHzh@A zo h@AX~? AA%"AA5kNA"AZAbAjArAzAAAWȿv4?A+,%tAt@AsCAps=AAz?A ڿA*A9?2Aֽ:AJ<BA9?JAֽRAJ<٘i)I9t@YG JeJJJJE&K Y0W~?y}SAEb77-9FB)BeE[[+[W~?[[[[[BZYY i) Iian@!= ->))->->y:YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037975.043165 s, next control iter: 1743037975.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037975.443165 s.8vaJ~,B]܅)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743037975.443289F (some fields omitted in printout)Aq= h@A h@Ad&X~? AA,%"AAUkNA"AZAbAjArAzAAA5 @AJ'tA;^t@AgA=AؾAE?Ay8ٿA툼*A9?2AϘֽ:A)=BA9?JAϘֽRA)=٘i)I9^t@YG J0JJJJE&K YIW~?y"SA E{7j7/9)B[[ [W~?[[[[[BZYY i) Ii4l@+= @>))@>@>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037975.463165 s, next control iter: 1743037975.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11474, header.stamp.nsec: 00 temperature: 13.568435* salinity: 33.375103, density: 1025.000000* values[0]: 0.577171F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037975.863165 s.+}aJ~,>)AJ"J*J2J:J?BJ?nJ5vJAi@AX i@Aw YcW~?y[RAξ Eq19GB)BhE[[[ X~?[[[[[BZYY i) Ii?h@a= p,R>))p,R>p,R>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037975.883165 s, next control iter: 1743037976.263188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743037976.283165 s.5RaJ~,)AA(\Oi@APBi@ARX~? ATA]%"AAkNA"AZAbAjArAzAAAo@A4Ee,tAps@AA<AE=AľAJ?A!׿A*A;9?2A)ֽ:A=BA;9?JA)ֽRA=٘i)I9ps@Y)G J]JJJJE&K Y{}W~?yiRAE77<39)BkE[[[[X~?[f[[[[BZYY i) 'Iid@[X= ^d>))^d>^d>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037976.303165 s, next control iter: 1743037976.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 114752, header.stamp.nsec: 020 temperature: 13.5685482* salinity: 33.3751032, density: 1025.0000002* values[0]: 0.5767242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037976.703165 s.J "J ٺaJ~*J2J:J?BJ?,-)AnJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743037976.703327F (some fields omitted in printout)AQi@A:xi@AmiX~? ASA5%"AAkNA"AZAbAjArAzAAAnq@A8Wo/tACr@A^<A#{=A1AՆ?AֿA*Aк9?2AsYֽ:AF =BAк9?JAsYֽRAF =٘i)I9r@YG J\B=JJJJE&K YzW~?yF RAEZ7Z759HB)BnE[[kd [?1X~?[[[[[BZYY i) 6Iita@J= v>))v>v>ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037976.723165 s, next control iter: 1743037977.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037977.123165 s.:aJ~,iG)AAGi@A[z4խi@AKX~? A,A1%"AA/kNA"AZAbAjArAzAAA}/ @Aܽ1tA4xr@A);AJ_=ABpA?A@lտA*A9?2Atֽ:A=BA9?JAtֽRA=٘i)I9xr@YG JƓC=JJJJE&K YqW~?yQAEb7769)BqE[[[DX~?[[[[[BZYY i) "FIi^@4|= ȇ>))ȇ>ȇ>LŪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037977.143165 s, next control iter: 1743037977.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743037977.543165 s.IaJ~,b)AJ"J*J2J:JBJnJvJA= ףi@A噗i@AjX~? AA\%"AAlNA"AZAbAjArAzAAAµ5|` @Aqͤ' 4tAMq@AAo=AA@0?AտA*Aq9?2A׽:Ach=BAq9?JA׽RAch=٘i)I9q@YHG JPJJJJE&K YmW~?y0SQAEj7j789)B[[-[XX~?[;[[[[BZYY i) \UIi0\@ = č>))č>č>ȪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743037977.563165 s, next control iter: 1743037977.943175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11476, header.stamp.nsec: 00 temperature: 13.568686* salinity: 33.375122, density: 1025.000000* values[0]: 0.576195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037977.963165 s.aJ~,})AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200722 time: 1743037977.963341F (some fields omitted in printout)Affff&j@Aa_j@AƮX~? AmAmX%"AA:#lNA"AZAbAjArAzAAA @Aer-H66tAq@A_ qAȵ=Ah㙾A`d0?A <2ԿAH*At9?2AB׽:A=BAt9?JAB׽RA=Ye@ny=1qٓHy?`??ҿ?}@r!?)e@ I٘i)I9q@YG JB=J=<JJJE&K+x> YhW~?y PAnEŧ7b7g:9)BtE[[5[flX~?[[[[[BZYY i) $dIiW@8 = >)){x>>/˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037977.983165 s, next control iter: 1743037978.363186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743037978.383165 s.إaJ~,D)AJ"J*J2J:JBJnJvJA(\j@AiOj@A]X~? AAe%"AAFlNA"AZAbAjArAzAAA ei@AMJ8tAq@AeqA=AyAc?ArSӿA팖*A9?2A> ׽:AkD=BA9?JA> ׽RAkD=٘i)I9q@YG JC=JJJJE&K Y\X~?yk PAE77{72<9IB)BwE[[ [X~?[⾪[[[[BZYY i) %tIi!T@= >)) >>hΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037978.403165 s, next control iter: 1743037978.783175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11477&, header.stamp.nsec: 0&0 temperature: 13.568777&* salinity: 33.375134&, density: 1025.000000&* values[0]: 0.575714&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037978.803165 s.{AaJ~,g)AAj@A!j@A-X~? AAO%"AAjlNA"AZAbAjArAzAAAF8f@AuF:tAp@AAE=ASA?AqҿA[*A9?2Aiս:A# =BA9?JAiսRA# =٘i)I9p@YcG JJJJJE&K YTX~?y *PAEj7=9)ůBzE[[U[X~?[ª[[[[BZYY i8) =IiP@= a_>))a_>a_>ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037978.823165 s, next control iter: 1743037979.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037979.223165 s.gaJ~,HΆ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743037979.223277F (some fields omitted in printout)J"J*J2J:JBJnJvJAzj@AŎơj@A2X~? A/ A%"AAlNA"AZAbAjArAzAAA+L@AJ*))>>ӪY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037979.243165 s, next control iter: 1743037979.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037979.643165 s.uйaJ~,*)AA ףpj@Aej@AgY~? A$ AY%"AAulNA"AZAbAjArAzAAAc-J@A=tA[po@A]<Aޛ=ANcA?A пAҪ*A9?2A;ս:A=BA9?JA;սRA=٘i)I9po@YG JRJJJJE&K YARX~?yDdOA$E77A9)ЯBE[[A־[X~?[%Ȫ[[[[BZYY i) LIiJ@~= u >))u >u >Q֪tReceived state from Gazebo (printed only once in a while):Y2 header.stamp.sec: 11478, header.stamp.nsec: 00 temperature: 13.568930* salinity: 33.375137, density: 1025.000000* values[0]: 0.575200F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743037979.663165 s, next control iter: 1743037980.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037980.063165 s.J "J *J 2J :J @?BJ @?aJ~nJg5vJ,x )AA33333k@A$(&k@A&Y~? AA]!%"AAElNA"AZAbAjArAzAAA*@Ar?tAn@A~<At=ABNA$?AϿA=*A9?2Amս:A=BA9?JAmսRA=Y@DMy=T<ٓHRC?@? ޅ?xɿ ;X?Gd`iُ??)@ I٘i)I9n@YbG JGJB<JJJE&Kru> YmX~?yNAM'Ej7j7\C9)ԯB[[̾[X~?[ʪ[[[[BZYY i) mIizF@ < K>)){K>K>y ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037980.083165 s, next control iter: 1743037980.463180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037980.483165 s._aJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245605@ elevatorAngleAction: -0.085069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743037980.483334F (some fields omitted in printout)A\hk@A[k@A]?Y~? AA%"AA[lNA"AZAbAjArAzAAA %@A$zMAtA7Mn@A8K<A=Aį9A??A NͿAf*Ae9?2Aս:AU=BAe9?JAսRAU=٘i)I9Mn@Y G JMJJJJE&K YX~?yNA*E7)7'E9)ٯBE[[Ɂþ[X~?[ͪ[[[[BZYY i)  ꟼIimB@< >)) >>!ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037980.503165 s, next control iter: 1743037980.883185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11479, header.stamp.nsec: 00 temperature: 13.569076* salinity: 33.375168, density: 1025.000000* values[0]: 0.574585F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037980.903165 s.J "J *J 2J aJ~:J?BJ?nJ=5vJ,9)AAQk@A=[k@AXY~? AA%"AA"mNA"AZAbAjArAzAAAw\cQ@AQYBtA׺m@AںAQ=A;[$A`gh?A̿A'ꭼ*A.9?2Aս:Au=BA.9?JAսRAu=٘i)I9m@YG J2B=JJJ,FJE&K Y@X~?y%NA,EZ7Z7F9)ޯBE[[[X~?[XЪ[[[[BZYY i) fIi>@,< >))>>ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037980.943165 s, next control iter: 1743037981.303186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743037981.323165 s.taJ~,T)AAGzk@Ank@AqY~? AmAR%"AATHmNA"AZAbAjArAzAAA"$@A2?DtA(m@ABAIL=A5A Ȋ?A 4ʿAv*A9?2Aս:A=BA9?JAսRA=٘i)I9(m@YWG JC=JJJJE&K YX~?yKMA/E777H9LB)BE[[宰[iY~?[Ҫ[[[[BZYY i) ⮼Ii|;@< p>))p>p>&Y/1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037981.363165 s, next control iter: 1743037981.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11480*, header.stamp.nsec: 0*0 temperature: 13.569240** salinity: 33.375183*, density: 1025.000000** values[0]: 0.573985*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037981.743165 s.WaJ~,qo)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085069< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.420008"J*J2 time: 1743037981.743271F (some fields omitted in printout)2J:JBJnJvJAףp= l@A[z4k@AY~? AA^%"AA+nmNA"AZAbAjArAzAAA'@Ay!EtAl@AA)B=AAϪ?A}cȿA{>*A 9?2Aս:A~=BA 9?JAսRA~=٘i)I9l@YG JԯB=JJJJE&K YX~?y QMA2E)7ŧ7J9)BE[[A0[*Y~?[Eժ[[[[BZYY i) _Ii8@J< u>))u>u>-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037981.763165 s, next control iter: 1743037982.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037982.163165 s.w}aJ~,q)AA@l@AJ)2l@A>Y~? AA4%"AA9mNA"AZAbAjArAzAAAc?P@AĨFtAk@A9A 6=Ax˽A@?AƿA*A9?2Aս:A=BA9?JAսRA=YAվ@ͽy83=l:ٓH.?`r?`Ꮅ?`$?-h? ``8?)Aվ@ I٘i)I9k@YG JJC=J/}<JJJE&Kt> YX~?yLAͽ4E777RL9)BE[[Aϝ[@Y~?[ת[[[[BZYY i) Ii3@Dd< uP>)) xuP>uP>=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037982.183165 s, next control iter: 1743037982.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037982.583165 s.aJ~,S)AJ"J*J2J:J?BJ?nJ5vJA)\ul@ARhl@AY~? AA%"AAwmNA"AZAbAjArAzAAA=1@AWGtA"]k@AuhvA=Ad%A0?A`ĿA^ü*AZ9?2Aս:Al=BAZ9?JAսRAl=٘i)I9]k@Y?G JJJJJE&K YY~?ylLA7E)7b7N9)BE[[[[VY~?[٪[[[[BZYY i) ļIi/@< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037982.623165 s, next control iter: 1743037982.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11481, header.stamp.nsec: 00 temperature: 13.569407* salinity: 33.375183, density: 1025.000000* values[0]: 0.573376F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037983.003165 s.z aJ~,U4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261587@ elevatorAngleAction: -0.085069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743037983.003287F (some fields omitted in printout)ARl@A!yl@AY~? A4A%"AAmNA"AZAbAjArAzAAAn-G@AaHtAZj@A/"<A=AzA?A`¿A̼*A9?2A\ӽ:A7=BA9?JA\ӽRA7=٘i)I9j@YG JǼJJJJE&K Y0Y~?yKA:E77O9)BE[[֊[lmY~?[۪[[[[BZYY i) J̼Ii+@L< ?)) ??6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037983.023165 s, next control iter: 1743037983.403179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037983.423165 s.uaJ~,ۇ)AJ"J*J2J:JBJnJvJA{Gl@AVp;l@AY~? AA%"AAnNA"AZAbAjArAzAAAYP$}@A+ItAj@A!z<A=A,A?AA "Ӽ*A9?2Aӽ:A1=BA9?JAӽRA1=٘i)I9j@YnG JмJJJJE&K YLY~?y KA6?&o k`n? v?) @ I٘i)I9h@Y G J5ռJ<JJJE&K4t> Y#Y~?yw!JA BE{7{7GU9)BE[[0\[IY~?[[[[[BZYY i) FIi @< ?))|?u??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037984.303165 s, next control iter: 1743037984.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11483., header.stamp.nsec: 0.0 temperature: 13.569816.* salinity: 33.375217., density: 1025.000000.* values[0]: 0.571941.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037984.683165 s.l bJ~,R+)AA(\m@Aum@Ag@A@tAH=Atf(=A \?AHAD=Ҽ*Av9?2A}mԽ:A=BAv9?JA}mԽRA=٘i)I9>g@Y G JҼB=JJJJE&K YY~?yy!IAGE77X9)BE[[5[Y~?[[[[[ZZBZYY i) ʼIiY@< ?)) ??`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037985.123165 s, next control iter: 1743037985.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037985.523165 s.bJ~,{a)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083057< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743037985.523285F (some fields omitted in printout)AHzm@Am@A^pZ~? A%AZ%"AAnNA"AZAbAjArAzAAAIK"@A<5MtA"{f@AlA8=Awx=A c?A`vAj*A9?2A}Խ:A|<BA9?JA}ԽRA|<٘i)I9{f@YF G JC=JJJJE&K YY~?yz!1IAJE7777Z9RB)BE[[{-"[Y~?[*[[[[ZZBZYY i) m Ii@o< | ?))| ?| ?+YؾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037985.543165 s, next control iter: 1743037985.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11484, header.stamp.nsec: 00 temperature: 13.570013* salinity: 33.375225, density: 1025.000000* values[0]: 0.571194F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037985.943165 s.YdbJ~,F]|)AJ"J*J2J:J9?BJ9?nJT5vJAq= #n@ANn@ANZ~? A%AiM%"AAnNA"AZAbAjArAzAAAPrB"@AXMtAe@AWֻA= =Aգ=Ak?A scAC*A9?2AԽ:A\<BA9?JAԽRA\<٘i)I9e@Y G J;JJJJE&K YY~?y{!HALEb7b7r\9)%BE[[[Z~?[H[[[[ZZBZYY i) uIi@Aa< j%?))j%?j%?y|p=ҪY"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037985.983165 s, next control iter: 1743037986.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037986.363165 s.%bJ~,y>)AAYn@A@dLn@AFZ~? A&ASC%"AAoNA"AZAbAjArAzAAA߷#@A`bMtAd@AF;AMt=A=A q?AA*A89?2AԽ:A{i<BA89?JAԽRA{i YZ~?y fHAA=OEZ7SI7=^9)+BE[[X[R(Z~?[@[[[[ZZBZYY i) æIi @ < D*?))|sD*?D*?0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037986.383165 s, next control iter: 1743037986.763177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11485*, header.stamp.nsec: 0*0 temperature: 13.570269** salinity: 33.375263*, density: 1025.000000** values[0]: 0.570300*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037986.783165 s.J "J *J 2J :J ?BJ ?]+bJ~nJ5vJ,)AZ~?) vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237421> elevatorAngleAction: 0.083057< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743037986.783296F (some fields omitted in printout)A(\n@Aw~Qn@ADZ~? Ac&A^<%"AAz@oNA"AZAbAjArAzAAAS$$@A33MtA d@A!U<A/=A=Av?AAS+ռ*A9?2A/ս:A;BA9?JA/սRA;٘i)I9 d@Y G J\JJJJE&K Y4.Z~?yHAREŧ7b7`9)2B[[6Ͻ[S@Z~?[[[[[ZZBZYY i) Ii=@Sc< )/?)))/?)/?wYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037986.823165 s, next control iter: 1743037987.183181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743037987.203165 s.3bJ~,*͈)AAQn@A!n@AHZ~? A}&A8%"AAgoNA"AZAbAjArAzAAAM$@AaF NtAbc@A i<A^<Az>A#|?AxRA{*A:?2Ai`ӽ:Am̤BA:?JAi`ӽRAm̤٘i)I9bc@Yd G JoƼJJJJE&K YRJZ~?yGATE77a9)7BE[[Ƨ[XZ~?[[[[[ZZBZYY i) DIi(@.*< 4?)) 4?4?DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037987.243165 s, next control iter: 1743037987.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743037987.623165 s.X9bJ~,a)AJ"J*J2J:J?BJ?nJ5vJAGn@AϤMn@AOZ~? Am&A 8%"AAXoNA"AZAbAjArAzAAAR_%@AW#NtAFb@AX;A <A6">A@}?A@NҊ?AZ*Am:?2AH\ӽ:A`BAm:?JAH\ӽRA`٘i)I9b@Y G JĜJJJJE&K YrfZ~?ypGAWEj7Z7c9QB):BE[[F [qZ~?[T[[[[ZZBZYY i) Ii|@v< 29?))29?29?&XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037987.643165 s, next control iter: 1743037988.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11486 , header.stamp.nsec: 0 0 temperature: 13.570525 * salinity: 33.375240 , density: 1025.000000 * values[0]: 0.569491 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037988.043165 s.@bJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083057< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743037988.043304F (some fields omitted in printout)A= ף0o@AU#o@AV [~? A5&A:%"AA̶oNA"AZAbAjArAzAAA#`6[%@A MtAāb@AZAA6>Az?A?Ag)*A:?2Aӽ:A惼BA:?JAӽRA惼٘i)I9b@Y G J^JJJJE&K YZ~?yGAZE77{7ge9)=BE[[0[Z~?[[[[[ZZBZYY i) sIis?I<  >?)) >? >?s)Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037988.083165 s, next control iter: 1743037988.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037988.463165 s.]GbJ~,)AJ"J*J2J:JBJnJvJAfffffo@A5_Yo@AY&[~? A%A7@%"AAA v?AQ?A΢*A:?2A Խ:ABA:?JA ԽRAYg@WK>y_QٓH]?6ɿ@>? ^?Ѐ?@~?E7W?)g@ I٘i)I9Jb@Y G JB=JGJJJE&Kp> YUZ~?yZ]E7772g9PB)>BE[[[Z~?[[[[[ZZBZYY in=) aIi?'< C?))grC?C?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037988.483165 s, next control iter: 1743037988.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11487, header.stamp.nsec: 00 temperature: 13.570585* salinity: 33.375275, density: 1025.000000* values[0]: 0.569087F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037988.883165 s.yMbJ~,88)AA(o@Ao@AV@[~? AL%AH%"AApNA"AZAbAjArAzAAA9'@AZcRMtA6b@AfAA_>ADn?A Ŭ?ACD*A 9?2AԽ:A޼BA 9?JAԽRA޼٘i)I96b@Y G J<C=JJJJE&K YZ~?y[GA_Ej7j7h9)E[[^[Z~?[[[[[BZYY i遍=) OIi?(< G?))9G?G?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037988.923165 s, next control iter: 1743037989.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743037989.303165 s.J "J *J ]TbJ~2J:J?,gS)ABJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256300> elevatorAngleAction: 0.069095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743037989.303285F (some fields omitted in printout)Ao@A!o@AIZ[~? A$AT%"AA-pNA"AZAbAjArAzAAACYd'@A*dLtADb@A/A:As>AA@`Z?Av?An<*AM:?2ANӽ:AG"BAM:?JANӽRAG"٘i)I9ob@Y G J;JJJJE&K YZ~?y!GAeE77l9);BE[[u=[Z~?[[[[[BZYY i) +Ii?#< 8R?))8R?8R?y =Ε*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037989.743165 s, next control iter: 1743037990.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037990.143165 s.U/bbJ~,*)AJ"J*J2J:JBJnJvJA ףp=p@ArMd0p@A [~? A"A2v%"AA{pNA"AZAbAjArAzAAA @)@AxKtAb@A)<Az{Ag>AK?A`!?A91<*A:?2A2Խ:AXBA:?JA2ԽRAX٘i)I9b@Y G J<JJJJE&K YR [~?ycGA DgE7777]n9)9B[[ b=[[~?[[[[[BZYY i) IiF?< 0W?))0W?0W?*YYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743037990.163165 s, next control iter: 1743037990.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037990.563165 s.hbJ~,[ )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037990.563307F (some fields omitted in printout)A3333sp@AU3k)fp@Aԧ[~? A!A%"AApNA"AZAbAjArAzAAAy)@A9K1KtA,c@ASx<A}AL*>A9?Ag?A]<*A:?2AFԽ:A BA:?JAFԽRA Y*͡=>yyLy<ٓH?ҿ /@?D?@w+?@<??)*͡= I٘i)I9c@Y) G JE<J۽JJJE&Kr> YU([~?yHA>jEb77'p9NB)6BùE[[I=[[~?[[[[[BZYY i7h=) N Ii\?J.< 9\?))q9\?9\?z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037990.583165 s, next control iter: 1743037990.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11489, header.stamp.nsec: 00 temperature: 13.570265* salinity: 33.375313, density: 1025.000000* values[0]: 0.569412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037990.983165 s.obJ~,쾉)AJ"J*J2J:J?BJ?nJ5vJA\p@Azp@A[~? A1 A%"AApNA"AZAbAjArAzAAA3-iH*@AY4JtAgc@APC<AAq>A%?A8?A<*A? :?2A0-ս:AGCBA? :?JA0-սRAGC٘i)I9gc@Yg G Jr<JJJJ E&K YUC[~?y6nHAmEŧ77q9LB)0BŹE[[=[~7[~?[U[[[[BZYY i) IiF?s< La?))La?La?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037991.003165 s, next control iter: 1743037991.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037991.403165 s.'vbJ~, ى)AAQp@Ap@A$[~? AA%"AApNA"AZAbAjArAzAAA6wg*@Ae!IItAc@AM;AuA.>AB?A`Cy?AJ֜<*A.1:?2Aoҽ:AfBA.1:?JAoҽRAf٘i)I9c@Y G JY<JJJJ E&K YV^[~?y HAoE{7Z7s9KB),BȹE[[=[P[~?[[[[[BZYY i) nջIi?h< jf?)) jf?jf?\*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743037991.423165 s, next control iter: 1743037991.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11490", header.stamp.nsec: 0"0 temperature: 13.569983"* salinity: 33.375313", density: 1025.000000"* values[0]: 0.569961"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037991.823165 s.|bJ~,-)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056694< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743037991.823300F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzq@A!oq@A[~? AAO%"AAYqNA"AZAbAjArAzAAA6q~+@A6 2FHtAld@A" AęAN>A`?A:?2Auҽ:ABA*>:?JAuҽRAiI٘i)I9ld@Y G J|<JJJJE&K YWy[~?y 'IArE777u9JB)'B˹E[[} >[i[~?[[[[[BZYY i) ޶Ii?_< k?))k?k?yh="*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037991.843165 s, next control iter: 1743037992.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037992.243165 s.bJ~,y)AAףp=Jq@Av4=q@A\~? A7A%"AA=qNA"AZAbAjArAzAAA`,@A#c*GtAe@AsAAg>A`?A`?A|ܷ<*AAC:?2A7ӽ:A5BAAC:?JA7ӽRA5٘i)I9e@Ya G Jt<B=JJJJE&K YZ[~?ysIAuEŧ7b7Rw9)!BιE[[>[B[~?[^[[[[BZYY iH݆=) {їIi?!W< Vp?))Vp?Vp?*Yo$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037992.263165 s, next control iter: 1743037992.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743037992.663165 s.bJ~,q*)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11491, header.stamp.nsec: 00 temperature: 13.569568* salinity: 33.375332, density: 1025.000000* values[0]: 0.570698F (some fields omitted in printout)Aq@ACrq@A_'\~? A@A$%"AAgdqNA"AZAbAjArAzAAA#Ϣ,@AEtAe@A @]A6Ac>A`?A?AŹ<*AlG:?2A|Խ:AS BAlG:?JA|ԽRAS Y 6>Ƀ>yU3]ٓH k?@Bؿ5 ?߃?8 a?@ʧ@?) 6> I٘i)I9e@Y G JϹ<C=JӨJJJE&KBr> Yb[~?y IA>wE7y9)B[[eU3>[=[~?[[[[[BZYY i)  elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743037993.083316F (some fields omitted in printout)A)\µq@A#q@A@\~? A!AeL%"AAqNA"AZAbAjArAzAAABDJ-@A:V[DtA8f@Al AX^AN>A L?A??A@<*AF:?2ALս:ArBAF:?JALսRAr٘i)I98f@Y G Jf<JJJJE&K Yh[~?yTJAzEb7z9IB)BѹE[[H>[Y[~?[[[[[BZYY i) J7Ii)?t>< {?))A?A@_?A <*Ah:?2Aߣӽ:ABAh:?JAߣӽRA٘i)I9f@Yw G J<JJJJE&K Yq[~?y:JA}E77|9HB)BԹE[[E\>[[~?[[[[[BZYY i) x8Ii?@t4< $?)) $?$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037993.523165 s, next control iter: 1743037993.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11492, header.stamp.nsec: 00 temperature: 13.569159* salinity: 33.375347, density: 1025.000000* values[0]: 0.571517F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037993.923165 s.7bJ~,{)AA{G!r@Av1<r@Atr\~? AgAZ%"AAqNA"AZAbAjArAzAAA I8y.@A8AtAYg@Axg<A뒽A>A@/a?A U?A<*Ao:?2Aӽ:AGOBAo:?JAӽRAGO٘i)I9Yg@Y G J٧<JJJJE&K Yx[~?y$KAEj7j7}~9GB) B׹E[[-q>[[~?[&ߪ[[[[BZYY i) {Ii?)+< ł?))ł?ł?yՆ=G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037993.943165 s, next control iter: 1743037994.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743037994.343165 s. elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743037994.343307F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Wr@AEuIr@A.\~? AAY%"AA)qNA"AZAbAjArAzAAA@%/@A714@tAg@Agp<AA0>A;?A@?A<*Ao:?2AqԽ:A BAo:?JAqԽRA ٘i)I9g@Y G J<JJJJ E&K Y\~?yjKAEb77H9FB)BڹE[[+>[8\~?[)ݪ[[[[BZYY i) @0Iin~?"< xk?))xk?xk?,*YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743037994.363165 s, next control iter: 1743037994.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11493&, header.stamp.nsec: 0&0 temperature: 13.568762&* salinity: 33.375355&, density: 1025.000000&* values[0]: 0.572276&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037994.763165 s.9bJ~,'ذ)AǍr@Ar@A\~? A AH %"AA!rNA"AZAbAjArAzAAA[Ah/@AW_>tAJgh@An;AA>A`m?Ah?A <*Al:?2AԽ:ABAl:?JAԽRAYX>M>y ;ٓH?޿s`r??I_Sͱ?@~??)X> I٘i)I9gh@Yq G J3<JCq<JJJ"E&Kr> YU/\~?y6KA>E79)B[[>[)\~?[۪[[[[BZYY i) 3k:Iij?PP<  ?))xs ? ?T*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037994.803165 s, next control iter: 1743037995.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743037995.183165 s.˲bJ~,ˊ)AJ"J*J2J:JBJnJvJA(\r@A r@A\~? A, A$A%"AAFrNA"AZAbAjArAzAAAٌ0@A}=4[-3\~?[ت[[[[BZYY i) >:IiY?3 < '?)) '?'?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037995.203165 s, next control iter: 1743037995.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037995.603165 s.B4bJ~,ݚ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257902> elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743037995.603300F (some fields omitted in printout)AQr@AGr@AN\~? AA{%"AAqkrNA"AZAbAjArAzAAAFe0@Ar:tAsi@AHQA8AS ?A`/?A0?Ah<*A:?2Aӽ:AMBA:?JAӽRAM٘i)I9si@YG J<JJJJ(E&K Y`\~?yLAE{7j79BB)B߹E[[A>[@L\~?[;֪[[[[BZYY i) l5;IiH?o< kX?)) kX?kX?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037995.623165 s, next control iter: 1743037996.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11494 , header.stamp.nsec: 0 0 temperature: 13.568396 * salinity: 33.375366 , density: 1025.000000 * values[0]: 0.572981 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037996.023165 s.ZbJ~,|)AJ"J*J2J:J?BJ?nJ5vJAHz.s@A( !s@AM\~? AAٷ%"AArNA"AZAbAjArAzAAA@0@AM8tAi@A xAtAM?A?A1?Aw$<*A:?2APbӽ:A˫BA:?JAPbӽRA˫٘i)I9i@YeG J,<JJJJ*E&K Yy\~?y MAE77r9AB)BE[[>[Ve\~?[Ӫ[[[[BZYY i) gs;Ii:?+; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037996.043165 s, next control iter: 1743037996.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743037996.443165 s.6bJ~,:])AAq= cs@A Vs@A]~? AA%"AA6rNA"AZAbAjArAzAAA(0@A%6tAxj@A͙AhA ?A^?A?Aŕ<*A:?2AXFԽ:ABA:?JAXFԽRA٘i)I9xj@YG J<JJJJ-E&K Y\~?yjkMAE)7ŧ7=9@B)BE[[[θ>[g~\~?[Ъ[[[[BZYY i) w;Ii .?j; ?))??Y*YEYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037996.463165 s, next control iter: 1743037996.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11495, header.stamp.nsec: 00 temperature: 13.568044* salinity: 33.375393, density: 1025.000000* values[0]: 0.573704F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037996.863165 s.+bJ~,>7)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065852< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743037996.863312F (some fields omitted in printout)As@Ays@A]~? AA:%"AA rNA"AZAbAjArAzAAAu=1@A%4tAj@A :AꄽA ?A`)?A?Az<*AЃ:?2A9ս:ABAЃ:?JA9սRAY>?yꄽ>D:ٓH`Qh?J, )?Gv?*^??P??)> I٘i)I9j@YG JP<J7<JJJ0E&Ks> Y\~?yvܪMA?Ej7Z79)B[[>[\~?[ͪ[[[[BZYY i)=) X÷;Ii?0; Mh?)):TuMh?Mh?#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037996.883165 s, next control iter: 1743037997.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037997.283165 s.:RbJ~,R)AA(\s@AcAaPs@A3]~? AvAh%"AArNA"AZAbAjArAzAAA)jAg1@A~{:2tAEhk@A*5<AڃA,A?A?A``?A<*As:?2Aս:A/BAs:?JAսRA/9٘i)I9hk@YFG J<JJJJ2E&K Y]\~?yתNAE77Ҍ9?B)BE[[K>[\~?[ʪ[[[[BZYY i)  ;Iie ?ݯ; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037997.303165 s, next control iter: 1743037997.683175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11496*, header.stamp.nsec: 0*0 temperature: 13.567685** salinity: 33.375401*, density: 1025.000000** values[0]: 0.574383*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037997.703165 s.ӺbJ~,m)AJ"J*J2J:JBJnJvJAQt@A5{s@AJ]~? AA%"AAsNA"AZAbAjArAzAAAEm1@A@0tAk@Ai{<A⃽Ai#?A?A@v?A<*A::?2A>rԽ:AهBA::?JA>rԽRAه򼙘٘i)I9k@YG J<B=JJJJ5E&K Y\~?yҪvNAE{7j79>B)BE[[?/>[?\~?[+Ǫ[[[[BZYY i) ZV;Iir>Λ; Ӛ?)) Ӛ?Ӛ?Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037997.723165 s, next control iter: 1743037998.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037998.123165 s.2bJ~,H⇋)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077208< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743037998.123289F (some fields omitted in printout)AG:t@A-t@A`]~? AA%"AAAsNA"AZAbAjArAzAAA1=2@A-tABl@A=<A[Aa(?A?ADC?A<*A:?2A׋Խ:ApBA:?JA׋ԽRAp٘i)I9Bl@YG J<C=JJJJ8E&K Y\~?yͪNAEh9:B)دBE[[7&>[\~?[ê[[[[BZYY i)  %; {?)){?{?y =*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037998.143165 s, next control iter: 1743037998.523175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743037998.543165 s.IbJ~,â)AJ"J*J2J:JBJnJvJA= ףpt@AS'ct@Aw]~? AA`%"AA4dsNA"AZAbAjArAzAAAZ6T2@AT?_+tAKl@AW:AAwU-?AhD?A`q ?A<*AJ:?2A Խ:A,BAJ:?JA ԽRA,٘i)I9l@YG JF<B=JJJJ;E&K Yx]~?yȪ)OAE7{739)կB[[0>[C\~?[޿[[[[BZYY i) tNu; &T?))&T?&T?*YgYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037998.563165 s, next control iter: 1743037998.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11497, header.stamp.nsec: 00 temperature: 13.567369* salinity: 33.375404, density: 1025.000000* values[0]: 0.574977F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037998.963165 s.vbJ~,褽)AAfffft@Ahv[t@A]~? A{Ab%"AAFsNA"AZAbAjArAzAAAjb>2@Aר(tA$m@ApAOAT2?AQ?A?A`l<*An{:?2AJԽ:ABAn{:?JAJԽRAY>}2?yM;uٓHy?` ?.?@%VF?Â?)> I٘i)I9$m@YTG Jk<C=J3ͻJJJ=E&K,t> Y]~?yªOA}2?Ej7Z795B)̯BE[[>[5]~?[[[[[BZYY i) )~E; ?))x??A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037998.983165 s, next control iter: 1743037999.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743037999.383165 s.bJ~,/؋)AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.242210> elevatorAngleAction: 0.077208< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743037999.383289F (some fields omitted in printout)A(t@A}t@A]~? A%A%"AAsNA"AZAbAjArAzAAAB2@A+(&tAm@A yAAxr7?Ay?A ?A<*Aq:?2AHս:AC BAq:?JAHսRAC ٘i)I9m@YG J<JJJJ@E&K Y2]~?yWOAE777ȕ94B)ǯBE[[?[)]~?[[[[[BZYY i) t9J; mХ?)) mХ?mХ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037999.423165 s, next control iter: 1743037999.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11498", header.stamp.nsec: 0"0 temperature: 13.567026"* salinity: 33.375435", density: 1025.000000"* values[0]: 0.575589"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743037999.803165 s.xAbJ~,g)AAu@A#,*u@A]~? AAZ%"AA,sNA"AZAbAjArAzAAA @3@A4Vm#tAAn@AXA+Ay: ė?))ė?ė?1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743037999.843165 s, next control iter: 1743038000.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038000.223165 s.gcJ~,H)AJ"J*J2J:Jn?BJn?nJ5vJAzGu@Aǵ:u@A3]~? AܫA*%"AAsNA"AZAbAjArAzAAA2]3@A tAdn@AmAAA?A elevatorAngleAction: 0.077208< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038000.643301F (some fields omitted in printout)A ףp}u@Afpu@A_]~? AO׫A_%"AAO tNA"AZAbAjArAzAAAfEz43@A7tAo@AN;A_A4G?A Y?A*?A%<*Ar:?2Aս:A BAr:?JAսRA ٘i)I9o@YG J*<JJJJHE&K Ys]~?y_PAE77(9/B)BE[[bZ?[ p]~?[[[[[BZYY i) g Yw]~?y_QAGL?Eb7b79)B[[?[]~?[إ[[[[BZYY i) w elevatorAngleAction: 0.077208< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743038001.903315F (some fields omitted in printout)J"J*J2J:JBJnJvJAQv@Ax}v@A!^~? ALȫAk/%"AAthtNA"AZAbAjArAzAAA{uX4@A۞QtAp@Ahd;AA=V?A ?A ->?Aw<*Ap:?2Aս:ABAp:?JAսRA٘i)I9p@YqG J<JJJJPE&K Y]~?yw*RAEb779)B[[8$?[_]~?[[[[[BZYY i)  elevatorAngleAction: 0.086631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038003.163294F (some fields omitted in printout)Av@Afv@A\^~? A*Ayf%"AAtNA"AZAbAjArAzAAA#m 5@Ao3 tAZr@AgwAAe?A"?A@6'?Af_<*AW:?2A܆ս:AvBAW:?JA܆սRAvY-?Bf?y{-xٓH!? ^,? ?`#*?쎿@?)-? I٘i)I9Zr@YG J<J>JJJXE&Ku> Y]~?ybSAf?E77襗9)B[[\5?[q]~?[D[[[[BZYY i) {E- ھ?))#V~ھ?ھ? *YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038003.183165 s, next control iter: 1743038003.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038003.583165 s.8cJ~, S)AJ"J*J2J:JBJnJvJA)\v@Aබv@AZo^~? AA%"AAtNA"AZAbAjArAzAAA>VyC5@AiKpFtA#r@ABAFEA$k?A >?A`~?A<*AIL:?2A+ֽ:ABAIL:?JA+ֽRA٘i)I9r@YG JM<JJJJ[E&K Yv]~?ySAE)7ŧ79(B)BE[[;?[ ^~?[r[[[[BZYY i)  elevatorAngleAction: 0.086631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038004.423298F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gaw@AI?Tw@Aؓ^~? AA%"AAuNA"AZAbAjArAzAAA)*5@A!5tA@#t@A!=<AAPu?A?A@+?A۴<*AJ:?2A 4ֽ:AfBAJ:?JA 4ֽRAf٘i)I9#t@YG J<B=JJJJ`E&K Y^~?yOqTAEb77H9'B)BE[[F?[5^~?[9y[[[[BZYY i) P Ym=^~?ycUA?EZ7ޮ9"B)wB E[[[R?[]^~?[^l[[[[BZYY i) !K elevatorAngleAction: 0.086631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038005.683298F (some fields omitted in printout)A(\x@Akw@A^~? AŔAg%"AASfuNA"AZAbAjArAzAAA8/O6@A%sAu@Aze:AA,?A@?A:?AL<*Ad,:?2A.<ֽ:A*TBAd,:?JA.<ֽRA*T٘i)I9u@YG J<JJJJhE&K YL^~?y[UAEZ79)rB[[5X?[q^~?[e[[[[BZYY i) _6@AVDDsAѪv@A`A1A*?AT?Awf?A7<*A1:?2Av&ս:A BA1:?JAv&սRA ٘i)I9v@Y!G J<JJJJkE&K Y[^~?y8TrVAE77s9!B)kB E[[6^?[%^~?[^[[[[BZYY i) #9B)bB E[[)d?[і^~?[W[[[[BZYY i)  elevatorAngleAction: 0.086631< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038006.943294F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףx@A PS˖x@A^~? AA%"AA\uNA"AZAbAjArAzAAA-NF<6@A`BZYY i¸>J+) >)׍)AAx@Ajtx@A _~? A{A%"AAuNA"AZAbAjArAzAAAv_7@AL Y,^~?y=WA?Ej7j7ӷ9)VB[[o?[^~?[[I[[[[ZZZZBZYY i) ~A޼AV?A?A`?A<*A,:?2A4׽:Aa:BA,:?JA4׽RAa:Y|??yK޼V~ٓH?is?t?L ۛ?o ?)|? I٘i)I9|@YG J<J>JJJE&Ky> Y^^~?yYA?E779)1B[[?[L _~?["[[[[ZZZZBZYY i) r<*A'":?2A!׽:Ag<BA'":?JA!׽RAg<٘i)I9}@YZG J)r<C=JJJJE&K Y^~?y3ZAE77^ė9B)%BE[[?['_~?[[[[[ZZZZBZYY iw) GxiJJJE&K?w> Ym^~?yBZA?E{7j7ɗ9 B)BE[[N?[M_~?[4[[[[BZYY ij) 3/{@Ad_~? A6-A %"AAvNA"AZAbAjArAzAAAYĻ8@ACMsAA}@A$wy<AX=Aᓩ?AB?A?A*A9?2Aspֽ:A=BA9?JAspֽRA=٘i)I9}@YyG JC=JJJJE&K Y^~?yZAE7777˗9)B[[Ed?[^Y_~?[g[[[[BZYY iF) _ Y_~?yXA ?E{7{7җ9)&B[[4ե?[r_~?[˩[[[[BZYY i) q;IOG?iަӗU V @))V @V @ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038013.683165 s, next control iter: 1743038014.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038014.083165 s.EcJ~,mS)AA)\5|@A(|@A_~? AA%"AAvNA"AZAbAjArAzAAAm29@Au0sA,{@AEA=AOٶ?A?A`?Ao*A2AC׽:Aq=BAJAC׽RAq=٘i)I9{@YMG JJJJJE&K YR_~?yXAEŧ7b7~ԗ9)*B[[?[u_~?[[[[[BZYY i) F$;IG?i! [ @))@@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038014.123165 s, next control iter: 1743038014.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038014.503165 s.cJ~,L4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038014.503284F (some fields omitted in printout)J"J*J2J:JBJnJvJARk|@A6x^|@A_~? ANAh%"AAvNA"AZAbAjArAzAAAX;-H9@AܙsAU{@AFA"=A]?Aj?A`f?A*A 9?2Aֽ:A=BA 9?JAֽRA=٘i)I9U{@YG J褼JJJJE&K Y_~?yl#XAEb7I֗9)/B[[?[ď_~?[t[[[[BZYY i) y;I+G?iX)_ @))@@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038014.543165 s, next control iter: 1743038014.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11513, header.stamp.nsec: 00 temperature: 13.562943* salinity: 33.375584, density: 1025.000000* values[0]: 0.583777F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038014.923165 s.9cJ~,)AA{G|@A;|@AH_~? A|AI%"AA7vNA"AZAbAjArAzAAA}'5\9@A sAz@Aڍ;ABn=A4޻?At?A?At*Av9?2ANֽ:A5=BAv9?JANֽRA5=٘i)I9z@YG J>JJJJE&K Y$_~?yWAE777ؗ9B)1BE[[:?[]_~?[[[[[BZYY i) )=;I1G?ia @))@@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038014.963165 s, next control iter: 1743038015.323178 s, wait time: 0.360013 s$_~?) rAdjusting time to match Gazebo time: 1743038015.343165 s.G J칼JJJJE&K Y)_~?y XWAE77ٗ9)6B[[`?[8_~?[z[[[[BZYY i) ;IG?i\c |1 @))|1 @|1 @zܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038015.363165 s, next control iter: 1743038015.743179 s, wait time: 0.380014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11514&, header.stamp.nsec: 0&0 temperature: 13.563196&* salinity: 33.375561&, density: 1025.000000&* values[0]: 0.583095&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038015.763165 s.9cJ~,')AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038015.763299F (some fields omitted in printout)A }@AVa3|@A_~? AA'3%"AAwNA"AZAbAjArAzAAAEoѐ9@AJxsAy@Aכ[<Af=A?A-?AY?A1*A{9?2Aeֽ:AQ;=BA{9?JAeֽRAQ;=Y?*?y=#E\<ٓHy?%?? ??@bҳEs?@?)? I٘i)I9y@YG JIJ`<JJJE&KTx> Y*_~?yCVA*? Eb77ۗ9);B[[ۃ?[O_~?[[[[[BZYY i) b:I~G?i %i  @)) @ @ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038015.803165 s, next control iter: 1743038016.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038016.183165 s.dJ~,g )AJ"J*J2J:J/?BJ/?nJn5vJA(\B}@Ad5}@A _~? AߪA%"AAwNA"AZAbAjArAzAAA!9@ALsA`x@Aʻ;A=A?A XI?A?A*A9?2Aֽ:AQ =BA9?JAֽRAQ =٘i)I9x@Y~G J*JJJJE&K Y,_~?y{VAEj7Z7sݗ9B)=BE[[?[_~?[W[[[[BZYY i) Ԙ9IjG?ikUm B @))B @B @תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038016.203165 s, next control iter: 1743038016.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038016.603165 s.54 dJ~,&)AAQx}@AwGk}@A_~? AתAh%"AA/wNA"AZAbAjArAzAAAG9@AXxŁsA0Px@AͮAS=Ao?A?AL/?A*Aj9?2APJ׽:AN"=BAj9?JAPJ׽RAN"=٘i)I9Px@Y!G J%JJJJE&K YV._~?yVAE77>ߗ9)BB[[Ի?[E_~?[[[[[BZYY i) CKIeVG?iLp Z@))Z@Z@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038016.623165 s, next control iter: 1743038017.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11515 , header.stamp.nsec: 0 0 temperature: 13.563461 * salinity: 33.375572 , density: 1025.000000 * values[0]: 0.582387 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038017.023165 s.ZdJ~,|A)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038017.023297F (some fields omitted in printout)AHz}@A4.}@A_~? AϪA&"AAwNA"AZAbAjArAzAAA >9@AM|sAw@A[A넗=A?A?A@wB?Ax*A9?2Ax׽:Ay?=BA9?JAx׽RAy?=٘i)I9w@YG J+JJJJE&K Y0_~?y{UAE777 9B)EBE[[?[_~?[~[[[[BZYY i) z[ݺIBG?iq ^@))^@^@ЪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743038017.043165 s, next control iter: 1743038017.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038017.443165 s.4dJ~,1]\)AAq= }@A&}@A_~? AǪA &"AAe#wNA"AZAbAjArAzAAA%0\p9@AbxsA50w@AkA(1=A?A?AR?AiΦ*A$9?2A1c׽:A$<BA$9?JA1c׽RA$<٘i)I90w@YrG JJJJJE&K Y1_~?y sCUAE779)JB[[*?[/_~?[8u[[[[BZYY i) y*I-G?i/(r @))@@~ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038017.463165 s, next control iter: 1743038017.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11516, header.stamp.nsec: 00 temperature: 13.563708* salinity: 33.375557, density: 1025.000000* values[0]: 0.581702F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038017.863165 s.+dJ~,>w)AJ"J*J2J:JBJnJvJA~@A4ތ ~@A_~? AͿAk=&"AAM(wNA"AZAbAjArAzAAA}b9@AyssAv@AA-=ABH?AQ?A`?Aꥼ*A9?2A=׽:A4<BA9?JA=׽RA4<٘i)I9v@YG J,JJJJE&K Y3_~?yWjTAEŧ7b79B)LBE[[;V?[|_~?[wk[[[[BZYY i) TIfI}G?iQ q p@))p@p@|ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038017.883165 s, next control iter: 1743038018.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038018.283165 s.8R$dJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038018.283281F (some fields omitted in printout)A(\O~@ALTB~@Aq_~? AAq&"AAj,wNA"AZAbAjArAzAAAYD=9@A@G/nsA+v@A5;Aː=A?A ?Ak?Aa*A9?2Aֽ:Aׇ=BA9?JAֽRAׇ=٘i)I9v@YG JB=JJJJE&K YL5_~?yanTAEb77i9)PB[[?[_~?[a[[[[BZYY i)  IrG?idn @))@@ǪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038018.303165 s, next control iter: 1743038018.683177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 115172, header.stamp.nsec: 020 temperature: 13.5639482* salinity: 33.3755842, density: 1025.0000002* values[0]: 0.5810742F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038018.703165 s.J "J *J 2J :J ?BJ ?Ӻ*dJ~nJ5vJ,)AAQ~@A2x~@AX_~? AAw&"AA/wNA"AZAbAjArAzAAAF9@ACisAu@A=\C<A=AQ?A?At?Aإ*Ag9?2Aֽ:A@o=BAg9?JAֽRA@o=٘i)I9u@YsG J4C=JJJJE&K Y 7_~?yXTAEŧ7b749)UB[[?[¯_~?[X[[[[BZYY i) IF?ihj @))@@fĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038018.723165 s, next control iter: 1743038019.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038019.123165 s.51dJ~,Tǐ)AAG~@Aԭ~@A_~? AAT&"AAD2wNA"AZAbAjArAzAAA*9@A6tUdsAPu@A~Wr<A4=A?A`ߟ?A6{?AGx*A9?2A܈ֽ:A=BA9?JA܈ֽRA=٘i)I9u@YG JJJJJE&K Y8_~?yOSA E7779B)WBE[[?[_~?[VN[[[[BZYY i) ̻IrF?i_Θe a8@))a8@a8@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038019.143165 s, next control iter: 1743038019.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038019.543165 s.J "J *J 2J :J ?BJ ?nJ 5vJ I8dJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066775< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743038019.543330F (some fields omitted in printout)A= ף~@A~@A_~? AA&"AA3wNA"AZAbAjArAzAAAqnH9@A.g_sA}t@A!<AD=A%?A^?A Y?AY*A29?2Adֽ:AV<BA29?JAdֽRAV<٘i)I9}t@YG JǟJJJJE&K Y:_~?y4G.SA#E77{79)\B[[*?[_~?[D[[[[BZYY i)  IF?iJ_ j@))j@j@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038019.563165 s, next control iter: 1743038019.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11518, header.stamp.nsec: 00 temperature: 13.564199* salinity: 33.375587, density: 1025.000000* values[0]: 0.580401F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038019.963165 s.z>dJ~,)AAffff&@AZ@A_~? ArAP&"AA4wNA"AZAbAjArAzAAA&>9@AwZsAs@AAZ=AA?A bP?A`?A(̓*A69?2A%׽:A<BA69?JA%׽RA Y6_~?y{>RAA?&E{7j79)`B[[?[v_~?[;[[[[BZYY i) 2IF?i䰿kb T@))T@T@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038019.983165 s, next control iter: 1743038020.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038020.383165 s.EdJ~,')AJ"J*J2J:JBJnJvJA(\@A O@A_~? A\A&"AA5wNA"AZAbAjArAzAAA0QD9@A+@UsAƃs@AW(A=A?AA?A*A9?2Ag׽:AY<BA9?JAg׽RAY<٘i)I9s@Y5G JvJJJJE&K Y2_~?y5xRA(E7777^9)cB[[,8?[*_~?[p1[[[[BZYY i) p{IF?ioed @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038020.403165 s, next control iter: 1743038020.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11519", header.stamp.nsec: 0"0 temperature: 13.564432"* salinity: 33.375591", density: 1025.000000"* values[0]: 0.579787"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038020.803165 s.vALdJ~,wg3)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038020.803297F (some fields omitted in printout)A@AP@A_~? AGA&"AAO4wNA"AZAbAjArAzAAAG&mI9@AGFPsAs@AzsAD=AE?AN蝿A {?AB*A9?2Ao׽:A4<BA9?JAo׽RA4<٘i)I9s@YG JB=JJJJE&K Y._~?y -RA+E7)9)gBE[[7`?[_~?['[[[[BZYY i)  $I@F?i첿e o@))o@o@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038020.823165 s, next control iter: 1743038021.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038021.223165 s.gSdJ~,HN)AJ"J*J2J:JBJnJvJAz@Ai@A_~? A4Ar*&"AA2wNA"AZAbAjArAzAAA Wea9@AϬoKsAơr@A)>A=AE,?AA u?AuK*AG9?2A8׽:AuP<BAG9?JA8׽RAuP<٘i)I9r@YG J|C=JJJJE&K Y*_~?yS$QA.E77{79)kB[[g?[H_~?[6[[[[BZYY i) ;3IF?iZuKd -@))-@-@yꣽDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038021.243165 s, next control iter: 1743038021.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038021.643165 s.~YdJ~,(*i)AA ףp@A+f@A_~? A#wA &"AA{0wNA"AZAbAjArAzAAA@%;9@A^AFsA0r@AAm=A?A 'Ak?A *A9?2Aֽ:A`=BA9?JAֽRA`=٘i)I90r@YgG JJJJJE&K Y&_~?yfQA0Eŧ779)nB[[?[_~?[[[[[BZYY itReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11520, header.stamp.nsec: 0) "*C0 temperature: 13.564661* salinity: 33.375568, density: 1025.000000* values[0]: 0.579275F (some fields omitted in printout)IlF?i6b Ə!@))Ə!@Ə!@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038021.663165 s, next control iter: 1743038022.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038022.063165 s.`dJ~,R )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038022.063287F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A'&@A|_~? AoAce&"AA`-wNA"AZAbAjArAzAAAIʽ9@A4!=AsAUq@ATM<A{=A5?AqֲAP`?A됼*Az9?2A(ֽ:A=BAz9?JA(ֽRA=YR Y_~?yQAH?3E{7j79)rB[[?[e_~?[- [[[[BZYY i) RIXF?ij^d #@))#@#@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038022.083165 s, next control iter: 1743038022.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038022.483165 s.x_gdJ~,작)AA\h@AB[@A_~? AgAr&"AAz)wNA"AZAbAjArAzAAA5D 9@A$jq@Azn<A=A?AA^R?A*A9?2Aaֽ:Ap =BA9?JAaֽRAp =٘i)I9>q@YG JB=JJJJE&K Y_~?y PA6E77T9B)uBE[[?[Q_~?[[[[[BZYY i) aIEF?i ;-e $@))$@$@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038022.503165 s, next control iter: 1743038022.883177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11521, header.stamp.nsec: 00 temperature: 13.564881* salinity: 33.375587, density: 1025.000000* values[0]: 0.578720F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038022.903165 s.mdJ~,͹)AJ"J*J2J:J'?BJ'?nJY5vJAQ@Aѫ@A@_~? A _A#&"AA$wNA"AZAbAjArAzAAA۬9@A1t 8sA"p@AW<Ag=Aa?AcAA?Av*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9p@YG JC=JJJJE&K Y _~?yIPA8E{7{79)yB[["?[_~?[S[[[[BZYY i) "fqIq2F?i)d `9&@))`9&@`9&@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038022.923165 s, next control iter: 1743038023.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038023.323165 s.xtdJ~,-ԑ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038023.323290F (some fields omitted in printout)AGzԀ@A/\sǀ@AX_~? A WAh; &"AAMwNA"AZAbAjArAzAAAX(9@AZ9?)3sA;p@A!;Ap=A?A3A@.?AR*A9?2A]ֽ:A=BA9?JA]ֽRA=٘i)I9;p@Y6G JB=JJJJE&K Y9 _~?ykOA;E779B)BE[[I?[z_~?[[[[[BZYY i) hIdF?i!b '@))'@'@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038023.343165 s, next control iter: 1743038023.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11522*, header.stamp.nsec: 0*0 temperature: 13.565121** salinity: 33.375580*, density: 1025.000000** values[0]: 0.578089*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038023.743165 s.W{dJ~,u)AJ"J*J2J:J?BJ?nJ-5vJAףp= @A?T1@A_~? AOA- &"AAwNA"AZAbAjArAzAAAs\Ǖ9@ASz M.sAo@A,»Ao=A ?A`A3?A\^*A9?2A?׽:A /=BA9?JA?׽RA /=gI٘i)I9o@YG JC=JJJJE&K Yg_~?yOA>E7779)B[[ n?[q_~?[[[[[BZYY i) I F?iW{_ Z)@))Z)@Z)@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038023.763165 s, next control iter: 1743038024.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038024.163165 s.{}dJ~,q )AA@@Ag{2@A_~? A(GAar &"AAwNA"AZAbAjArAzAAAe爂9@Au)sA4o@A^Az=Av?A)¿A?Aoמ*A9?2Ai׽:A7=BA9?JAi׽RA7=YDH?T?y=O@_ٓHܡտ V`ϣ@s?տ@3?@`ҋU?)DH? I٘i)I94o@YG JLJ<JJJE&Ktx> Y^~?y!OAT?@E{7~9B)BE[[X?[g_~?[ܨ[[[[BZYY i) gIE?i`z` *@))*@*@(תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038024.183165 s, next control iter: 1743038024.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038024.583165 s.!dJ~,*S%)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038024.583311F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A0h@Au_~? AB?A &"AA wNA"AZAbAjArAzAAA{.q9@AЀi$sADn@AܕfA=A?A ĿAm?Ax*A|9?2A&I׽:Az=BA|9?JA&I׽RAz=٘i)I9n@YCG JB=JJJJE&K  9YB^~? 9yONACE77I9)B[[?[\_~?[Ө[[[[BZYY i) _ IE?i ` v,@))v,@v,@T۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038024.603165 s, next control iter: 1743038024.983184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11523, header.stamp.nsec: 00 temperature: 13.565397* salinity: 33.375591, density: 1025.000000* values[0]: 0.577462F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038025.003165 s.} dJ~,a4@)AAR@ATȕz@Au_~? Af7A֦ &"AA\wNA"AZAbAjArAzAAAh_9@AgRsA n@AbAZ=AǛ?AƿA`?A7לּ*A9?2Aֽ:AoK=BA9?JAֽRAoK=٘i)I9 n@YG JC=JJJJE&K Y^~?yبONAFE7{79B)B E[[T?[Q_~?[ʨ[[[[BZYY i) РIAE?iŭn^ L.@))L.@L.@0ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038025.023165 s, next control iter: 1743038025.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038025.423165 s.udJ~,[)AJ"J*J2J:JBJnJvJA{G@A:ԁ@A_~? A/A? &"AAvNA"AZAbAjArAzAAAK9@AOOKsARm@Aj;Aޯ=A\?ADtȿA`?AP*A9?2As~ֽ:A=BA9?JAs~ֽRA=٘i)I9m@YG J$JJJJE&K Y^~?yϨMAIE779)B E[[?[rE_~?[[[[[BZYY i) !IE?ieb[ !/@))!/@!/@kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038025.443165 s, next control iter: 1743038025.823176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11524", header.stamp.nsec: 0"0 temperature: 13.386271"* salinity: 33.391624", density: 1025.000000"* values[0]: 0.698090"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038025.843165 s.ݜdJ~,u)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.080085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038025.843282F (some fields omitted in printout)Ap= @A @A_~? A'AO &"AAvNA"AZAbAjArAzAAA R69@AQsAl@AsK<Ah=A?ADʿA`̉?A*A9?2A=9ֽ:A=BA9?JA=9ֽRA=٘i)I9l@Y4G JJJJJE&K Y^~?yxǨ}MAKE79B)B[[9@[8_~?[ٸ[[[[BZYY i) BIįE?iuW *%1@))*%1@*%1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038025.863165 s, next control iter: 1743038026.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038026.263165 s.J "J *J dJ~2J:J2?,<ؐ)ABJ2?nJ;;5vJAL@AZ&?@Aj_~? A Ao &"AAvNA"AZAbAjArAzAAA}Uh9@AЙsAMl@Aq<AҀ=A@A̿A`Df?Am¼*Ac9?2A@ֽ:AG=BAc9?JA@ֽRAG=YN?n-@y$|=r<ٓH^ۿ@wRN?@oۿs}?鴿@*6? ?)N? I٘i)I9Ml@YG J8J8Q<JJJE&K x> YV^~?y MA-@NE7777t9B)BE[[!!@[<+_~?[*[[[[BZYY i) IE?iۧXV 2@))2@2@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038026.303165 s, next control iter: 1743038026.663181 s, wait time: 0.360016 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 115252, header.stamp.nsec: 020 temperature: 13.3865472* salinity: 33.3916362, density: 1025.0000002* values[0]: 0.6968172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038026.683165 s.ldJ~,V)AA(\@AE.8u@Ae_~? AcAQ&"AAvNA"AZAbAjArAzAAA<9@Aji sA&k@A"<AO=An@ANͿA??A*A9?2Aֽ:A&=BA9?JAֽRA&=٘i)I9k@YnG JmJJJJE&K Y ^~?yLAQE{7> 9)B[[@[_~?[[[[[BZYY i) )ZI̋E?i^U +?4@))+?4@+?4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038026.683165 s, next control iter: 1743038027.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038027.103165 s.dJ~,ƒ)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.089359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743038027.103309F (some fields omitted in printout)AQ@AF@Aޤ_~? AA؛&"AA|vNA"AZAbAjArAzAAA08@A._AsA k@A|yARY=A@A@ϿA?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9 k@Y G JB=JJJJE&K Y^~?y,LASEj7SI7 9B)BE[[vA@[Y_~?['[[[[BZYY i) õüIzE?i|OR r5@))r5@r5@y<綽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038027.143165 s, next control iter: 1743038027.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038027.523165 s.dJ~,|)AAHz@Ae@Aכ_~? A0 AJ0&"AA5vNA"AZAbAjArAzAAAVW8@A@sAmkj@Ar/A=A%@AпA?AY*A9?2AD׽:A^=BA9?JAD׽RA^=٘i)I9kj@YG JC=JJJJE&K Y^~?yKAVE7777 9)B[[@[^~?[ږ[[[[BZYY i) ˼IhE?i=bN [7@))[7@[7@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038027.543165 s, next control iter: 1743038027.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11526, header.stamp.nsec: 00 temperature: 13.386826* salinity: 33.391644, density: 1025.000000* values[0]: 0.695511F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038027.943165 s.XddJ~,B])AJ"J*J2J:J 2?BJ 2?nJ:5vJAq= #@A%:@AO_~? AA&"AA,vNA"AZAbAjArAzAAAHgIOr8@Ad rAi@A*rA`j=A8y@AѿA˼?AT0*AZ9?2AG׽:A5%=BAZ9?JAG׽RA5%=٘i)I9i@YJG JMJJJJE&K Y|^~?yПKKAYE)7b79)B[[\@[ ^~?[[[[[BZYY i) lҼIWE?i󜿉H 8@))8@8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038027.983165 s, next control iter: 1743038028.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038028.363165 s.dJ~,}>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.089359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038028.363296F (some fields omitted in printout)AY@A:L@AI_~? A:AU&"AAcvNA"AZAbAjArAzAAA),f8@AoyrA'i@A 86A0]=A9@A@]ҿA`?AƼ*AZ9?2Aֽ:AS=BAZ9?JAֽRAS=YUV?P@y[Z=~6ٓHuEt /?/`~?@D`Ɔ`r?)UV? I٘i)I9'i@Y G J¼JN<JJJE&K+x> Y^~?yPJA@[Eb77i9 B)BE[[ @[j^~?[[[[[BZYY i) ټI GE?iG t:@))t:@t:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038028.403165 s, next control iter: 1743038028.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11527&, header.stamp.nsec: 0&0 temperature: 13.387143&* salinity: 33.391651&, density: 1025.000000&* values[0]: 0.694223&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038028.783165 s.YdJ~,2)AJ"J*J2J:JBJnJvJA(\@AX zR@A}_~? AA&"AAߐvNA"AZAbAjArAzAAA;6w8@Ai=rAx}h@AʺA5=A @A@xgӿAF[?AY8м*A9?2Aֽ:A:=BA9?JAֽRA:=٘i)I9}h@Y G JʼJJJJE&K Yz^~?yϐ\JA^Eŧ7ŧ749)ůB[[x @[3^~?[~[[[[BZYY i) I6E?iE <@))<@<@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038028.823165 s, next control iter: 1743038029.183178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038029.203165 s.dJ~,M)AAQŃ@APj@Ar_~? AAv&"AAvNA"AZAbAjArAzAAAR5RU8@A+ @rAg@A&<A=A> @A@ԿA'?Aټ*A9?2A!ֽ:A!=BA9?JA!ֽRA!=٘i)I9g@Y G JuԼJJJJE&K YKk^~?yPIAaE)79 B)ͯBE[[3 @[o^~?[v[[[[ZZ¸BZYY i¸r=) ԼIX&E?iA1A =@))=@=@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038029.223165 s, next control iter: 1743038029.603180 s, wait time: 0.380015 s Kk^~?) P rAdjusting time to match Gazebo time: 1743038029.623165 s.\dJ~,qg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038029.623307F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@AE@A]g_~? AIAS&"AAovNA"AZAbAjArAzAAA$w;38@A> *rAlg@Ao<AO=A @A տA@?Ajm*A9?2Aս:A#=BA9?JAսRA#=٘i)I9g@Y G JܼJJJJE&K Y\^~?yρlIA DcE{7j79)ӯB[[Ў@[$^~?[ho[[[[ZZBZYY i) ȼIE?iے ; z?@))z?@z?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038029.643165 s, next control iter: 1743038030.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11528 , header.stamp.nsec: 0 0 temperature: 13.387452 * salinity: 33.391674 , density: 1025.000000 * values[0]: 0.692818 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038030.043165 s.dJ~,Â)AA= ף0@A#@At[_~? AݩA&"AA^vNA"AZAbAjArAzAAA68@ArA?f@ASP<A-=A @AտAֶ?A*A9?2A+1ֽ:AA=BA9?JA+1ֽRAA=٘i)I9?f@Y" G JJJJJE&K YM^~?yPzHAfE77779 B)ۯBE[[<@[_^~?[h[[[[ZZBZYY i)  ּIQE?i+t5 @@))@@@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038030.063165 s, next control iter: 1743038030.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038030.463165 s.]dJ~,)AJ"J*J2J:JBJnJvJAfffff@A ]lZY@AO_~? A֩AV&"AAKvNA"AZAbAjArAzAAA#>m7@A0y]hrA[e@AO݁;A=A,@A4ֿA{?A.,*A9?2Aֽ:AZܾ<BA9?JAֽRAZܾ Y<^~?yOsHA1@iE{7j7_9)B[[֡@[^~?[`[[[[ZZBZYY i) "IDD?i*3 ,B@)),B@,B@yЩ=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038030.483165 s, next control iter: 1743038030.863178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11529, header.stamp.nsec: 00 temperature: 13.387835* salinity: 33.391685, density: 1025.000000* values[0]: 0.691207F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038030.883165 s.ydJ~,<)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743038030.883328F (some fields omitted in printout)A(@A֎@A=B_~? AϩA &"AA8vNA"AZAbAjArAzAAA`7@A08G0!rAd@AAYz=AI@A`՛׿A??Ab*A9?2Aֽ:Axh<BA9?JAֽRAxh<٘i)I9d@Y G JHJJJJ E&K Y+^~?yOl$HAkEŧ7b7)9B)BE[[]+@[n^~?[Y[[[[ZZBZYY i) \oID?i(Џ/ .C@)).C@.C@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038030.903165 s, next control iter: 1743038031.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038031.303165 s.WdJ~,{gӓ)AJ"J*J2J:JBJnJvJAф@AĄ@A4_~? AȩA2.&"AA$vNA"AZAbAjArAzAAA8\Y7@A}rAc@A(]rAF6=A@A`YoؿA ?A#sϼ*A9?2A0ֽ:AR;BA9?JA0ֽRAR;٘i)I9c@Y G J<JJJJ E&K Y^~?yNeGAnE779)B[[v@[Z^~?[R[[[[ZZBZYY i) ĻI/D?iP* ?E@))?E@?E@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038031.323165 s, next control iter: 1743038031.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11530*, header.stamp.nsec: 0*0 temperature: 13.388216** salinity: 33.391705*, density: 1025.000000** values[0]: 0.689518*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038031.723165 s.dJ~,H)AAz@AD/@A/'_~? A@A&"AAQvNA"AZAbAjArAzAAA.kp7@A&rAc@AuA<A!@A+@ٿA?Asd*A|9?2Aֽ:AQBA|9?JAֽRAQ٘i)I9c@Y; G JJJJJE&K Yh ^~?yN^RGAqEb79B)BE[[9@[E^~?[K[[[[ZZBZYY i) uI_D?it+l$ F@))F@F@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038031.743165 s, next control iter: 1743038032.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038032.143165 s.X/eJ~,* )AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038032.143303F (some fields omitted in printout)A ףp=@A@1d0@A_~? A~A9&"AA(uNA"AZAbAjArAzAAA:%rE7@A`PrA=b@A A#a3<Ak@A ڿA?A*A9?2ACֽ:AWBA9?JACֽRAW٘i)I9b@Y G JJJJJE&K YL]~?yMWFAsE777!9)B[[@[0^~?[@E[[[[ZZBZYY i) UI1D?i+u PH@))PH@PH@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038032.163165 s, next control iter: 1743038032.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038032.563165 s.eJ~,V $)AA3333s@A)f@AU _~? AԳA&"AARuNA"AZAbAjArAzAAA..*7@A{rA9b@AYa;AQAO@AfڿA;?A Y]~?yPFA@vE7T#9B)BE[[D@[^~?[>[[[[ZZBZYY iǢ|=) qIHD?ipP GH))GHI@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038032.583165 s, next control iter: 1743038032.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11531, header.stamp.nsec: 00 temperature: 13.388494* salinity: 33.391724, density: 1025.000000* values[0]: 0.688301F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038032.983165 s.eJ~,>)AJ"J*J2J:J40?BJ40?nJ85vJA\@Ak) 훅@A?^~? ABA>&"AAuNA"AZAbAjArAzAAAaZl6@A ~ȅrAa@ArJ<Aj㟼A@A*ۿA@?A0*A9?2A)ֽ:ABA9?JA)ֽRA٘i)I9a@Y G Jz%JJJJE&K Y]~?ykJFAyE777%9B)BE[[z@[N^~?[}8[[[[ZZBZYY irf=) ^I¦D?ih F))F_K@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038033.003165 s, next control iter: 1743038033.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038033.403165 s.&eJ~,Y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202142 time: 1743038033.403511F (some fields omitted in printout)AQޅ@AO9х@A^~? AɦA{&"AAuNA"AZAbAjArAzAAA)9_6@AE6%rA9a@A;m<AAV@AChܿA?Ax *A9?2A<ֽ:A6żBA9?JA<ֽRA6ż٘i)I9a@Yn G JOJJJJE&K Y6]~?yCFA{EZ7Z7&9B)BE[[sN@[]~?[f2[[[[BZYY i) KID?i_9 9E))9EL@0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038033.423165 s, next control iter: 1743038033.803175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11532&, header.stamp.nsec: 0&0 temperature: 13.388645&* salinity: 33.391724&, density: 1025.000000&* values[0]: 0.687637&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038033.823165 s.eJ~,)t)AJ"J*J2J:J 0?BJ 0?nJ85vJAGz@Ap@A^~? AhA ;&"AA֟uNA"AZAbAjArAzAAAu 6@A7rAa@A<AI1A@AC(ݿA`Xa?A";*A9?2A ֽ:AmBA9?JA ֽRAm弙٘i)I9a@Y J̸JJJJE&K Yڪ]~?y=GA~Eb7b7(9B) BE[[7@[]~?[,[[[[BZYY i) d8IMD?iTr C))CkN@y=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038033.843165 s, next control iter: 1743038034.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038034.243165 s.#eJ~,m)AAףp=J@A=`2=@Ap^~? A"A&"AAfuNA"AZAbAjArAzAAARB+yZ6@A/ٿrAa@A AZWA@A@ݿA?A<;*A9?2A9ֽ:A/XBA9?JA9ֽRA/X٘i)I9a@Y G Jw;JJJJE&K Y]~?y7 GAE77*9) B[[hO@[Y]~?[&[[[[BZYY i) 9%ID?ioGOG .B)).BO@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038034.263165 s, next control iter: 1743038034.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038034.663165 s.*eJ~,q)AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038034.663295F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11533, header.stamp.nsec: 00 temperature: 13.388680* salinity: 33.391727, density: 1025.000000* values[0]: 0.687567F (some fields omitted in printout)A@Aևr@A^~? AAR0&"AAXnuNA"AZAbAjArAzAAA*'6@A7<rA3+b@AL=AvA'@A޿A?A3<*A9?2Aս:AF BA9?JAսRAF Y- @73@y˫v=ٓHW?@?  Ю?`m?)- @ I٘i)I9+b@Y G Jx<JJJJ"E&Kv> Y.]~?yN1^GA3@Eb77J,9B)BE[[k @[]~?[K![[[[BZYY iEg=) KI5zD?i@t 5@))5@sQ@ަ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038034.683165 s, next control iter: 1743038035.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038035.083165 s.D1eJ~,RŔ)AA)\µ@A@A^~? A卩A&"AATuNA"AZAbAjArAzAAAU_M^5@A`rA b@A|AڇAOp@A7R߿A w?Ag<*A9?2Agս:ABA9?JAgսRA٘i)I9b@Y G JjL<JJJJ$E&K Yl]~?y+GAE{7{7.9B) BE[[O"@[l]~?[[[[[BZYY i) zILpD?ie8\ )?)))?R@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038035.123165 s, next control iter: 1743038035.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038035.503165 s.7eJ~,]4)AJ"J*J2J:JBJnJvJAR@Af.pyކ@A^~? AAl&"AAl:uNA"AZAbAjArAzAAA@s5@AXG㽴rAb@A7A͐A@AA@+%?A2<*A9?2A,ֽ:A#BA9?JA,ֽRA#٘i)I9b@Y G J~<JJJJ'E&K YW]~?y%HAEb77/9)B[[#@[ w]~?[[[[[BZYY i) kIfD?i-ܑ޻ &=))&=wT@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038035.523165 s, next control iter: 1743038035.903181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11534, header.stamp.nsec: 00 temperature: 13.388598* salinity: 33.391712, density: 1025.000000* values[0]: 0.688001F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038035.923165 s.8>eJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038035.923309F (some fields omitted in printout)A{G!@A=@A^~? AA&"AAuNA"AZAbAjArAzAAA)՞!5@A,rA>fc@A[AA]@AU]A`??Aq<*A9?2Aߛֽ:AcBA9?JAߛֽRAc٘i)I9fc@Yf G J<JJJJ*E&K Y?B]~?yWHAE77719B)B޹E[[&H%@[m^]~?[[[[[BZYY id=) V̻IF^D?id!λ H'<))H'<mU@yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038035.943165 s, next control iter: 1743038036.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038036.343165 s. Y]~?yIA!@E7?59)B[[:(@[],]~?[[[[[BZYY i) IND?i8 3 *9))*9X@y{=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038036.783165 s, next control iter: 1743038037.163181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038037.183165 s.ReJ~,RK)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743038037.183278F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\‡@A@AM^~? ABqA,&"AAtNA"AZAbAjArAzAAA4@A@'vrAd@AQ<AJA#@A`^Ag?AO<*Aޭ9?2Aֽ:ABAޭ9?JAֽRA٘i)I9d@Y[ G J<JJJJ2E&K Y\~?yxIAE77 79"B)BعE[[ɳ)@[]~?[E[[[[BZYY i) `IGD?i˥ ׬7))׬7rZ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038037.203165 s, next control iter: 1743038037.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038037.603165 s.74YeJ~,f)AAQ@AnE@A:^~? AkAWG&"AA]tNA"AZAbAjArAzAAAǬ>4@A%ArAle@Ay;AAV$@A@bA?AY{<*A9?2Aֽ:ABA9?JAֽRA٘i)I9e@Y G J<JJJJ4E&K Y\~?y IAE)7b789%B)BԹE[[^*+@[8\~?[[[[[BZYY i) $IAD?i뾉[㖻 c06))c06R[@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038037.623165 s, next control iter: 1743038038.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11536 , header.stamp.nsec: 0 0 temperature: 13.388244 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.689769 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038038.023165 s.Z`eJ~,{)AJ"J*J2J:J0?BJ0?nJ(95vJAHz.@AXo !@A&^~? AfA&&"AAtNA"AZAbAjArAzAAAң1Tg4@A"krA6f@AjAD5Aؖ%@A A "?As<*A9?2A8ֽ:AQDBA9?JA8ֽRAQD٘i)I9f@Y G J<JJJJ7E&K Y\~?yFJAE77:9)B[[,@[n\~?[.[[[[BZYY i) wкI;D?iоK ʹ4))ʹ4j]@q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038038.063165 s, next control iter: 1743038038.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038038.443165 s.8feJ~,B])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743038038.443289F (some fields omitted in printout)Aq= c@A^)V@A^~? AaA&"AArtNA"AZAbAjArAzAAADSd*4@A;eJrAXf@A)AJ"J*J2J:JBJnJvJA@AiSu@AI]~? A\Aw&"AAStNA"AZAbAjArAzAAAUt3@A,s=rA@g@AO?dAA,*(@AຖA` ?AA۬<*Aw9?2A`@ֽ:ABAw9?JA`@ֽRAY4@:(@y ;dٓH@ v߿w?T?@]Pl?`?)4@ I٘i)I9@g@Y G JB<J`;JJJ=E&Kx> Y\~?yrKA:(@Ej7j74>9(B)BιE[[/@[?\~?[[[[[BZYY i) 9I2D?iL 1))1]`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038038.903165 s, next control iter: 1743038039.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038039.283165 s.8RteJ~,ҕ)AA(\ψ@A yPˆ@A]~? AWA&"AA4tNA"AZAbAjArAzAAAkr3@ABDrA^g@A.˻AA)@A`HA2?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9g@Y G J<JJJJ?E&K Yg\~?y tKAE77?9)B)B˹E[[x0@[̐\~?[[[[[BZYY i) :I-/D?it1 I0))I0a@U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038039.303165 s, next control iter: 1743038039.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 115382, header.stamp.nsec: 020 temperature: 13.3878302* salinity: 33.3917542, density: 1025.0000002* values[0]: 0.6917572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038039.703165 s.ӺzeJ~,)AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743038039.703264F (some fields omitted in printout)AQ@Ay7@Au]~? ARA5&"AAtNA"AZAbAjArAzAAASUm3@At7`rAOWh@Ah;A&Ae*@A4*A?A<*A9?2A ֽ:ABA9?JA ֽRAfI٘i)I9Wh@Yh G JΡ<JJJJBE&K Yo\~?yKAE7A9*B)BȹE[[f2@[Dv\~?[Y[[[[BZYY i)  ;I ,D?ib K.))K.jMc@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038039.743165 s, next control iter: 1743038040.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038040.123165 s.6eJ~,X)AAG:@A<-@A]~? APNA&"AAsNA"AZAbAjArAzAAARy,3@A@6@rA\~?y)LAEb77_E9-B)BĹE[[>5@[-A\~?[[[[[BZYY i) ;Iy(D?i+ν +))+48f@P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038040.563165 s, next control iter: 1743038040.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11539, header.stamp.nsec: 00 temperature: 13.387629* salinity: 33.391724, density: 1025.000000* values[0]: 0.692693F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038040.963165 s.yeJ~,=)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065966< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038040.963290F (some fields omitted in printout)Affff@A9\@Ai]~? AEA?&"AAsNA"AZAbAjArAzAAAD(k2@AI5rA i@A>m <Al͈A.@ANA`?A;<*A9?2A}ֽ:ABA9?JA}ֽRAY @7.@y"̈ <ٓHGD{ٿ@v??V@A C?? n?) @ I٘i)I9i@YLG J<J3L<JJJJE&Kx> Y$\~?yLA.@EZ7SI7*G9/B)BE[[}6@[2&\~?[[[[[BZYY i=)  ;I'D?i怽$ s*))s*g@_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038040.983165 s, next control iter: 1743038041.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038041.383165 s.ؕeJ~,+X)AJ"J*J2J:JBJnJvJA(܉@Agω@A(}]~? AWAAɒ&"AAsNA"AZAbAjArAzAAADd2@A甝:rAmHj@AaAօA1 0@A5A`?A <*A9?2Aֽ:ABA9?JAֽRA٘i)I9Hj@YG J<JJJJME&K Y \~?yUMAEj7Z7H90B)ޯBE[[H8@[1 \~?[[[[[BZYY i) T;I\'D?i푼: ))))4i@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038041.403165 s, next control iter: 1743038041.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11540", header.stamp.nsec: 0"0 temperature: 13.387481"* salinity: 33.391743", density: 1025.000000"* values[0]: 0.693538"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038041.803165 s.AeJ~,gs)AA@AW@Af]~? AL=AM&"AAosNA"AZAbAjArAzAAA‡m 2@A+Sy.rAj@A@AA\L1@A pqAg?AD<*A9?2ADֽ:ABA9?JADֽRA٘i)I9j@YG Jґ<JJJJOE&K Y[~?yMAEb77J9)گB[[9@[/[~?[{[[[[BZYY i) ;I'D?i=޵9 '))'j@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038041.843165 s, next control iter: 1743038042.203183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743038042.223165 s.geJ~,H)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038042.223304F (some fields omitted in printout)AzG@AP:@AO]~? Ad9A1&"AAhMsNA"AZAbAjArAzAAA 1@A_@̄rACo: $))$qm@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038042.663165 s, next control iter: 1743038043.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11541, header.stamp.nsec: 00 temperature: 13.387306* salinity: 33.391747, density: 1025.000000* values[0]: 0.694372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038043.063165 s.eJ~,V Ė)AJ"J*J2J:JBJnJvJA3333@AS'@A!]~? A2A#&"AAsNA"AZAbAjArAzAAA,e?O1@AnLrA8(l@AuARوA&B5@A@A@#?A<*Am9?2AQֽ:A BAm9?JAQֽRA Y<'@B5@yQوDٓH`i0}ӿ>?q?@zD?N7>?)<'@ I٘i)I9(l@YG J<J{JJJWE&KCx> Y3[~?y֧NAB5@E{7j7P94B)ӯBE[[=@[3[~?[ܧ[[[[BZYY i) |9; ?#))?#n@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038043.103165 s, next control iter: 1743038043.463177 s, wait time: 0.360012 s3[~?)֧ rAdjusting time to match Gazebo time: 1743038043.483165 s.v_eJ~,ޖ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038043.483277F (some fields omitted in printout)A\@Ahۊ@A ]~? A.AV &"AA8rNA"AZAbAjArAzAAA1@ASM/~rAl@A!<A&֊A>6@A QA ?AK<*Az9?2A/׽:A5BAz9?JA/׽RA5٘i)I9l@YG JV<JJJJZE&K YJ[~?y1ԧ OAEŧ7b7Q95B)ѯBE[[?@[[~?[ڧ[[[[BZYY i) %.R~#; !))!Mp@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038043.503165 s, next control iter: 1743038043.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11542, header.stamp.nsec: 00 temperature: 13.387144* salinity: 33.391724, density: 1025.000000* values[0]: 0.695205F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038043.903165 s.ȽeJ~,)AJ"J*J2J:JBJnJvJAQ@Aq8@AU\~? A>+AK &"AAprNA"AZAbAjArAzAAA 0@AT1*|rA m@Au<AYAr7@A@UA?A$s<*A9?2A<׽:ABA9?JA<׽RA٘i)I9 m@YDG Jl<JJJJ]E&K Ybl[~?yѧ|OAE7{7S97B)ίBE[[I{@@[h[~?[p٧[[[[BZYY i) =yG; e ))e q@R*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038043.923165 s, next control iter: 1743038044.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038044.323165 s.eJ~,)AAGzT@A(hrG@Ad\~? A(A &"AAUrNA"AZAbAjArAzAAAKvw0@Ap[#p; ))#&s@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038044.343165 s, next control iter: 1743038044.723201 s, wait time: 0.380036 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11543*, header.stamp.nsec: 0*0 temperature: 13.386992** salinity: 33.391743*, density: 1025.000000** values[0]: 0.695987*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038044.743165 s.J "J *J 2J :J ,2?BJ ,2?nJ :5vJ -WeJ~,͐/)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038044.743314F (some fields omitted in printout)Aףp=@Aa0}@A@\~? A%AJ &"AAwrNA"AZAbAjArAzAAA&F.0@AY*fxrACm@AO\B;AAz:@A`A@J?A<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9m@YG J'<C=JJJ-FJbE&K Y6[~?y&̧4PAEJW99B)ɯBE[[F8C@[93[~?[ק[[[[BZYY i) \ఎ; ))яt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038044.763165 s, next control iter: 1743038045.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038045.163165 s.r}eJ~,qJ)AA@A,-#@A\~? A7"A!&"AA3SrNA"AZAbAjArAzAAA/@A[ȟvrAwn@A]AjLA1;@A A|&?A"<*A9?2A'Fֽ:A(e BA9?JA'FֽRA(e Ys-@;@y Y[~?yUʧPA;@Ej7j7Y9:B)ƯBE[[D@[ [~?[֧[[[[BZYY i) kE; &))&u@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038045.183165 s, next control iter: 1743038045.563175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038045.583165 s.eJ~, Se)AJ"J*J2J:JBJnJvJA)\@A=@Aj\~? AA27!&"AA5.rNA"AZAbAjArAzAAAbvk4/@A<urArn@A&nA:A=@A@2A@?AN<*A9?2A!ֽ:AxBA9?JA!ֽRAx٘i)I9n@YuG J<JJJJhE&K YMZ~?yȧPAE777Z9;B)ïBE[[E@[&Z~?[\֧[[[[BZYY i)  { elevatorAngleAction: 0.076122< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038046.003299F (some fields omitted in printout)AR+@Ahx@Ax\~? AAj!&"AArNA"AZAbAjArAzAAA;MǞ.@ARCrsrAoo@A8A_A|AXO>@AXA^?A<*A9?2AHֽ:A:BA9?JAHֽRA:٘i)I9o@YG Jx<JJJJjE&K YZ~?yƧ`QAE77\9B)BE[[H@[Z~?[է[[[[BZYY i) z elevatorAngleAction: 0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038047.263304F (some fields omitted in printout)J"J*J2J:JBJnJvJǍ@AN"¿@A-\~? AAA!&"AAqNA"AZAbAjArAzAAAWQٯ4,@AOZorA&q@A]<AAZB@A`A@q"?A/o<*A9?2A9׽:AamBA9?JA9׽RAamYB4@HB@yϸ9^<ٓH@ ʺ[?`4?Dbu? ? 豋??)B4@ I٘i)I9&q@YG JJ<J JJJrE&K8x> YTZ~?y#§RAHB@Eb77 b9)B[[[K@[Z~?['֧[[[[BZYY i) Л elevatorAngleAction: 0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038048.523310F (some fields omitted in printout)AHzn@AJ_a@A[~? AAl^"&"AA$qNA"AZAbAjArAzAAA +@AO$lrAr@A!DAA+F@A8 A=?Aƶ<*AH9?2AQֽ:A=BAH9?JAQֽRA=٘i)I9r@YG JM<C=JJJJzE&K YW)AAٍ@AzS̍@Ad[~? AHAɖ"&"AApNA"AZAbAjArAzAAA4>V)@AN}jrAt@A =wA諽AH@A2A`Į?Am<*A9?2Aֽ:A*6BA9?JAֽRA*6Y:@H@y㫽xٓH@`wv(q?4q?xv?T玿 :?):@ I٘i)I9t@YG J<J솼JJJE&Kw> YZ~?yaTAH@E7777k9DB)BE[[Q@['Z~?[٧[[[[BZYY i) ,< G))G@!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038049.383165 s, next control iter: 1743038049.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11548&, header.stamp.nsec: 0&0 temperature: 13.386032&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.700967&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038049.783165 s.WfJ~,r)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038049.783299F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AXP@A[~? A+ A@"&"AA(pNA"AZAbAjArAzAAA/ܶ7)@AcirAt@A;'$A?AHA`!CA`?A<*AQ9?2ACXֽ:AlBAQ9?JACXֽRAl٘i)I9t@YG J<JJJJE&K YY~?yX!UAEb77l9EB)BE[[OS@[pY~?[ڧ[[[[BZYY i) O]<  )) H@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038050.223165 s, next control iter: 1743038050.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038050.623165 s.X)fJ~,a⧘)AJ"J*J2J:JBJnJvJAGz@AJVm@A`[~? Ap A"&"AAapNA"AZAbAjArAzAAA$O]'@A<{hrA v@A%*<A;A\EA\Ae/?Am<*A9?2A׽:A6BA9?JA׽RA6٘i)I9v@YG JG<JJJJE&K Y1Y~?yEVAE{7j7`p9)BE[[U@[Y~?[ݧ[[[[BZYY i)  elevatorAngleAction: 0.085292< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038051.043283F (some fields omitted in printout)A= ף@Aj@AG[~? A AU"&"AA:pNA"AZAbAjArAzAAAt?a'@A!BS`hrAv@Av<AA DAeA?A><*A9?2A#׽:AmBA9?JA#׽RAm٘i)I9v@Y$G J<B=JJJJE&K YY~?y;{VAEb77+r9)B[[4W@[Y~?[|ߧ[[[[BZYY i) B YvY~?yVABEs9GB)BE[[X@[Y~?[R[[[[BZYY i) 1rBZYY i¸>o) Ok%@ATWgrAvx@Az A&AC@A HqA+p?A<*A}9?2A-ֽ:ABA}9?JA-ֽRA٘i)I9x@YfG J$<JJJJE&K Y>Y~?yWAE77w9IB)BzE[[[@[`Y~?[l[[[[ZZZZBZYY i) gbA@mA%A=*A9?2Aս:A8BA9?JAսRA8٘i)I9y@YG J~<B=JJJJE&K Y"Y~?y_XAE77Uy9DB)wBwE[[\\@[HY~?[[[[[ZZZZBZYY i) YZ~? A- A"&"AAvoNA"AZAbAjArAzAAA?[N$@A< ɿ^ ~? 0p?qn?)G@ I٘i)I9H{@YG J=J.=JJJE&K w> YX~?yAħ*YAU<Eb77|9)jBqE[[^@[Y~?[[[[[ZZZZBZYY i)  5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11554, header.stamp.nsec: 00 temperature: 13.384459* salinity: 33.391651, density: 1025.000000* values[0]: 0.708620F (some fields omitted in printout)A@Au:@A0*Z~? AAצ"&"AAΊnNA"AZAbAjArAzAAA7E% @ATjrA}@A;)WAg<A5AH)AWeAX/;*A9?2Aֽ:AT<BA9?JAֽRATJJJE&KEx> Y aX~?yͧUZA5 E7)79)WBeE[[5e@[ѥX~?[h[[[[ZZZZBZYY i@(o) h5vJARk@Aߩ{^@AY~? AAr"&"AA=nNA"AZAbAjArAzAAANȿ3P@AѥxlrA,}@A˽uA7=AS.3A|Aqy¿AB*A9?2Awֽ:A0m<BA9?JAwֽRA0m<٘i)I9}@Y~G J!JJJJE&K Y*X~?yӧZAE77{7u9)`E[[.g@[yX~?[<[[[[BZYY i) FC@A9orA}@Ac<<Ad=Aa/AˬA>ǿAq*A9?2Aս:Ax=BA9?JAսRAx=YT@T/yb=V5=<ٓHa?ؿt) ꘇ??)T@ I٘i)I9}@YG JRB=J4=JJJE&Kv> YW~?yۧYAT/E{7j7Վ9)[BZE[[*kk@[9X~?[V [[[[BZYY i'f) H5vJA(\B@A5@AY~? A?A!&"AAmNA"AZAbAjArAzAAAe5H@A*B/qrA|@A3`<AE=A.A ApɿAt鍼*Aۋ9?2ALս:A=BAۋ9?JALսRA=٘i)I9|@YG JC=JJJJE&K YW~?y/ߧ*YAE7779)^BWE[[l@[$X~?[G[[[[BZYY i) u<A=Aw,A@'jA^˿Aܞ*AX9?2Aֽ:A =BAX9?JAֽRA =٘i)I90|@Y~G JB=JJJJE&K YW~?yXAE7k9CB)bBTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #70q/F^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) sy;)ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038058.623165 s, next control iter: 1743038059.003186 s, wait time: 0.380021 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11557 , header.stamp.nsec: 0 0 temperature: 13.384673 * salinity: 33.391647 , density: 1025.000000 * values[0]: 0.708144 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038059.023165 s.ZfJ~,{)AJ"J*J2J:JBJnJvJAHz@A p@AS`Y~? AA!&"AAXmNA"AZAbAjArAzAAA(̸@A8\6trA{@AՀ:A+z=Am+A,EA|ͿA*AԚ9?2Aֽ:A& =BAԚ9?JAֽRA& =٘i)I9{@Y*G JC=JJJJE&K YW~?yrXAE{7j759)fBQE[[o@[IW~?[v[[[[BZYY i) zp;IF?i@`< ?)) ?Ῡ @yVfԪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743038059.043165 s, next control iter: 1743038059.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038059.443165 s.>öfJ~,[]ܚ)AAq= @A5֒@AGY~? A AlY!&"AA2mNA"AZAbAjArAzAAA6ɛ@AͳurA{@A*A~Ś=Ak*AAпAE*Am:?2Aޢ½:A)=BAm:?JAޢ½RA)=٘i)I9{@YG JJJJJE&K YrW~?yXA"Eŧ7b79)jB[[Mp@[W~?[[[[[BZYY i) b;ITF?i_@< ߿))[߿H@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038059.463165 s, next control iter: 1743038059.843184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11558, header.stamp.nsec: 00 temperature: 13.384912* salinity: 33.391628, density: 1025.000000* values[0]: 0.707171F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038059.863165 s.+fJ~,>)AJ"J*J2J:J 5?BJ 5?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038059.863291F (some fields omitted in printout)A@Aס @AJ/Y~? At#AD$!&"AAz mNA"AZAbAjArAzAAA9i a@AD[jwrAz@AA m=A)A@A}пAі*A:?2Aý:A=BA:?JAýRA=٘i)I9z@Y{G J⫼JJJJE&K YXW~?yWA$E˗9)oBNE[[q@[dW~?[![[[[BZYY i) T;IF?i @< gܿ))gܿA@ӪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038059.883165 s, next control iter: 1743038060.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038060.283165 s.5RfJ~,)AA(\O@ARB@AY~? A\&A) &"AAnlNA"AZAbAjArAzAAAIv9@AAz0yrAGy@Ac`Az=A(A A<ѿA詼*A:?2AŽ:A=BA:?JAŽRA=٘i)I9y@Y$G JǪJJJJE&K Y>W~?yj]WA'E7{79)sBLE[[r@[W~?[^&[[[[BZYY i) L;ID#G?i&%@ d< Vڿ))VڿWz@nЪYBnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038060.303165 s, next control iter: 1743038060.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11559., header.stamp.nsec: 0.0 temperature: 13.385168.* salinity: 33.391624., density: 1025.000000.* values[0]: 0.706135.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038060.703165 s.ٺfJ~,-)AJ"J*J2J:J4?BJ4?nJ=5vJAQ@Aax@AX~? Aa)Aɳ &"AAlNA"AZAbAjArAzAAA.N;@AYom{rA3jy@A2Ao=A6'A`"A`lѿA*As:?2AOȽ:A=BAs:?JAOȽRA=٘i)I9jy@YG JJJJJJE&K Y$W~?yWA*E)7ŧ7`9BB)wBIE[[*s@[5W~?[*[[[[BZYY i) w;IGG?i*@c< +׿))+׿@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038060.723165 s, next control iter: 1743038061.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038061.123165 s.7fJ~,]G)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198212 time: 1743038061.123283F (some fields omitted in printout)AGẓ@AOխ@AX~? A,Aw &"AAlNA"AZAbAjArAzAAAᙾ@A :k|rA x@A<A=AQ&AݝAҿA8.*A:?2Aʽ:A%=BA:?JAʽRA%=٘i)I9x@YuG JJJJJE&K Y W~?yOVA,Eb77+9){BFE[[nu@[IW~?[P/[[[[BZYY i) %Ѡ:ImG?iu0@$< տ))տ2@yʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038061.143165 s, next control iter: 1743038061.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038061.543165 s.IfJ~,b)AJ"J*J2J:J4?BJ4?nJi=5vJA= ף@As@AX~? A/A9 &"AAzlNA"AZAbAjArAzAAADzF @A~rAIx@AY<Ar=A%A =rA{ӿA*A:?2A*ͽ:A=BA:?JA*ͽRA=٘i)I9Ix@YG J⫼JJJJE&K YV~?yHVA/E{7{79)B[[/v@[όW~?[3[[[[BZYY i) .9I-G?i6@< #Xӿ))#Xӿ9@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038061.563165 s, next control iter: 1743038061.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11560, header.stamp.nsec: 00 temperature: 13.385424* salinity: 33.391602, density: 1025.000000* values[0]: 0.705088F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038061.963165 s.yfJ~,})AAffff&@Ab1Z@A%X~? A93Ac&"AAVlNA"AZAbAjArAzAAAr]`@Ay rAw@ATx<Am=A#ABA@SLԿAꥼ*A:?2AϽ:A=BA:?JAϽRA=Yk`@ڭ#y<=y<ٓH@|̝?m氿@ĵ@s뮱?@|?)k`@ I٘i)I9w@YG J Jß;JJJE&K> Y[V~?yUA#2E7ŧ79)BCE[[W`w@[ {W~?[8[[[[BZYY i) Vo-IG?iv9@d< п))п'Ҕ@ êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038062.003165 s, next control iter: 1743038062.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038062.383165 s.fJ~,/)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038062.383293F (some fields omitted in printout)A(\@AaO@AX~? A6Aw&"AA2lNA"AZAbAjArAzAAAѝC,' @Ag(7rA.3w@A;;Aӊ=Aa"AA!տAŎ*A0:?2A[ѽ:A<BA0:?JA[ѽRA<٘i)I93w@YtG JwJJJJE&K YV~?yxUA4E{7j79AB)B@E[[]x@[iW~?[=[[[[BZYY i) ѺIG?i<@+w< Øο))Øοi@GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038062.403165 s, next control iter: 1743038062.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11561", header.stamp.nsec: 0"0 temperature: 13.385682"* salinity: 33.391613", density: 1025.000000"* values[0]: 0.704083"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038062.803165 s.tAfJ~,og)AA둔@A8@AvX~? A|:Am&"AAnlNA"AZAbAjArAzAAA>8Ğ @A(|yrAPv@AUAv=A AA\տA+*A:?2A7ӽ:A)Z<BA:?JA7ӽRA)Z<٘i)I9v@Y%G JkJJJJE&K Y;V~?yS +UA7E77V9)B=E[[y@[XW~?[}B[[[[BZYY i) &IH?i7@@a < C>̿))C>̿J@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038062.823165 s, next control iter: 1743038063.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038063.223165 s.gfJ~,HΛ)AJ"J*J2J:JBJnJvJAzǔ@Av@A{qX~? AU>A$&"AAfkNA"AZAbAjArAzAAA_u@A-B:.ӇrA8v@A4mA籆=AAਝA`ֿA*A:?2AԽ:A[<BA:?JAԽRA[<٘i)I98v@YG JJJJJE&K YV~?y.TA:Eŧ7b7 9)B[[z@[HW~?[G[[[[BZYY i) &CdI&9H?i,D@i< ɿ))ɿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038063.243165 s, next control iter: 1743038063.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038063.643165 s.tfJ~,))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038063.643285F (some fields omitted in printout)A ףp@Af@AZX~? ASBA&"AAkNA"AZAbAjArAzAAA)M@A CrAYu@AQRA~=AULA:aA׿AK!*AB|:?2A3ս:ASA<BAB|:?JA3սRASA<٘i)I9u@YG JJJJJE&K Y{V~?y mTA=Eb77맘9)B;E[[|@[7W~?[L[[[[BZYY ib) ICdH?iH@T= Sǿ))Sǿ*@㷪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038063.663165 s, next control iter: 1743038064.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11562, header.stamp.nsec: 00 temperature: 13.385912* salinity: 33.391590, density: 1025.000000* values[0]: 0.703182F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038064.063165 s.gJ~,V )AJ"J*J2J:J4?BJ4?nJ<5vJA33333@Aa'&@AMDX~? AvFAw&"AA}kNA"AZAbAjArAzAAA_ch~@AZYɌrASQu@A#qA{=AA"AuؿA*Aw:?2Aս:A0<BAw:?JAսRA0 YFeV~?yTA ?E7779@B)B8E[[=}@['W~?[Q[[[[BZYY i) c?IH?i K@= S<ſ))S<ſ@ŶYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743038064.083165 s, next control iter: 1743038064.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038064.483165 s.s_gJ~,)AA\h@A[@A.X~? AJA6&"AAkNA"AZAbAjArAzAAAd@AdrAt@A;Ap=AA@pABٿA.*A1n:?2A'ֽ:A^<BA1n:?JA'ֽRA^<٘i)I9t@YG JdJJJJE&K YqOV~?y9SABE779?B)B5E[[h~@[8W~?[W[[[[BZYY i) $ϻI9H?iM@x= ¿))¿UV@_YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038064.503165 s, next control iter: 1743038064.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11563, header.stamp.nsec: 00 temperature: 13.386139* salinity: 33.391582, density: 1025.000000* values[0]: 0.702360F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038064.903165 s. gJ~,9)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038064.903286F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A򭑕@A7X~? A$OA&"AA7dkNA"AZAbAjArAzAAA@O.XQ@AvVrAI"DFItD"hFailure count cleared after critical for CTD_SeabirdAףp= @AN1@AMW~? A^XA0&"AA"kNA"AZAbAjArAzAAA3?AlrA$}s@A.<<A"=AwA (A~ۿAL*A#V:?2Aaֽ:A,+=BA#V:?JAaֽRA,+=٘i)I9}s@Y1G J\JJJJE&K Y V~?y/RAJEj7Z7ఘ9>B)B.E[[@[V~?[>g[[[[BZYY i) Ii Y@ = ))@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038065.763165 s, next control iter: 1743038066.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038066.163165 s.w}"gJ~,q)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038066.163319F (some fields omitted in printout)A@@Af2@APW~? A/]A&"AAkNA"AZAbAjArAzAAA] ?AvdrAJ s@A9A=A]vAA`eܿA1*AN:?2AN׽:AM=BAN:?JAN׽RAM=Ym@uy=9ٓHGuƾ?3 M `0q>??)m@ I٘i)I9 s@YG J扼J;JJJE&Kz> YU~?yC5TRAuMEb7b790B)B0E[[;@[RV~?[l[[[[BZYY i) NE&IiQ[@.] = ))6@7YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038066.203165 s, next control iter: 1743038066.563177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038066.583165 s.(gJ~, S)AJ"J*J2J:J~3?BJ~3?nJ6<5vJZJ@JJ@bJ@RJ@A)\u@A$'h@AW~? A!bAt&"AA jNA"AZAbAjArAzAAALkۜ?AEk$rAɗr@AL1A.Պ=A\A{A`*ݿA1*AG:?2A2׽:Ak=BAG:?JA2׽RAk=٘i)I9r@YG J$JJJJE&K Y5U~?y;QAOE7ŧ7v9/B)B,E[[@[kV~?[sr[[[[BZYY i) 5Ii]@= W))W9@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038066.623165 s, next control iter: 1743038066.983180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11565, header.stamp.nsec: 00 temperature: 13.386534* salinity: 33.391552, density: 1025.000000* values[0]: 0.700730F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038067.003165 s.} 0gJ~,a4)AAR@A2}@AUW~? A5gA&"AAjNA"AZAbAjArAzAAA*Q?A ԠƠrA&r@AAAASJ=AA`-AݿA猇*A@:?2AC׽:A=BA@:?JAC׽RA=٘i)I9&r@YaG JiB=JJJJE&K YUU~?yAQARE7A9)B[[@[V~?["x[[[[BZYY i) YEIia@=  )) ̛@YªYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038067.023165 s, next control iter: 1743038067.403185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743038067.423165 s.u6gJ~,ۜ)AJ"J*J2J:JJ3?BJJ3?nJ<5vJ@@@@vPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074407< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743038067.423329F (some fields omitted in printout)A{G@A+<Ԗ@AYW~? AjlA&"AAkjNA"AZAbAjArAzAAA(|?AأWrA@q@AZA=AyAAڥ޿Ar *A_::?2AC׽:A@=BA_::?JAC׽RA@=٘i)I9q@YG JC=JJJJE&K YwU~?y H@QAUEb77 9)B)E[[2=@[̴V~?[}[[[[BZYY i$) sTIiod@2= ²))²-_@ŪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038067.463165 s, next control iter: 1743038067.823177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11566", header.stamp.nsec: 0"0 temperature: 13.386724"* salinity: 33.391548", density: 1025.000000"* values[0]: 0.699962"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038067.843165 s. YU~?y)UPAZE77{79/B)B'E[[a@[V~?[[[[[BZYY i) ?sIi;AGN=A  A@6A`. Aj*A:?2AP0׽:A@F=BA:?JAP0׽RA@F=٘i)I9o@YG J0JJJJE&K YcU~?yiUOAbEŧ7b79.B)B!E[[U@[xV~?[f[[[[BZYY i) OIir@6= +b))+bP7@=تYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038069.563165 s, next control iter: 1743038069.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11568, header.stamp.nsec: 00 temperature: 13.387164* salinity: 33.391541, density: 1025.000000* values[0]: 0.698170F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038069.943165 s.J "J *J 2J :J 2?BJ 2?nJ i;5vJ Vd^gJ~,:]|)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083566< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743038069.943293F (some fields omitted in printout)Aq= #@A@A+W~? A+A#&"AA\iNA"AZAbAjArAzAAA>AԝrAn@AOAB=AG Ag߿A`^A礦*A:?2A׽:AWC=BA:?JA׽RAWC=٘i)I9n@Y4G JJJJJE&K YRU~?ypNAeE777˜9/B)B"E[[K@[mV~?[n[[[[BZYY i) ?Ii v@v= S"))S"Fǟ@DܪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038069.963165 s, next control iter: 1743038070.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038070.363165 s.egJ~,>)AAY@A#L@AW~? A3A&"AAiNA"AZAbAjArAzAAA4A(#=rAn@AR:qAe=AP A޿A ݰA˨*A:?2A׽:A=BA:?JA׽RA=Yz@c y`=[qٓH=_@?i@ d@*f'?)z@ I٘i)I9n@YG JjJ<JJJE&Kx> YBU~?ywNAc gE7)7Ę9)BE[[\6@[bV~?[[[[[BZYY i) Iiw@= ޢ))ޢWX@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038070.403165 s, next control iter: 1743038070.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11569&, header.stamp.nsec: 0&0 temperature: 13.387403&* salinity: 33.391529&, density: 1025.000000&* values[0]: 0.697201&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038070.783165 s.UkgJ~,)AJ"J*J2J:J{2?BJ{2?InJ';5IvJ"IG*In@6I>IFIZI5bI5RCjI5CrI5zI5=I57A(\@AP@AW~? AVA7&"AAiNA"AZAbAjArAzAAA$u)NjA3rARwm@A>A)=A,A=޿A`A*AZ9?2A6׽:A-=BAZ9?JA6׽RA-=٘i)I9wm@YG JJJJJ E&K YI3U~?yYNAjEb77aƘ9)ïB[[Ƈ@[XV~?[[[[[BZYY i) Iiy@A= ))@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038070.803165 s, next control iter: 1743038071.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038071.203165 s.sgJ~,͝)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083566< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743038071.203283F (some fields omitted in printout)AQŘ@A7o@AV~? AA&"AA9iNA"AZAbAjArAzAAA¹RArAl@Av A3=A>AݿALAK*A9?2A>׽:A:"=BA9?JA>׽RA:"=٘i)I9l@Y+G J8B=JJJJ E&K Y#U~?yMAmEZ7Z7,Ș9.B)ǯBE[[V@[NV~?[[[[[BZYY i) }IiO|@z!= [))[x@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038071.243165 s, next control iter: 1743038071.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038071.623165 s.XygJ~,a)AJ"J*J2J:J:2?BJ:2?nJ:5vJZJ@JJ@bJ@RJ@AG@AR@@AV~? A즩APD&"AAhiNA"AZAbAjArAzAAA,<(@AȱrACl@AQT;A =AAܿA@A*A9?2Aֽ:A޹=BA9?JAֽRA޹=dI٘i)I9Cl@YG J-C=JJJJE&K YU~?y:MAoE77j7ɘ9)̯B[[]@[OEV~?[/[[[[BZYY i) 浼Ii&@L#=  )) X@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038071.643165 s, next control iter: 1743038072.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11570 , header.stamp.nsec: 0 0 temperature: 13.387677 * salinity: 33.391506 , density: 1025.000000 * values[0]: 0.696211 F (some fields omitted in printout) U~?)  rAdjusting time to match Gazebo time: 1743038072.043165 s.gJ~,)AA= ף0@A]ؚ#@A8V~? A]A&"AA7ziNA"AZAbAjArAzAAA^1{ArA*k@A)Z<A=A?A[ۿA@*AQʼ*A9?2Agֽ:Asv=BA9?JAgֽRAsv=٘i)I9k@YfG J ƼJJJJE&K Y+U~?y~LArE777˘9/B)үBE[[ u@[8 YJT~?yQWLAuEZ7SI7͘9)ׯB[[@[l3V~?[ƨ[[[[BZYY i) ļIi@A&= ))&@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038072.503165 s, next control iter: 1743038072.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11571, header.stamp.nsec: 00 temperature: 13.387950* salinity: 33.391499, density: 1025.000000* values[0]: 0.695052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038072.883165 s.ygJ~,88)AA(@AE@AV~? AAs&"AAKiNA"AZAbAjArAzAAA'AWrAAj@A|b2<At'=AAnڿAkAм*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9Aj@YG JMмJJJJE&K YjT~?y$KAxE77{7VϘ9.B)ܯBE[[@[+V~?['ͨ[[[[BZYY i) ˼Iiǂ@2f'= g))g@"YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038072.903165 s, next control iter: 1743038073.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038073.303165 s.UgJ~,sgS)AJ"J*J2J:J1?BJ1?nJk:5IvJI"IG*IAj@6I>IFIAљ@AEę@AV~? ABAF&"AA5iNA"AZAbAjArAzAAA_:AUӡrAi@AvA=AAA{ٿAXAͼ*A79?2A:2׽:A=BA79?JA:2׽RA=٘i)I9i@Y(G JjϼJJJJE&K YT~?ykKAzEb77!ј9)B[["@["V~?[Ө[[[[BZYY i) ӼIi܃@(= K,))K,D@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038073.323165 s, next control iter: 1743038073.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11572*, header.stamp.nsec: 0*0 temperature: 13.388238** salinity: 33.391487*, density: 1025.000000** values[0]: 0.693845*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038073.723165 s.gJ~,Hn)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083566< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743038073.723294F (some fields omitted in printout)Az@A]@AV~? AȩA&"AAiNA"AZAbAjArAzAAAt40A rAgh@A8:Ag=AAؿAA֮˼*A 9?2Am׽:A=BA 9?JAm׽RA=٘i)I9h@Y G J̼JJJJE&K YT~?y˴JA}EҘ9/B)BE[[@[TV~?[٨[[[[BZYY iw) PڼIi @f*= /))/󐿩Ӥ@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038073.743165 s, next control iter: 1743038074.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038074.143165 s.U/gJ~,*)AJ"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@A ףp=@A`!se0@AV~? AΩA <&"AA iNA"AZAbAjArAzAAAy0AArAQ@[V~?[e[[[[BZYY i) Ii@SA,= ))`@YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038074.163165 s, next control iter: 1743038074.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038074.563165 s.gJ~,k )AA3333s@A)f@AV~? AթA{&"AAhNA"AZAbAjArAzAAA\A brAg@AdHRA%m=AyA#׿A`nAǯͼ*A9?2AB׽:A~L=BA9?JAB׽RA~L=Y0@jyZi=SٓH.׿?H 3׿ e H?)0@ I٘i)I9g@Y G J<̼J^;JJJ!E&Kix> YT~?yĨJAE)7ŧ7֘9)B[[D͌@[" V~?[[[[[ZZ¸BZYY i¸=) ռIi@,= o))o?@|YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038074.603165 s, next control iter: 1743038074.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11573, header.stamp.nsec: 00 temperature: 13.388524* salinity: 33.391483, density: 1025.000000* values[0]: 0.692651F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038074.983165 s.gJ~,쾞)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743038074.983332F (some fields omitted in printout)J"J*J2J:JBJnJvJ@@@@A\@A*U웚@AlvV~? AݩAV+&"AAphNA"AZAbAjArAzAAACD>CA-edղrAf@A#A9T=AAOֿAAԼ*Ay9?2A[ֽ:AI=BAy9?JA[ֽRAI=٘i)I9f@Y G JмJJJJ$E&K YDT~?yͨIAE{7{7Lؘ9)B[[}[@[V~?[n[[[[ZZBZYY i) SɼIiڇ@-= I))Ix}@y;hYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038075.003165 s, next control iter: 1743038075.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038075.403165 s.&gJ~,ٞ)AAQޚ@Aњ@AHjV~? A-A&"AAhNA"AZAbAjArAzAAA!#jAYMrAzf@A;<A=AA@wտA`A*A9?2Av\ֽ:A9=BA9?JAv\ֽRA9=٘i)I9f@Y G JJJJJ&E&K YT~?y1ըIAE777ژ9/B)BE[[I@[eV~?[[[[[ZZBZYY i) ΁Iiň@/= [))[D @yi=tYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038075.443165 s, next control iter: 1743038075.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11574", header.stamp.nsec: 0"0 temperature: 13.388832"* salinity: 33.391483", density: 1025.000000"* values[0]: 0.691419"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038075.823165 s.gJ~,-)AJ"J*J2J:JBJnJvJAGz@Ap@A^V~? AcA&"AAhNA"AZAbAjArAzAAAdy1 AwcburA4:e@A<A2=A` AԿAA[*A9?2AHֽ:A˘<BA9?JAHֽRA˘<٘i)I9:e@Y G JqB=JJJJ)E&K YT~?ycݨHAE7ŧ7ۘ9)B[[v@[U~?[[[[[ZZBZYY i) {Ii@${0= ܅))܅@y =PԪYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038075.863165 s, next control iter: 1743038076.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038076.243165 s.gJ~,i)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038076.243318F (some fields omitted in printout)Aףp=J@A1=@AiSV~? AA5&"AA8hNA"AZAbAjArAzAAANĔ A"rA_d@Azd<A> v=AKlA ӿA;GAr*A=9?2A+oֽ:AHx<BA=9?JA+oֽRAHx<٘i)I9_d@Y G JC=JJJJ,E&K YT~?y&HAE77ݘ9) B[[@[.U~?[[[[[ZZBZYY i) xIi)@i 2= k))k%@hYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038076.263165 s, next control iter: 1743038076.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038076.663165 s.gJ~,q*)AJ"J*J2J:J0?BJ0?nJ.95vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11575, header.stamp.nsec: 00 temperature: 13.389180* salinity: 33.391445, density: 1025.000000* values[0]: 0.689848F (some fields omitted in printout)A@Ar@AHV~? AAY&"AAhNA"AZAbAjArAzAAA&h˜ AUdrAc@Aɮ;A/,1=AAҿA@lzAHм*AF9?2Aֽ:A4';BAF9?JAֽRA4';Y@Gy+1=vѐ;ٓHѿ ?v5 #ѿ@#@r?B?)@ I٘i)I9c@Y G JJ5ؽJJJ.E&Kv> YT~?yGAE77{7vߘ9.B)BE[[@[U~?[[[[[ZZBZYY id=) ݪIi@[2= Sq))Sq@xYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038076.683165 s, next control iter: 1743038077.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038077.083165 s.DgJ~, SE)AIIEC"I G*Ic@6I>IFIA)\µ@Ag@At>V~? AqA$h&"AAhNA"AZAbAjArAzAAAN AI0rAb@AGfA<AA ҿA{A*A9?2Apֽ:ABA9?JApֽRA٘i)I9b@Y% G J俼JJJJ1E&K Y]T~?yGAE777A90B)BE[[C@[`U~?[e[[[[ZZBZYY i) ߏIi @]3= t~))t~>A@YFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038077.103165 s, next control iter: 1743038077.483178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038077.503165 s.gJ~,P4`)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743038077.503324F (some fields omitted in printout)J"J*J2J:JBJnJvJZJ@JJ@bJ@RJ@AR@AsV{ޛ@A4V~? AA&"AAz}hNA"AZAbAjArAzAAA#} A;~sArb@AA<A A #ѿAA,p*A9?2Atֽ:A5BA9?JAtֽRA5٘i)I9b@Y G JJJJJ4E&K YzT~?ysGAEb7b7 9)B[[¬@[ U~?[[[[[ZZBZYY i) Ii@V4= z))zΩ@@lYFF]:Waiting for Gazebo time sync: latest Gz time: 1743038077.523165 s, next control iter: 1743038077.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11576, header.stamp.nsec: 00 temperature: 13.389473* salinity: 33.391460, density: 1025.000000* values[0]: 0.688620F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038077.923165 s.9gJ~,{)AA{G!@A@@Ap+V~? AzAC&"AAohNA"AZAbAjArAzAAA H^AysA)b@A{AAA?пABA~ *A9?2A0oֽ:ABA9?JA0oֽRA٘i)I9)b@Y G JKNJJJJ7E&K Y9sT~?y8GAE7779)B[[9@[U~?[[[[[ZZBZYY iL=) ?tIi֍@Ԍ5= %u))%u[@y =9(YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038077.943165 s, next control iter: 1743038078.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038078.343165 s. elevatorAngleAction: 0.083155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038078.763296F (some fields omitted in printout)Ǎ@AI~@AhV~? AA&"AAfThNA"AZAbAjArAzAAAjMAcN0"ksAa@A;A=A(޿A̿AYXA3P*A9?2AEֽ:ASȼBA9?JAEֽRASȼY`@R޿y;ٓHgſ@u?RGV?N`ſ@O?N2? qp??)`@ I٘i)I9a@Ys G JB=J{6JJJ YfT~?y(GA޿E)7l9)"B[[S@[JU~?[#)[[[[BZYY i /m=) uMIi0@G7= l))lu@y]=`,*YFF]: Waiting for Gazebo time sync: latest Gz time: 1743038078.803165 s, next control iter: 1743038079.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038079.183165 s.gJ~,c˟)AJ"J*J2J:JBJnJvJA(\œ@A#@AV~? At'A &"AAIFIAQ@A F@Ai V~? A6/A &"AA elevatorAngleAction: 0.067882< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038080.023305F (some fields omitted in printout)J"J*J2J:JBJnJvJZJJJbJRJAHz.@AN!@AV~? A7AU &"AA82hNA"AZAbAjArAzAAA%!Ag^sA*b@A!<AvAֿA VǿAAu*<*A)9?2Aֽ:AoBA)9?JAֽRAo٘i)I9*b@Y G J<JJJJDE&K YXT~?y2GAE7779)BE[[F@[U~?[T=[[[[BZYY i)  Ii@9= ͜_))͜_A@y3=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038080.063165 s, next control iter: 1743038080.423185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038080.443165 s.=hJ~,W])AAq= c@A8V@AtU~? A>AE &"AA\(hNA"AZAbAjArAzAAAfPAAi$sA9}b@AA䇽A*RԿA`{ſAA|f<*A#9?2Abֽ:AK BA#9?JAbֽRAK ٘i)I9}b@Y G JE<JJJJGE&K YST~?y;GAE{7j79)B[[|@[*U~?[ D[[[[BZYY i) Ii@9:= ;[));[w@?*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038080.483165 s, next control iter: 1743038080.843177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11579, header.stamp.nsec: 00 temperature: 13.389567* salinity: 33.391411, density: 1025.000000* values[0]: 0.688404F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038080.863165 s.+ hJ~,>7)AJ"J*J2J:JBJnJvJ@@@@A@AM@AU~? AFA# &"AAEhNA"AZAbAjArAzAAAMg@AK8)sAb@AQOAKAѿA@DÿAA7><*A9?2Aֽ:AOBA9?JAֽRAOY@YѿyHOٓH8@2?`ڑ? ~.?2%?@鉿?)@ I٘i)I9b@Y G J)~<JJJJIE&KTw> YQT~?yXD7HAѿE77a9)B[[@[U~?[J[[[[BZYY ik=) Ii@:= V))V4@I*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038080.883165 s, next control iter: 1743038081.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038081.283165 s.5RhJ~,R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057514< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743038081.283278F (some fields omitted in printout)A(\ϝ@A O@AU~? ANA &"AAhNA"AZAbAjArAzAAA Ad' .sALec@AA闽Ay@ϿAA A@<*A9?2AX ֽ:A_BA9?JAX ֽRA_٘i)I9ec@Ye G J7<JJJJLE&K Y PT~?y MHAEj7j7,9)B[[ @[U~?[Q[[[[BZYY i) ѻIi7@&(;= uR))uR@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038081.303165 s, next control iter: 1743038081.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11580., header.stamp.nsec: 0.0 temperature: 13.572994.* salinity: 33.374992., density: 1025.000000.* values[0]: 0.567669.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038081.703165 s.J "J *J 2J :J R?BJ R?nJ a5vJ ԺhJ~,m)AAQ@A>@AU~? AVA &"AAkhNA"AZAbAjArAzAAA A{2sAc@A JAAș̿AۿA@a#AϪ<*AM9?2AYֽ:ABAM9?JAYֽRA٘i)I9c@Y G J<JJJJOE&K Y%NT~?yUHAEb779+B) BE[[M+@[9U~?[FX[[[[BZYY i) DGIi@^;= N))NHM@*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038081.723165 s, next control iter: 1743038082.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038082.123165 s.:!hJ~,i⇠)AII\C"I G*Ic@6I=>I!DFIDAG:@A1]-@AU~? A^AeS &"AAhNA"AZAbAjArAzAAACLT~?y^\IAE{7j79)B[[0@[U~?[_[[[[BZYY i)  Ii>@x<= }I))}I+ٯ@yLk=}*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038082.163165 s, next control iter: 1743038082.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038082.543165 s.I(hJ~,â)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057514< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419971*J2J2 time: 1743038082.543298:JF (some fields omitted in printout)BJnJvJZJz@JJz@bJ{@RJ{@A= ףp@AgCc@A U~? AfAr&"AAhNA"AZAbAjArAzAAAC#tlAe<*A9?2A,Q׽:ABA9?JA,Q׽RAY@ĿyÈ<ٓH'??@GB? ?`:?` ?`?)@ I٘i)I9e@Y G J<J%JJJWE&Krx> YOKT~?yHp%JAĿEj7W9)BE[[ſ[U~?[rl[[[[BZYY i) /Ii@R== w@))w@w@*YFF]Waiting for Gazebo time sync: latest Gz time: 1743038083.003165 s, next control iter: 1743038083.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038083.383165 s.5hJ~,ؠ)AJ"J*J2J:JBJnJvJ@@@@A(ܞ@A(Ϟ@A`U~? AvA5~&"AAIgNA"AZAbAjArAzAAA^/ARmtFsA9f@Ah<A%AA`錰A eA<*A9?2A. ׽:A BA9?JA. ׽RA ٘i)I99f@Y G Jn<JJJJYE&K YGLT~?yyJAE777!9)B[[C¿[zU~?[+s[[[[BZYY iҝ=) ,Ii@f== <))<<*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038083.403165 s, next control iter: 1743038083.783173 s, wait time: 0.380008 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11582", header.stamp.nsec: 0"0 temperature: 13.572478"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.569002"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038083.803165 s.uA elevatorAngleAction: 0.066707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038083.803291F (some fields omitted in printout)A@Ah@ATU~? A~A&"AAgNA"AZAbAjArAzAAAgL4A(*_KsA8f@A;A \AfAJAnAV<*A9?2Aֽ:A~HBA9?JAֽRA~H٘i)I9f@Yw G JF<JJJJ\E&K Y@MT~?yJAEŧ7b79)B[[[U~?[y[[[[BZYY i) \Ii6@== 3<8))3<83<8*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038083.823165 s, next control iter: 1743038084.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038084.223165 s.gChJ~,H)AJ"J*J2J:J?BJ?nJ5vJAzG@AD/:@AU~? AAC&"AAgNA"AZAbAjArAzAAAs\ceAHKPsA[g@AdA}A}缿A`A$vAg<*A9?2A= 3))33*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038084.243165 s, next control iter: 1743038084.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038084.643165 s.|IhJ~, *))AA ףp}@A&ip@AU~? AԎA &"AAgNA"AZAbAjArAzAAAE AԨ9UsAtg@A?AA\]A┿A@{Ax<*A9?2AJֽ:ABA9?JAJֽRA٘i)I9g@Y% G J<B=JJJJbE&K  9Y2OT~? 9yyKAE{7{79)BE[[I[EU~?[D[[[[BZYY i) :Ii@@U ?= O/))O/O/y=ؾ*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038084.663165 s, next control iter: 1743038085.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11583, header.stamp.nsec: 00 temperature: 13.572214* salinity: 33.374962, density: 1025.000000* values[0]: 0.569673F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038085.063165 s.PhJ~,k D)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038085.063297F (some fields omitted in printout)A3333@Aӝ'@AVU~? A薪AN&"AAgNA"AZAbAjArAzAAAy9AxM!(ZsArh@A|AcAA` vA|}AjY<*A9?2Arֽ:AE@BA9?JArֽRAE@Y7%@Ky=1|ٓH@Y?@:?@wy?A?s? h?R?)7%@ I٘i)I9rh@Yx G J<C=J<JJJdE&Khx> YST~?y2LAE7777L9,B)BE[[)[U~?[[[[[BZYY i) V>:Ii@>= w&+))w&+w&+a*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038085.083165 s, next control iter: 1743038085.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038085.483165 s.v_WhJ~,^)AA\@A@۟@AeU~? AAj&"AAgNA"AZAbAjArAzAAA?>.A_sAh@AYALA:AА?A{}A<*A9?2ACֽ:AғBA9?JACֽRAғ٘i)I9h@Y G J<B=JJJJgE&K YVT~?yzLAE779)B[[췿[LU~?[[[[[BZYY i) =;IiՔ@>= +&))+&+&*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038085.503165 s, next control iter: 1743038085.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11584, header.stamp.nsec: 00 temperature: 13.571960* salinity: 33.374947, density: 1025.000000* values[0]: 0.570302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038085.903165 s.]hJ~,y)AJ"J*J2J:J?BJ?nJ5vJII"I G*Ih@6I>IFIZIjECbIjNCjIjrIj=zIj=Ij7AQ@A]@AU~? AA&"AAgNA"AZAbAjArAzAAA!fNARܞdsAoi@A;AჽA[A QI?A zAU<*AX9?2AI/׽:ABAX9?JAI/׽RA9٘i)I9oi@YG J <C=JJJJjE&K YZT~?yLAEŧ7b79)B[[[[U~?[E[[[[BZYY i) h{;Ii@e>= j"))j"j"*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038085.943165 s, next control iter: 1743038086.303180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038086.323165 s.sdhJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066707< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038086.323277F (some fields omitted in printout)AGzT@AWoG@AU~? A%A.&"AAMgNA"AZAbAjArAzAAAAPhhsALi@A`p<AAAb?AuAC<*Ar9?2Aa׽:AQBAr9?JAa׽RAQ꼙٘i)I9i@YXG J<JJJJlE&K Y^T~?y`2MAE779)ݯBE[[[U~?[桩[[[[BZYY i)  ;Ii%@>= 3 ))3 3 *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038086.343165 s, next control iter: 1743038086.723175 s, wait time: 0.380010 s^T~?)`*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11585*, header.stamp.nsec: 0*0 temperature: 13.571735** salinity: 33.374962*, density: 1025.000000** values[0]: 0.570888*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038086.743165 s.WkhJ~,u)AJ"J*J2J:JBJnJvJZJ%|@JJ%|@bJ<|@RJ<|@Aףp=@Aۧ1}@AU~? A6AU&"AAcgNA"AZAbAjArAzAAAzcAݮtmsANj@Aȅ<A A?A?AmANH<*AC9?2AzO׽:A BAC9?JAzO׽RA 꼙٘i)I9Nj@YG Jn<JJJJoE&K YbbT~?yMAE{7j7w 9)گB[[]`[U~?[[[[[BZYY iM=) #;Ii@gv?= ߰))߰߰ *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038086.783165 s, next control iter: 1743038087.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038087.163165 s.w}rhJ~,qʡ)AII"IG*INj@6I>IFIA@Anj@AU~? ACA&"AAGgNA"AZAbAjArAzAAAjĩAOrsAj@A{e<AI AAԱ?A`-cA<*A9?2A@׽:Ax)BA9?JA@׽RAx)Ycg@y K<ٓH)!?\? xC?@m?@n>?L? ?)cg@ I٘i)I9j@YG Jd<B=J;JJJrE&K(x> Y iT~?yǩMAE777B 9)ׯB[[1[U~?[[[[[BZYY i) ;Ii@>= T))TT *YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038087.183165 s, next control iter: 1743038087.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038087.583165 s.xhJ~,S)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J> elevatorAngleAction: 0.076320"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.420010BJnJ2 time: 1743038087.583304vJF (some fields omitted in printout)ZJJJbJRJA)\@A]¡@AU~? AMǪAV&"AAgNA"AZAbAjArAzAAAl¼̈ApYwsAt)k@A;A}AA㕵?AVAF<*A9?2AXֽ:ABA9?JAXֽRAcI٘i)I9)k@YG JՂ<C=JJJJtE&K YoT~?y:Щ= ))*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038087.603165 s, next control iter: 1743038087.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11586, header.stamp.nsec: 00 temperature: 13.571536* salinity: 33.374973, density: 1025.000000* values[0]: 0.571405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038088.003165 s.z hJ~,U4)AAR+@AKz@AU~? ARϪA&"AAogNA"AZAbAjArAzAAAaaA?f|sAk@AcdUA.A{A]T?A`FAL<*A9?2AXֽ:AϲBA9?JAXֽRAϲ٘i)I9k@YdG J<JJJJwE&K YavT~?yةNAE77779.B)ѯBE[[-Ԫ[U~?[8[[[[BZYY i) ; =  ))  yF=*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038088.023165 s, next control iter: 1743038088.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038088.423165 s.uhJ~,)AJ"J*JI2JI:JX?"IdGBJX?nJs5*Ik@vJ6I>IFIZJ|@JJ|@bJ|@RJ|@A{Ga@A?T@AU~? AQתA&"AAhNA"AZAbAjArAzAAAf3AxsA l@AcAA|碿A ?A4Aj<*A9?2AVֽ:ABA9?JAVֽRA٘i)I9 l@YG JɈ<JJJJzE&K Y }T~?yZNAEb779)ͯB[[Ѥ[NU~?[©[[[[BZYY i) = 9))99^*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038088.443165 s, next control iter: 1743038088.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11587", header.stamp.nsec: 0"0 temperature: 13.571308"* salinity: 33.374977", density: 1025.000000"* values[0]: 0.571924"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038088.843165 s.݌hJ~,5)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076320< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038088.843297F (some fields omitted in printout)Ap= @Al@AU~? AJߪA%"AA hNA"AZAbAjArAzAAAhDsAVsA|l@AC?AN$A@A`Eo?AA A<*Ao9?2Aֽ:ABAo9?JAֽRA٘i)I9l@YG J<JJJJ|E&K YT~?yBOAE77l9)ʯB[[u[U~?[=ɩ[[[[BZYY i) ݮ,= ))>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038088.883165 s, next control iter: 1743038089.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038089.263165 s.hJ~, P)AJ"J*J2J:JBJnJvJZJJJbJRJA̡@Aoſ@AU~? A;AI%"AAhNA"AZAbAjArAzAAAgAチ/sAl@A* AFAAV?A A<*A9?2Ab׽:ABA9?JAb׽RAY@ΊyE{ ٓHQK? &+?a`DW?\?N?[EAA?)@ I٘i)I9l@Y6G J<Jc"JJJE&Klx> Y!T~?y7OAE77{779)ǯBE[[G[V~?[ϩ[[[[BZYY i) +<))>>*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038089.303165 s, next control iter: 1743038089.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 115882, header.stamp.nsec: 020 temperature: 13.5710662* salinity: 33.3749662, density: 1025.0000002* values[0]: 0.5724902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038089.683165 s.lhJ~,ck)AII"I7G*Il@6I>IFIA(\@A~ƃ@AU~? A$AK%"AA?hNA"AZAbAjArAzAAAJ1Ay1ZsAjem@A2<AZA֚AO elevatorAngleAction: 0.076320< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038090.103296F (some fields omitted in printout)J"J*J2J:JBJnJvJZJJJbJRJAQ8@A8L4H+@AU~? AAd%"AA hNA"AZAbAjArAzAAA/>AzmmєsAm@A*<AoAg.A@?A@A<*A=9?2A g׽:ABA=9?JA g׽RA٘i)I9m@YG J)<JJJJE&K YT~?yYPAE779)B[[響[V~?[ܩ[[[[BZYY i) &[ע)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: 0.4199832 time: 1743038091.363275F (some fields omitted in printout)A٢@ATގ̢@AV~? AbA%"AA>hNA"AZAbAjArAzAAAz{yCAuLIXsAOo@A A嘽AEA P?AhqAv<*A9?2AEOֽ:ABA9?JAEOֽRAYF@y-䘽7ٓH@ZH??@ #R?@5??C?)F@ I٘i)I9Oo@YG J\<JtJJJE&Kw> YT~?yczQAE77{7,9)B[[?Z[&V~?[[[[[BZYY i) 瞄-IFIAQE@A֪]8@A$V~? AA%"AAVhNA"AZAbAjArAzAAA%tykAorsA|ip@AܱvA埝ANtAZ0?A B$A <*A=9?2ANֽ:AdBA=9?JANֽRAd٘i)I9ip@YRG J<C=JJJJE&K YT~?yM+GRAEZ7!92B)B$E[[[37V~?[[[[[BZYY i)  elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038092.623297F (some fields omitted in printout)J"J*J2J:JBJnJvJZJ[}@JJ[}@bJr}@RJr}@AGz@AJ}Ym@A-V~? AQ%A/&%"AAchNA"AZAbAjArAzAAAq &AbSsA`p@A3ɻAe@AA`?AAG<*A\9?2Aֽ:ABA\9?JAֽRA٘i)I9p@YG J=<B=JJJJE&K YT~?yC3RAE777#9)B%E[[ǒ[?V~?[)[[[[BZYY i) DHg?A4A <*Aǫ9?2Aq'׽:ABAǫ9?JAq'׽RA٘i)I9q@YG JA<C=JJJJE&K Y)T~?y8;SAEW%9)B[[[IV~?[K[[[[BZYY i) hբIFIZI\CbI\CjICrI=zI=I2J"J*J2J:JBJnJvJZJJJbJRJAffff@A*]٣@A@V~? AQ4A%"AAhNA"AZAbAjArAzAAAi1aR Ao=sAr@AYs<A(MASAHL?ApA)<*Ax9?2A]׽:AuBAx9?JA]׽RAuY-@Q{yoHt<ٓH`? @]?@L ?=?5ô?`w?`?)-@ I٘i)I9r@YYG Jͫ<J JJJE&Kdx> YT~?yBSA{E7"'93B)B(E[[qf[kRV~?[[[[[[BZYY i) $6 elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038093.883277F (some fields omitted in printout)A(@A}:@AZKV~? A;An%"AA?hNA"AZAbAjArAzAAAҼPW AusAԬr@Aɂ<AhAA -?A`jA%Ҳ<*A9?2A=׽:AWBA9?JA=׽RAW٘i)I9r@YG Jd<JJJJE&K YZ U~?yHJSAE777(9)B[[O5[)\V~?[b[[[[BZYY i) \IFIAz@A 7z@AaV~? ARJA'P%"AAhNA"AZAbAjArAzAAA\C[b= A}}ysA3s@A#UA{AmwA@?A@:A@<*Aט9?2A6Rֽ:ABAט9?JA6RֽRA٘i)I9s@YrG J<JJJJE&K Y)U~?yWYTAE77j7,9)B[[χ[pV~?[Q [[[[BZYY i) 0T elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743038095.143289F (some fields omitted in printout)A ףp@A>e@AQmV~? AQA%"AAhNA"AZAbAjArAzAAA=euoAÙksAt@A`\A͢AIrrA[?AA<*AD9?2ABս:ABAD9?JABսRA٘i)I9t@YG J<JJJJE&K Y$8U~?y`CUAEb77M.96B)B/E[[񚅿[|{V~?[5&[[[[BZYY i) : YIU~?ygUAlE77{709)B[[i[V~?[,[[[[BZYY i) IFIA\(@A@AHV~? A_A٬%"AAhNA"AZAbAjArAzAAA7Wn-AbRsAu@A4A)A|gAVa?A !UA&<*Ac9?2AWֽ:AjBAc9?JAWֽRAj٘i)I9u@YG J<JJJJE&K YZU~?yn3VA Eb77197B)B2E[[I6[V~?[1[[[[BZYY i)   elevatorAngleAction: 0.085619< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038096.403289F (some fields omitted in printout)AQ^@A}ݮQ@AtV~? AfA($%"AA2hNA"AZAbAjArAzAAA;cA#sAv@A9AA}bA6?AAOY<*A֌9?2AGֽ:APBA֌9?JAGֽRAP٘i)I9v@Y!G J<JJJJE&K Y kU~?yuVAE7777398B)B3E[[~[V~?[7[[[[BZYY i) PM1= pB))pBpB*YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038096.843165 s, next control iter: 1743038097.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038097.243165 s.iJ~,iO)AAףp=ʥ@Aa1@A-V~? AFtA%"AAx#iNA"AZAbAjArAzAAAl!AtFsA x@A<A=ζA۲WA?A*AC<*A9?2A]:׽:AUoBA9?JA]:׽RAUo٘i)I9 x@YG J<JJJJE&K YU~?yWAEj7Z7B79)xB[['u[=V~?[B[[[[ZZZZ¸>BZYY i¸>ea) | Y U~?ytXARE7777 999B)sB9E[[p[V~?[LH[[[[ZZZZBZYY i)  hvBA9?JA$.ֽRAv>v٘i)I9G{@YG JM=JJJJE&K YU~?yΝYAEj7Z7m>9Aa?A'AB<*A9?2AtIֽ:A&ۻBA9?JAtIֽRA&ۻ٘i)I9|@YiG J*<JJJJE&K YU~?yAZA E777@9)[B[[^[V~?[][[[[ZZZZBZYY i) JJJE&Kv> YV~?y(ZA8#E7777B9)WBCE[[Z[^W~?[c[[[[ZZZZBZYY iY ) đB)RBGE[[OQ[%W~?[Bm[[[[ZZZZBZYY i) @z;JJJJE&K YAV~?yZA+E)7ŧ7bG9?B)QBJE[[[M[W4W~?[Gr[[[[ZZZZBZYY i) Ùew)AJ"J*J2J:JBJnJvJA@A @AeW~? AQA%"AA_4jNA"AZAbAjArAzAAAಿAxp tAd}@AdASJ0=AA2?A I;A-$*Ah9?2Aֽ:A<BAh9?JAֽRAJJJE&K6x> YmV~?yƪ|ZA1E{7{7J9)[[+D[SW~?[ |[[[[BZYY i^g) @qH?A9.tA}@AcA TW=AAD?A`_߿A.û*A9?2Akֽ:AS}<BA9?JAkֽRAS}<٘i)I9}@YnG JJJJJE&K YV~?y˪AZA3Eb77L9)RBPE[[?[cW~?[π[[[[BZYY iBdž) B/C=JJJJE&K YV~?yժYA9E77j7XP9CB)YBXE[[ǁ6[FW~?[[[[[BZYY i)  \YFF]:Waiting for Gazebo time sync: latest Gz time: 1743038103.143165 s, next control iter: 1743038103.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038103.543165 s.IxiJ~,)AJ"J*J2J:JBJnJvJ]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications Fault! ! ! ! ! A= ף@AQԙ@AW~? AͫAn4%"AAFjNA"AZAbAjArAzAAAgU*?AaTtA|@A:Aw=A/ A2?AݿA2ʇ*Aݖ9?2A5ֽ:AA=BAݖ9?JA5ֽRAA=٘i)I9|@YG JFtJJJJE&K YV~?y۪YA;E77"R9)\B[[1[kW~?[[[[[BZYY i) -r;Iimr@'= =))==,ǪYF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743038103.583165 s, next control iter: 1743038103.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11602, header.stamp.nsec: 00 temperature: 13.566934* salinity: 33.375088, density: 1025.000000* values[0]: 0.581289F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038103.963165 s.x~iJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038103.963301F (some fields omitted in printout)!U@!M@!I@!Q@!E@!A@!Y@Affff&@Aڬ\@AW~? AҫA%"AAjNA"AZAbAjArAzAAA%L*o?AA tAFT|@AM<AZ=AF.A}?AܿA;*A9?2AAս:A==BA9?JAAսRA==Yn@EyW=KN<ٓH ?`??Ԭ߿?@\沿?`?)n@ IbI٘i)I9T|@YG JJs=JJJE&KYw> Y~V~?ytߪ*YA>Ej7S9)aB[E[[3q-[W~?[[[[[BZYY i) q;Iin@f= @=))@=@=ЪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038104.003165 s, next control iter: 1743038104.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038104.383165 s.؅iJ~,/)AJ"J*J2J:JBJnJvJA(\@A`O@AW~? A׫Ao%"AAjNA"AZAbAjArAzAAA展X?AKHtA5{@AXLj<A-C=A A?A HܿA]*A9?2APս:A==BA9?JAPսRA==٘i)I9{@Y@G J-JJJJE&K YV~?yXAAEj7U9DB)fB^E[[o([6W~?[b[[[[BZYY i) ۼ;Iik@= >))>>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038104.403165 s, next control iter: 1743038104.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11603", header.stamp.nsec: 0"0 temperature: 13.567074"* salinity: 33.375084", density: 1025.000000"* values[0]: 0.580795"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038104.803165 s.yAiJ~,g3)A "2Initializing CTD_Seabird.A둩@A섗@AW~? AgܫA%"AATkNA"AZAbAjArAzAAA$+xQ?A tA9{@ANE<A"=AAN?A ZۿA1*A9?2Al6ֽ:AXr=BA9?JAl6ֽRAXr=٘i)I99{@YG JIJJJJE&K YW~?y1^XACE77{7W9)kBaE[[Y$[W~?[[[[[BZYY i) ;Iih@= >))>>6تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038104.843165 s, next control iter: 1743038105.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038105.223165 s.giJ~,HN)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038105.223289F (some fields omitted in printout)Azǩ@AI+@AX~? A A%"AAQ&kNA"AZAbAjArAzAAA*o}Y?A#tA`z@A$Β:Af=AA@W?AڿA*A9?2Aֽ:A0 =BA9?JAֽRA0 =٘i)I9z@YG JJJJJE&K Y,W~?yWAFEb7b7MY9)oB[[/[TW~?[͟[[[[BZYY i) B;Iilf@x= &%>))&%>&%>تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038105.263165 s, next control iter: 1743038105.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038105.643165 s.xЙiJ~,*i)AA ףp@AGve@A`X~? AA[%"AAFkNA"AZAbAjArAzAAA:)@A(j&tAz@AL*Ay=A߾A4?A {ٿApҭ*A9?2A׽:A=BA9?JA׽RA=٘i)I9z@Y3G JqJJJJE&K YDW~?yWAIE77j7[9FB)vBeE[[-[W~?[⣪[[[[BZYY i) C;Ii_d@(=  7>)) 7> 7>tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11604, header.stamp.nsec: 00 temperature: 13.567238* salinity: 33.375103, density: 1025.000000* values[0]: 0.580200F (some fields omitted in printout),تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038105.683165 s, next control iter: 1743038106.043176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038106.063165 s.iJ~,_ )AJ"J*J2J:JBJnJvJA33333@A &(&@A@2X~? AA%"AAgkNA"AZAbAjArAzAAA\@A)tAvy@AA/=AվA9?AؿA<*AO9?2A *׽:A&=BAO9?JA *׽RA&=Y˰@Կվy={ZٓH*?I?? ٿC?jGxސ(?)˰@ I٘i)I9y@YG J<J;JJJE&K>x> Y[^W~?y*WAվKE{7\9GB){BhE[[s[rX~?[ӧ[[[[BZYY i) ;Ii`@7= I>))I>I>֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038106.103165 s, next control iter: 1743038106.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038106.483165 s.u_iJ~,잦)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038106.483302F (some fields omitted in printout)A\h@A[@AiHX~? A#A۰%"AA kNA"AZAbAjArAzAAAqC@A3;+tAx@AcA*c=AʾA`i ?A@"ؿA=ɬ*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9x@YG JmJJJJE&K Y*xW~?yVANE77^9QB)BkE[[ [^X~?[[[[[BZYY i) t:Ii]@} = \>))\>\>ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038106.503165 s, next control iter: 1743038106.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11605, header.stamp.nsec: 00 temperature: 13.567424* salinity: 33.375122, density: 1025.000000* values[0]: 0.579602F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038106.903165 s.ȭiJ~,͹)AJ"J*J2J:JBJnJvJAQ@Aͮ@A^X~? A9A_%"AAЪkNA"AZAbAjArAzAAA$;^@AFa@'.tA]x@A%Aj=AA]?A`R׿AA*A9?2A۔ֽ:Av=BA9?JA۔ֽRAv=٘i)I9]x@Y)G JJJJJE&K YW~?yYVAQE)77x`9RB)BnE[[p [(X~?[v[[[[BZYY i) 0^y9IiZ@o = {n>)){n>{n>ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038106.943165 s, next control iter: 1743038107.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038107.323165 s.uiJ~,!Ԧ)AAGzԪ@AXoǪ@AuX~? A+A %"AAkNA"AZAbAjArAzAAA.V* @AT0tAw@Aq<A8=A{˶A?A@ֿAU*Ax9?2A9ֽ:A=BAx9?JA9ֽRA=٘i)I9w@YG J민JJJJE&K YūW~?y5UASE77Bb9)B[[_[,))~>~>ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038107.343165 s, next control iter: 1743038107.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11606*, header.stamp.nsec: 0*0 temperature: 13.567577** salinity: 33.375118*, density: 1025.000000** values[0]: 0.578973*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038107.743165 s.WiJ~,i)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743038107.743320F (some fields omitted in printout)Aףp= @Ae1@A|X~? AAA%"AAkNA"AZAbAjArAzAAAgVW @ArFx2tA5w@Ak<A,=ANA.?AտA*A<9?2Aqֽ:A=BA<9?JAqֽRA=٘i)I95w@YuG JJJJJE&K YW~?yUAVE)7b7 d9)BqE[[*[PX~?[[[[[BZYY i) #ѺIiT@Q= ʉ>))ʉ>ʉ>ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038107.763165 s, next control iter: 1743038108.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038108.163165 s.t}iJ~,q )AA@@Au:2@AX~? AAE|%"AAlNA"AZAbAjArAzAAA)͉ @A*d5tAͣv@Ax<A?=A2A` ?A ԿAN*A9?2A-Bֽ:A"=BA9?JA-BֽRA"=Y_@y=&y<ٓHW?@^?ʯ?ӿ wg???)_@ I٘i)I9v@YG JJQaJJJE&K x> YnW~?y'UAYE7777e9)BtE[[u[cX~?[-[[[[BZYY i) %IiP@= A>))A>A>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038108.183165 s, next control iter: 1743038108.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038108.583165 s.iJ~,S%)AJ"J*J2J:J#?BJ#?nJU5vJA)\u@Aȳ˷h@AX~? A$A$6%"AA5lNA"AZAbAjArAzAAA*1x@AByB7tAv@A;Ai=AduA??A ӿA*A9?2A*ֽ:A<BA9?JA*ֽRA<٘i)I9v@YG JJJJ.FJE&K YGW~?y>TA D[Eb77g9)BwE[[[xX~?[[[[[BZYY i) vRcIi6M@U= !E>)) !E>!E>vªYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038108.623165 s, next control iter: 1743038108.983178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11607, header.stamp.nsec: 00 temperature: 13.567773* salinity: 33.375130, density: 1025.000000* values[0]: 0.578360F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038109.003165 s.~ iJ~,e4@)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743038109.003305F (some fields omitted in printout)AR@A={@AX~? AA%"AA|YlNA"AZAbAjArAzAAA_#@A)eN9tAu@AA#o=AA@u?AsӿASΗ*A9?2An+ֽ:AY<BA9?JAn+ֽRAY<٘i)I9u@YwG J9JJJJE&K Y"X~?y fTA^E)7)7mi9)BzE[[ņ[X~?[[[[[BZYY i) ?[IiI@5= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038109.043165 s, next control iter: 1743038109.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038109.423165 s.uiJ~,[)AJ"J*J2J:J?BJ?nJ.5vJA{G@A5 ;ԫ@AX~? AA%"AA}lNA"AZAbAjArAzAAA-!@AO2MD;tARu@AzoA\e=Ab)AI?Al1ҿA'ꏼ*AE9?2Atֽ:AX<BAE9?JAtֽRAX<٘i)I9u@Y+G JJJJJE&K Y0X~?y TAaEZ7Z78k9SB)B}E[[e'[lX~?[ê[[[[BZYY i:) IiF@< Q>))Q>Q>Y1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038109.463165 s, next control iter: 1743038109.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11608, header.stamp.nsec: 00 temperature: 13.567915* salinity: 33.375149, density: 1025.000000* values[0]: 0.577835F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038109.843165 s.iJ~,u)AAp= @Ao! @AY~? A Aau%"AAءlNA"AZAbAjArAzAAAExE@AUL"=tA=t@A_A=AoA`y?A@PѿA*A9?2Aֽ:AI/<BA9?JAֽRAI/<٘i)I9t@YG JčJJJJE&K YKX~?yrSAcEj7j7m9TB)B~E[[پ[X~?[ƪ[[[[BZYY i) ɶͻIikD@j< c>))c>c>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038109.863165 s, next control iter: 1743038110.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038110.263165 s.iJ~,#ؐ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075020< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038110.263279F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@ASy;?@AY~? A A;%"AA|lNA"AZAbAjArAzAAA7w+;l@Am:>tA+t@AAX=AE[A ?A`nпA$*A9?2AVֽ:AJ{<BA9?JAVֽRAJ{ YmgX~?ySJSA[fE{7Z7n9)BE[[-hо[X~?[ɪ[[[[BZYY i) WIi @@< >))D~>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038110.283165 s, next control iter: 1743038110.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 116092, header.stamp.nsec: 020 temperature: 13.5680042* salinity: 33.3751562, density: 1025.0000002* values[0]: 0.5773412F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038110.683165 s.liJ~,V)AA(\@ATu@A{3Y~? AmA%"AAilNA"AZAbAjArAzAAAp7j@AW@tAs@A5L+;AÆ=ACGA(?A YϿA|*A79?2Aֽ:AQ<BA79?JAֽRAQ<٘i)I9s@YUG JJJJJE&K YX~?y3RAiEj7p9)BE[[Ǿ[X~?[̪[[[[BZYY i) Ii7<@P< >)) >>y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038110.683165 s, next control iter: 1743038111.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038111.103165 s.iJ~,Ƨ)AJ"J*J2J:JBJnJvJAQ@A}F@ALY~? AA'%"AAmNA"AZAbAjArAzAAAɈoȿ@Ah4,BtA@s@A U<A=AD{3AQ?AGͿAď*A9?2AԽ:A4=BA9?JAԽRA4=٘i)I9@s@Y G JJJJJ E&K YX~?yRAlE77j7cr9)BE[[ݏ[X~?[dϪ[[[[BZYY i) Ii8@Cj< ُ>))ُ>ُ>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038111.123165 s, next control iter: 1743038111.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038111.523165 s.iJ~,{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075020< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038111.523276F (some fields omitted in printout)AHz@A{ @AdY~? AzA%"AA6mNA"AZAbAjArAzAAA}@Aw-6CtA2r@A<A=ATAKu?AF˿AM2*A 9?2AԽ:Apc=BA 9?JAԽRApc=٘i)I9r@YG J_B=JJJJE&K Y?X~?y;RAnE{7-t9)BE[[ [ Y~?[Ѫ[[[[BZYY i) jH%Ii5@ii< >))>>jYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038111.563165 s, next control iter: 1743038111.923177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11610, header.stamp.nsec: 00 temperature: 13.568110* salinity: 33.375187, density: 1025.000000* values[0]: 0.576890F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038111.943165 s.^diJ~,[])AJ"J*J2J:JBJnJvJAq= #@A9@A}Y~? AA@o%"AA[mNA"AZAbAjArAzAAA\X@A>KEtAMr@A;<AB=AUY Ay?A ɿA*A9?2AVս:A=BA9?JAVսRA=٘i)I9Mr@YxG J̐C=JJJJE&K YX~?yQAqEŧ7ŧ7u9)BE[[~["Y~?[sԪ[[[[BZYY i) 4Ii2@< >))>>NYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038111.983165 s, next control iter: 1743038112.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038112.363165 s.jJ~,p>)AAY@A}L@AY~? AAC%"AAmNA"AZAbAjArAzAAA2@zK@ANx_FtAq@AV9A=AVA`?A2ǿA8*A9?2ACս:A =BA9?JACսRA =Yqf@y=9ٓH ɷ? #?Z??M@z 05??)qf@ I٘i)I9q@Y/G JɎJ;JJJE&Ku> YX~?yQAtEj7j7w9)ůBE[[ [8Y~?[֪[[[[BZYY i) VDIi`.@3< >))yz>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038112.383165 s, next control iter: 1743038112.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11611&, header.stamp.nsec: 0&0 temperature: 13.568228&* salinity: 33.375164&, density: 1025.000000&* values[0]: 0.576385&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038112.783165 s.Z jJ~,2)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.245100@ elevatorAngleAction: -0.075020< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038112.783305F (some fields omitted in printout)A(\@A|a2U@A)) >>UêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038112.803165 s, next control iter: 1743038113.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038113.203165 s.jJ~,M)AAQŭ@A@AY~? AAo%"AA0mNA"AZAbAjArAzAAAh|@AdѺHtAVp@AㆼAnQ=A#”A ?AbĿA*A9?2AFս:A 6=BA9?JAFսRA 6=٘i)I9p@YG JJJJJE&K Y*Y~?yPAyE77X{9)̯BE[[}[fY~?[ ۪[[[[BZYY ir%) >cIi&@ E< ?))??ƪYFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743038113.223165 s, next control iter: 1743038113.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038113.623165 s.ajJ~,g)AJ"J*J2J:JBJnJvJAG@A!@AY~? AZAp%"AAmNA"AZAbAjArAzAAAT@A^ ItA#rp@AYAɒ=ACYA ?A`F¿A n*A9?2APս:Aw=BA9?JAPսRAw=٘i)I9rp@YWG JJJJJE&K YFY~?yiPA|E)7ŧ7#}9)ЯBE[[G[ }Y~?[ݪ[[[[BZYY i) rIiT#@9< ?))??ɪY,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038113.663165 s, next control iter: 1743038114.023180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11612 , header.stamp.nsec: 0 0 temperature: 13.568335 * salinity: 33.375214 , density: 1025.000000 * values[0]: 0.575925 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038114.043165 s. jJ~,Â)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038114.043300F (some fields omitted in printout)A= ף0@Ad8#@AY~? A Az%"AAinNA"AZAbAjArAzAAA1sJ@A#JtAAo@AKA،=A A ?A@fuAK*A9?2AQ3ս:A+ =BA9?JAQ3սRA+ =٘i)I9o@Y G JB=JJJJE&K Y,bY~?y PA~EZ7Z7~9SB)ԯBE[[&u[EY~?[ު[[[[BZYY i) Iir @^< 8 ?))8 ?8 ?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038114.063165 s, next control iter: 1743038114.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038114.463165 s.T'jJ~,ߤ)AJ"J*J2J:JBJnJvJAfffff@A[Y@AXZ~? A0"A%"AA=BnNA"AZAbAjArAzAAAp|}* @A`۝mKtA(ro@Ayr<Av=AJjA 3?A`AA*A9?2Aս:AO$=BA9?JAսRAO$=Y@-`y=<ٓH@x?\? ?` ?@w @?`?)@ I٘i)I9ro@YG JC=Js<JJJ E&Kt> Yg~Y~?yOA-`E7779)دBE[[ a[QY~?[[[[[BZYY i) ѢIi@z< ?))bx??yNѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038114.483165 s, next control iter: 1743038114.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11613, header.stamp.nsec: 00 temperature: 13.568424* salinity: 33.375233, density: 1025.000000* values[0]: 0.575436F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038114.883165 s. z-jJ~,)AA(@Am@A0Z~? A_#A%"AA2inNA"AZAbAjArAzAAAu[@ @At$i&LtAn@A|q<Aכ=AC;AD?A@ A4X*A_9?2At/ս:A!=BA_9?JAt/սRA!=٘i)I9n@YgG JcJJJJ#E&K YY~?y>OAE7)79)ܯBE[[#N[Y~?[[[[[BZYY i) =1Ii@< f?)) f?f?7֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038114.903165 s, next control iter: 1743038115.283195 s, wait time: 0.380030 s rAdjusting time to match Gazebo time: 1743038115.303165 s.Y4jJ~,gӨ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743038115.303277F (some fields omitted in printout)J"J*J2J:JBJnJvJAѮ@AyZ~Į@AIZ~? Ad$Ak%"AAGnNA"AZAbAjArAzAAA!ͺb!@AkLtAXn@A t<A_ɞ=AB<A`TV?AAЪ*AD9?2Aӽ:A=BAD9?JAӽRA=٘i)I9Xn@YG JJJJJ&E&K YݶY~?y4NAEZ7SI7M9)BE[[[+;[>Y~?[[[[[BZYY i) Ii@'7< E?))E?E?~ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038115.323165 s, next control iter: 1743038115.703178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11614*, header.stamp.nsec: 0*0 temperature: 13.568575** salinity: 33.375233*, density: 1025.000000** values[0]: 0.574885*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038115.723165 s.;jJ~,H)AAz@A7@AcZ~? A?%AX%"AAvnNA"AZAbAjArAzAAA{!@A+gzKMtAm@A;Ae=A;=A`b?A`AK*A9?2AԽ:Ax=BA9?JAԽRAx=٘i)I9m@YG JJJJJ(E&K YY~?ySqNAE{7j79)BE[['[Y~?[[[[[BZYY i) MIij@ڸ< t+?))t+?t+?!ުYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038115.763165 s, next control iter: 1743038116.123176 s, wait time: 0.360011 sY~?)S rAdjusting time to match Gazebo time: 1743038116.143165 s.W/BjJ~, * )AJ"J*J2J:JBJnJvJA ףp=@Ad0@A}Z~? A%API%"AAnNA"AZAbAjArAzAAA9"@AqKMtA4m@A ǻA6{=A=Al?A@kjAz*A9?2Aefս:A==BA9?JAefսRA==٘i)I94m@Y^G JPJJJJ+E&K YSY~?yr NAE77{7㇙9)B[[[ Z~?[[[[[BZYY i) 1ۦIik @< $?))$?$? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038116.163165 s, next control iter: 1743038116.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038116.563165 s.HjJ~,F $)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038116.563290F (some fields omitted in printout)A3333s@A'.+f@AZ~? Az&A'=%"AAoNA"AZAbAjArAzAAA_:#@A NtAdl@A_RsAwq=A=A t?AΤA_*A9?2Aս:Ac=BA9?JAսRAc=Y@=yl=#tٓH?`wi~? 1?z?=p? 紿j?)@ I٘i)I9l@YG JEB=J<JJJ.E&Kt> Ys Z~?yMA=Eb779RB)BE[[3^[!Z~?[[[[[BZYY i) 7Ii@< N(?))]vN(?N(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038116.583165 s, next control iter: 1743038116.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11615, header.stamp.nsec: 00 temperature: 13.568726* salinity: 33.375225, density: 1025.000000* values[0]: 0.574298F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038116.983165 s.OjJ~,>)AJ"J*J2J:JBJnJvJA\@AwJ뛯@AZ~? A&A/4%"AAs-oNA"AZAbAjArAzAAAI#@A)eENtA l@AKAe=A=A x?ApA@*A9?2A}3ֽ:A=BA9?JA}3ֽRA=٘i)I9 l@YG JC=JJJJ1E&K Y'Z~?y*MAE777x9)BE[[wٽ[:Z~?[[[[[BZYY i) Iif@ix< -?))<-?-?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038117.023165 s, next control iter: 1743038117.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038117.403165 s.&VjJ~,Y)AAQޯ@A?Wѯ@AZ~? A 'Ay.%"AAToNA"AZAbAjArAzAAAAv$@A eNtAnk@Av5 A=Aܔ>A}?AAR*A)9?2A0Խ:Ap=BA)9?JA0ԽRAp=٘i)I9nk@YJG J'JJJJ3E&K YCZ~?y)LAEj7Z7C9)BE[[㱽[XRZ~?[[[[[BZYY i) Ii~@y< f2?)) f2?f2?YFFF]r:Waiting for Gazebo time sync: latest Gz time: 1743038117.423165 s, next control iter: 1743038117.803182 s, wait time: 0.380017 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11616&, header.stamp.nsec: 0&0 temperature: 13.568868&* salinity: 33.375256&, density: 1025.000000&* values[0]: 0.573688&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038117.823165 s.\jJ~,`t)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J@ elevatorAngleAction: -0.0840562J< massPositionAction: 0.0000004 buoyancyAction: 0.000500:J dt: 0.420023BJ2 time: 1743038117.823292F (some fields omitted in printout)nJvJAGz@AVc k@AZ~? A'A+%"AAS|oNA"AZAbAjArAzAAA¡%@AZjkNtA[j@A[;A`=A>A`}?Am?A-ɼ*A\9?2AԽ:A=BA\9?JAԽRA=٘i)I9j@YG JüJJJJ6E&K Y_Z~?yfILAEŧ7b79QB)BE[[f [jZ~?[4[[[[BZYY i) yIļIi?< n7?))n7?n7?YzDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038117.863165 s, next control iter: 1743038118.223179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038118.243165 s.cjJ~,~)AAףp=J@A 0=@AZ~? A&A],%"AAǣoNA"AZAbAjArAzAAAC˱%@AkYNtAj@A[<A =AM)>A{?A`9?ATtѼ*A99?2AGԽ:APX=BA99?JAGԽRAPX=٘i)I9j@Y}G JͼJJJJ9E&K Y{Z~?yKAE{7j7ؐ9)BE[[,C[Z~?[[[[[BZYY i) K˼Ii? < xA1w?A抠?Aռ*A9?2ABԽ:AY=BA9?JABԽRAY=Yz@J6?>y =][<ٓH0S?Dǿ柶? P?@r?@@:@ڐ??)z@ I٘i)I9li@YG JӼB=JjJ<JJJ;E&Ks> YZ~?yaKA6?>E7779PB)BE[[?[Z~?[[[[[BZYY i) ?ҼIiF?< A?))$uA?A?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038118.683165 s, next control iter: 1743038119.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038119.083165 s.DqjJ~,Sũ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239397@ elevatorAngleAction: -0.084056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038119.083307F (some fields omitted in printout)A)\µ@ADԷ@A3[~? AG&A6%"AAoNA"AZAbAjArAzAAAԌ(&@A\MtAh@AA2<A=A=S>A@Up?AA?A& ּ*A9?2A7ս:AD=BA9?JA7սRAD=٘i)I9h@Y G JuּC=JJJJ>E&K YUZ~?y_JAE77n9) BE[[/[Z~?[[[[[BZYY i) ڼIi?W< >F?))i>F?>F?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038119.123165 s, next control iter: 1743038119.483182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038119.503165 s.wjJ~,P4)AJ"J*J2J:J?BJ?nJ5vJAR@A0{ް@AM[~? A%A@%"AApNA"AZAbAjArAzAAAN+'@A!*MtAh@AA =Ahh>A`i?A@q ?AӼ*A9?2AԽ:A\R=BA9?JAԽRA\R=aI٘i)I9h@Y5 G JRռJJJJAE&K Y Z~?yrJAE77789)B[[Q>/<[Z~?[[[[[ZZ¸BZYY i¸\=) μIi?F< K?)) K?K?]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038119.523165 s, next control iter: 1743038119.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11618, header.stamp.nsec: 00 temperature: 13.569264* salinity: 33.375282, density: 1025.000000* values[0]: 0.572242F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038119.923165 s.:~jJ~,)AA{G!@A1>@Ag[~? A$AM%"AATApNA"AZAbAjArAzAAAp_љ'(@A›QMtASg@A=A==At{}>A]?AC³?AT,Ѽ*A59?2A5Խ:AK=BA59?JA5ԽRAK=٘i)I9Sg@Y G JҼJJJJCE&K YZ~?yIAEb779OB)BE[[<[Z~?[[[[[ZZBZYY i) ¼Ii?< xP?))xP?xP?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038119.963165 s, next control iter: 1743038120.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038120.343165 s. elevatorAngleAction: 0.083846BJ< massPositionAction: 0.000000nJ4 buoyancyAction: 0.000500vJ dt: 0.4199792 time: 1743038120.343304F (some fields omitted in printout)Ap= W@AA&M?A k?A*A9?2A ս:Ax<BA9?JA սRAx<٘i)I9f@YT G JJJJJFE&K Yz[~?yyIAEj7Z7Ι9)BE[[TN=[Z~?[[[[[ZZBZYY i) 8IiI?< U?))U?U?SYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038120.383165 s, next control iter: 1743038120.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11619*, header.stamp.nsec: 0*0 temperature: 13.569468** salinity: 33.375286*, density: 1025.000000** values[0]: 0.571516*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038120.763165 s.?jJ~,A0)AǍ@A?@A\[~? A"Aq%"AApNA"AZAbAjArAzAAA}C`)@AgKtAe@AUA=AcY>A2yޕ={UٓHF?)ҿ?`?l? w?@Ѣ`a?)= I٘i)I9e@Y G JJ2JJJIE&K t> Y![~?yIAܒ>Eŧ7b79NB) BùE[[=[[~?[![[[[ZZBZYY i) 9sIi?U'y< [?))Ǒt[?[?yA =ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038120.803165 s, next control iter: 1743038121.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038121.183165 s.˒jJ~,cK)AJ"J*J2J:JBJnJvJA(\±@A؜@A[~? A!A %"AApNA"AZAbAjArAzAAA/# )@A86QKtAd@A:Ap=Ai>A@})?A`о?A2*A :?2A"xս:AM\<BA :?JA"xսRAM\<٘i)I9d@YS G JJJJJKE&K Y<[~?y~HAE7{7c9KB)$BŹE[[b=[1[~?[[[[[ZZBZYY i) UԞIiع?Gm< .`?))>x.`?.`?LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038121.223165 s, next control iter: 1743038121.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038121.603165 s.94jJ~,f)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258730> elevatorAngleAction: 0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038121.603295F (some fields omitted in printout)AQ@A\sG@A[~? AB Aɡ%"AApNA"AZAbAjArAzAAA(H*@AI>JtA.d@A <Ar,=AJ>A@?A[?Aqм*A4.:?2Aӽ:A;BA4.:?JAӽRA;٘i)I9.d@Y G JJJJJNE&K YW[~?y UHAE77.9))BȹE[[t=[J[~?[[[[[ZZBZYY i) 5Ii?ׯc< z>e?)) z>e?z>e?WrYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038121.643165 s, next control iter: 1743038122.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11620 , header.stamp.nsec: 0 0 temperature: 13.569736 * salinity: 33.375324 , density: 1025.000000 * values[0]: 0.570601 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038122.023165 s.ZjJ~,|)AJ"J*J2J:JBJnJvJAHz.@AJ_!@A?[~? AA%"AArqNA"AZAbAjArAzAAA2,3+@A30JItAc@Au<AQ<<A+>>A `?A Z(?A*A21:?2Aӽ:A#κBA21:?JAӽRA#κ٘i)I9c@Y{ G JDüJJJJQE&K Yr[~?y GAEj7Z79JB).B˹E[[h>[5d[~?[[[[[ZZBZYY i) gIiĪ?Z< ij?))ij?ij?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038122.043165 s, next control iter: 1743038122.423182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038122.443165 s.4æjJ~,1])AAq= c@A{V@A\~? AA%"AA+qNA"AZAbAjArAzAAAy+@A9=HtA3c@AY<AU;Ay>A J?A`?Aj*A1+:?2AfWԽ:A<BA1+:?JAfWԽRA<٘i)I9c@Y, G JٛJJJJSE&K Y[~?yGAEj7â9)2B[[8>[}[~?[[[[[ZZBZYY i) wIi?/R< o?))o?o?CYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038122.463165 s, next control iter: 1743038122.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11621, header.stamp.nsec: 00 temperature: 13.569934* salinity: 33.375332, density: 1025.000000* values[0]: 0.569864F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038122.863165 s.+jJ~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J2J8 propOmegaAction: 25.132812:JBJnJvJ< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038122.863308F (some fields omitted in printout)A@A@A\~? AA|%"AAQqNA"AZAbAjArAzAAAg,@AO GtAjb@A׋;A] A#>Ax?A{?A)*A !:?2A,Խ:ABA !:?JA,ԽRAYe$+>i>y\ Fً;ٓH0?ؿty?G?S9}K?`zq? ?)e$+> I٘i)I9b@Y G J>_JFJJJVE&KTr> Y"[~?yGA>E779)4BιE[[.>[Ζ[~?[][[[[ZZBZYY i{=) ,eIi?;AF< Jt?))3uJt?Jt?&)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038122.903165 s, next control iter: 1743038123.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038123.283165 s.7RjJ~,Ҫ)AA(\ϲ@Ae5]O²@A>4\~? AAt'%"AAwqNA"AZAbAjArAzAAA.-@AxMEtAA?A`ۏ?Aν*A:?2AԽ:A5BA:?JAԽRA5٘i)I9rb@Y G JiJJJJYE&K YZ[~?y_GAE7777X9IB)6BѹE[[ծC>[[~?[[[[[ZZBZYY i =) mRIi?;< y?))xՄy?y?5)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038123.323165 s, next control iter: 1743038123.683177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11622., header.stamp.nsec: 0.0 temperature: 13.570001.* salinity: 33.375343., density: 1025.000000.* values[0]: 0.569524.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038123.703165 s.ӺjJ~,)AJ"J*J2J:JBJnJvJAQ@A=)@ATM\~? AAP%"AA qNA"AZAbAjArAzAAA-@Aq;DtAbb@ApzABA>A`ё?At?Al:*A*:?2Aӽ:A ټBA*:?JAӽRA ټ٘i)I9bb@Y G JB=JJJJ\E&K Y[~?y GAE7#9)5BԹE[[]X>[|[~?[N[[[[BZYY i) ?Ii5?0< ;?)) ;?;?*B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038123.723165 s, next control iter: 1743038124.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038124.123165 s.9jJ~,e)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072312< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038124.123288F (some fields omitted in printout)AG:@A,-@AFf\~? AA|%"AAqNA"AZAbAjArAzAAAe [/.@A ECtAub@A|A;A>A@=p?A3?Aa;*A$:?2Aӽ:AFKBA$:?JAӽRAFK٘i)I9ub@Y G J 6;C=JJJJ^E&K Y[~?yGAEZ7SI79HB)4B׹E[[m>[[~?[ߪ[[[[BZYY i)  ,Ii-?'< 'B?))'B?'B?y=|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038124.143165 s, next control iter: 1743038124.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038124.543165 s.IjJ~,")AJ"J*J2J:J?BJ?nJ5vJA= ףp@A9Zc@A\~? AA̫%"AAqNA"AZAbAjArAzAAA_i.@A=AtAb@AA|_Ao>AeK?A?AO~ <*A:?2AQԽ:A'BA:?JAQԽRA'٘i)I9b@Y G J;JJJJaE&K Y \~?ydGAE77779GB)2BڹE[[_>[o[~?[ݪ[[[[BZYY i) W,Ii z?^ < E?))E?E?*Y3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038124.583165 s, next control iter: 1743038124.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11623, header.stamp.nsec: 00 temperature: 13.569873* salinity: 33.375359, density: 1025.000000* values[0]: 0.569614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038124.963165 s.}jJ~,=)AAffff@Ab1Z@A\~? AaA%"AA%rNA"AZAbAjArAzAAA[[/@Aw?tAb@A;AS|A$>A a#?A?A6<*A:?2A9ս:Aw>yϐ|Z2;ٓHH I٘i)I9b@Y G J<JJJJdE&Kt> Y*\~?yFHA>Eb779)0B[[>[y\~?[q۪[[[[BZYY ii=) RZ Ii g?l< ?))Av??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038124.983165 s, next control iter: 1743038125.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038125.383165 s.jJ~,#X)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240485> elevatorAngleAction: 0.057071< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038125.383281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܳ@A(>ϳ@A$\~? A A %"AAX4rNA"AZAbAjArAzAAA;B/@A:>tA{:c@AZ<A쏊A?A?A`?A_<*AS:?2Aս:AY BAS:?JAսRAY ٘i)I9:c@YK G JI<JJJJfE&K YC\~?y(pHAE{7{7N9CB)*BܹE[[淪>[.\~?[(٪[[[[BZYY i) AIiU?'< 1?))z1?1?*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743038125.403165 s, next control iter: 1743038125.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11624", header.stamp.nsec: 0"0 temperature: 13.569633"* salinity: 33.375389", density: 1025.000000"* values[0]: 0.569971"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038125.803165 s.uAjJ~,sgs)AA@A@Af\~? A ADK%"AACYrNA"AZAbAjArAzAAAt,A0@ACdk[G\~?[֪[[[[BZYY i)  lջIiEF?; ݌?)) ݌?݌?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038125.823165 s, next control iter: 1743038126.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038126.223165 s.gjJ~,H)AJ"J*J2J:J?BJ?nJ5vJAzG@A9:@Aw\~? AAv%"AA}rNA"AZAbAjArAzAAAwt#0@Ag:tAzd@A <A0A ?A?A`?A <*A1:?2A#cԽ:A~ BA1:?JA#cԽRA~ ٘i)I9d@Y G J<JJJJlE&K Yt\~?yIAE777㲙9)!BE[[>[`\~?[ Ԫ[[[[BZYY i1ʇ=) tǵIi8?2; ?))??y+j=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038126.263165 s, next control iter: 1743038126.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038126.643165 s.yjJ~,*)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066304< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038126.643293F (some fields omitted in printout)A ףp}@A٭ep@AU\~? A=A}%"AA?rNA"AZAbAjArAzAAA7%0@A38tAtd@ArźAAp?A@p?Ab?A<*A 6:?2AsԽ:A9BA 6:?JAsԽRA9٘i)I9d@Y( G J<<JJJJnE&K Y\~?ynIAE77j79)B[[#>[z\~?[5Ѫ[[[[BZYY i) !Ii,?; C?))C?C?y;;j=*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038126.663165 s, next control iter: 1743038127.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11625, header.stamp.nsec: 00 temperature: 13.569303* salinity: 33.375370, density: 1025.000000* values[0]: 0.570591F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038127.063165 s.J "J *J 2J :J ?BJ ?nJ *5vJ jJ~, ī)AA3333@AdM*@A]~? AAW%"AAIrNA"AZAbAjArAzAAAݼ;1@Als6tAI;e@AnBAJA?A>?A}8?AQ<*Ad5:?2AԽ:AGfBAd5:?JAԽRAGfY>?yGCٓH@5?ʮQ ???`MF?)> I٘i)I9;e@Y G J&<JJJJqE&Ks> Yx\~?yܪIA?E)7ŧ7y9AB)BE[[å>[\~?[>Ϊ[[[[BZYY i) LpIi?r; ^?))2x^?^?y;=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038127.083165 s, next control iter: 1743038127.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038127.483165 s.t_jJ~,ޫ)AA\@A"۴@An']~? AJAI%"AArNA"AZAbAjArAzAAAOTYJa1@A*5I4tAe@AU AǜA ?A@ ?A ?A&?<*A,5:?2A@ս:AsBA,5:?JA@սRAs٘i)I9e@Y G Jѷ<JJJJtE&K Y\~?yتAJAE77C9@B)BE[[r>[n\~?[˪[[[[BZYY i) \4Ii! ?; ?)) ??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038127.503165 s, next control iter: 1743038127.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11626, header.stamp.nsec: 00 temperature: 13.568912* salinity: 33.375412, density: 1025.000000* values[0]: 0.571347F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038127.903165 s.jJ~,)AJ"J*J2J:JC?BJC?nJ^5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066304< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038127.903309F (some fields omitted in printout)AQ@AW@A>]~? AA%"AAZ sNA"AZAbAjArAzAAA k#1@As,2tA+qf@A]?AC=A 9 ?A?A?A{<*AN:?2AVӽ:A.X BAN:?JAVӽRA.X ٘i)I9qf@Y@ G J<JJJJvE&K Y\~?y0ӪJAE779?B) BE[[ W>[\~?[Ǫ[[[[BZYY i) Ii#>?; ]?))]?]?d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038127.943165 s, next control iter: 1743038128.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038128.323165 s.qkJ~,)AAGzT@A/XnG@AU]~? AA%"AA\0sNA"AZAbAjArAzAAA*A1@A /tA| g@AܜAa&A%?AU?A@G?A<*AO:?2AԽ:A*BAO:?JAԽRA*٘i)I9 g@Y G J_<JJJJyE&K Y\~?yQΪKAE{7{7ٻ9[\~?[9Ī[[[[BZYY i) qIi>J; s?))s?s?*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743038128.343165 s, next control iter: 1743038128.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11627*, header.stamp.nsec: 0*0 temperature: 13.568502** salinity: 33.375412*, density: 1025.000000** values[0]: 0.572169*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038128.743165 s.W kJ~,i/)AJ"J*J2J:JBJnJvJAףp=@A72}@AOl]~? AA`%%"AARsNA"AZAbAjArAzAAA522@AA-A-tA0g@AC"<AKAv*?A`^?Az?A&<*A O:?2Aٞս:A4LBA O:?JAٞսRA4L٘i)I9g@Y G J<JJJJ|E&K Y]~?yrɪ~KAE779;B)BE[[W>[0\~?[[[[[BZYY i) Ii>@Ry; ݟ?))ݟ?ݟ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038128.763165 s, next control iter: 1743038129.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038129.163165 s.{}kJ~,qJ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066304< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038129.163310F (some fields omitted in printout)A@A i@A‚]~? AAkt%"AA;usNA"AZAbAjArAzAAA+v2@A *tAz)h@Ar<ABӔAR,0?A ?A&i?A[q<*AM:?2Aֽ:ABAM:?JAֽRAY>/?y~Δʁ<ٓHѬ?TR =??׭`?`2.? \?)> I٘i)I9)h@YL G J<B=JS!<JJJ~E&K&u> Y^]~?yêKA/?En9:B)BE[[[G>[4 ]~?[[[[[BZYY i) q:Ii> J; ę?))zę?ę?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038129.183165 s, next control iter: 1743038129.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038129.583165 s.kJ~,Re)AJ"J*J2J:JBJnJvJA)\@A@A]~? A`A6%"AAsNA"AZAbAjArAzAAA f2@AD# "(tAh@A&[<AܒAW5?A?Ao7?Asy<*ALL:?2A=Iֽ:AbBALL:?JA=IֽRAb٘i)I9h@Y G J_<C=JJJJE&K Y0/]~?yGFLAE{7j799)B[[a?[#%]~?[[[[[BZYY i) y:Ii{>h)!; [?)) [?[?4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038129.603165 s, next control iter: 1743038129.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11628, header.stamp.nsec: 00 temperature: 13.568134* salinity: 33.375427, density: 1025.000000* values[0]: 0.572903F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038130.003165 s.y kJ~,P4)AAR+@A`R|@AӮ]~? AA%"AAzsNA"AZAbAjArAzAAAz2@A vq%tA;AAF:?A H?A ?AH<*Ab:?2A Խ:AۯBAb:?JA ԽRAۯ٘i)I9s: i"?))i"?i"?`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038130.023165 s, next control iter: 1743038130.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038130.423165 s.u&kJ~,)AJvPublished command to Gazebo (printed only once in a while):"J*J2J( dropWeightState: 1:JBJ8 propOmegaAction: 25.132812nJvJ< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066304< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038130.423277F (some fields omitted in printout)A{Ga@AlF=T@An]~? An߫Ar%"AAxsNA"AZAbAjArAzAAAi)H=3@AzU̫"tAMi@AAA'??A`\?A?A?<*Aa:?2AԽ:ABAa:?JAԽRA٘i)I9i@YHG J<JJJJE&K YZ]~?yMAE77ę97B)BE[[E ?[T]~?[[[[[BZYY i) r;IiB>_: ?))??*Y7.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038130.463165 s, next control iter: 1743038130.823179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11629, header.stamp.nsec: 00 temperature: 13.567761* salinity: 33.375427, density: 1025.000000* values[0]: 0.573660F (some fields omitted in printout)6Z]~?)6 rAdjusting time to match Gazebo time: 1743038130.843165 s.,kJ~,)AAp= @A@A]~? AګA%"AAsNA"AZAbAjArAzAAAW;}3@ARtAQj@A;uAqьA5/D?Aq?A G?A6<*At_:?2AmԽ:AhuBAt_:?JAmԽRAhu٘i)I9Qj@YG J<JJJJE&K Yp]~?yrMAEŧ7b7ƙ93B)BE[[n?[;l]~?[][[[[BZYY i) 7;Ii==!': >?))>?>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038130.863165 s, next control iter: 1743038131.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038131.263165 s.4kJ~,Ь)AJ"J*J2J:JBJnJvJA̶@A@A]~? AիA(%"AA"tNA"AZAbAjArAzAAA4'3@A_tAYj@ApA֞AGfI?A?A`PO?A༟<*A\:?2A zս:A XBA\:?JA zսRA XYŽ?`I?ypٓH?``?Z?;O?`]?)Ž? I٘i)I9j@YG J<J]B<JJJE&Ku> Y]~?yIMAI?EZ7SI7dș9)ܯB[[-?[8]~?[[[[[BZYY iA=) :;Ii<;9 ?))w~??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038131.283165 s, next control iter: 1743038131.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 116302, header.stamp.nsec: 020 temperature: 13.5673962* salinity: 33.3754462, density: 1025.0000002* values[0]: 0.5743842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038131.683165 s.l:kJ~,k)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248117> elevatorAngleAction: 0.076521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038131.683274F (some fields omitted in printout)A(\@A/@Ax^~? AѫA%"AA9tNA"AZAbAjArAzAAAe3@Ay~tA]k@AUl׻AAN?A_?A@h?AE<*AY:?2A(ֽ:AEBAY:?JA(ֽRAE٘i)I9]k@Y?G J<B=JJJJE&K Y]~?y ,NAEj7Z7.ʙ92B)ׯBE[[ ?[]~?[[[[[BZYY i) H;IlI?i N?)) N?N?$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038131.683165 s, next control iter: 1743038132.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038132.103165 s.J "J *J 2J :J !?AkJ~BJ!?nJG5,)AvJAQ8@Ad]F+@A^~? A˫A%"AAXtNA"AZAbAjArAzAAA0Ә&:4@AtAk@A!;A(AT?A 8?A?AD<*Ae:?2Aս:ABAe:?JAսRA٘i)I9k@YG J<<C=JJJJE&K Yy]~?y̚NAE7777˙9)ӯB[[N#?[]~?[[[[[BZYY i) );I@I?iC_ A?))A?A?o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038132.143165 s, next control iter: 1743038132.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038132.523165 s.GkJ~,{!)AAHzn@As a@A+^~? AƫAL%"AAwtNA"AZAbAjArAzAAAWcv4@AgtAMl@A^d<A臽A^Y?A`V?A@r?A<*A_:?2Aս:AuBA_:?JAսRAu٘i)I9Ml@YG Jj<JJJJE&K Yg]~?yNAEj7SI7͙91B)ίBE[[-)?[2]~?[I[[[[BZYY i)  elevatorAngleAction: 0.076521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038132.943289F (some fields omitted in printout)Aq= ף@A5Ж@A?^~? AsA%"AAtNA"AZAbAjArAzAAA~4@A2_tAl@AT~<AkAې^?A`?A5G?Aۆ<*AqW:?2A;ֽ:Aj3BAqW:?JA;ֽRAj3٘i)I9l@YG J<B=JJJJE&K YV]~?yPCOAEϙ9,B)ƯBE[[1.?[d]~?[ɑ[[[[BZYY i) DjW)AAٷ@AA*Ŏ̷@AR^~? AA%"AAGtNA"AZAbAjArAzAAAqh84@Ay_ tAL1m@A<A򢋽Ac?A H?A?A6<*AO:?2At8ֽ:AHBAO:?JAt8ֽRAHY}e+?~c?yr<ٓH ? p?(?p?aC? ?)}e+? I٘i)I91m@Y\G J><C=JKJJJE&K%v> Y$]~?yzOA~c?Eb77Yљ9)B)B[[oq4?[]~?[/[[[[BZYY i) F( elevatorAngleAction: 0.076521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038134.203272F (some fields omitted in printout)AQE@Ar&8@Ax^~? AɰA%"AAtNA"AZAbAjArAzAAAtzz:_5@A 2tAi&n@A"LAAm?A?A5?Aę<*AN:?2AMս:A BAN:?JAMսRA ٘i)I9&n@YG J<JJJJE&K Y ^~?yy\PAE77ԙ9)B[[??[u^~?[f[[[[BZYY i) G$uNA"AZAbAjArAzAAAa5@AzsA /o@Agl6AAx?A e?AP?A9~<*A@:?2A ս:Awx BA@:?JA սRAwx ٘i)I9/o@YG J<JJJJE&K Yb-^~?y"lQAEŧ7b7ؙ9#B)BE[[K?[F^~?[s[[[[BZYY i) Sf elevatorAngleAction: 0.076521< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038135.463292F (some fields omitted in printout)Affff@A[ٸ@A^~? AAJ%"AA?uNA"AZAbAjArAzAAAj`M6@A뿭esA۴o@A AuAo}?A@+?A@ע?AXj<*A::?2Amֽ:Al BA::?JAmֽRAl YXE?Qq}?yuٓH ?{ѤL??Jgʲ?}A>?)XE? I٘i)I9o@YG J3<JENJJJE&K$w> Y<^~?yd}QAq}?Eb77Oڙ9"B)B E[[kQ?[Z^~?[lm[[[[BZYY i) u elevatorAngleAction: 0.085760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743038136.723327F (some fields omitted in printout)Az@APz@A^~? AjA%"AA؋uNA"AZAbAjArAzAAA;>X6@A!ShsAEq@AjR<AUAԮ?A`?A@?Aon<*As(:?2A~+׽:Ap BAs(:?JA~+׽RAp ٘i)I9Eq@YG JN<JJJJE&K Y[k^~?yNRAE7ߙ9B)B E[[c?[ӓ^~?[X[[[[BZYY i) 贑 Yۇ^~?y?}SANj?E77D9)B[[jn?[^~?[J[[[[BZYY i)  elevatorAngleAction: 0.085760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743038137.983331F (some fields omitted in printout)A\(@A q@A[_~? AxA/%"AAuNA"AZAbAjArAzAAAPf"~%7@A _T sAr@A {A?A=?Ay?A`a?A<*AT :?2A[dֽ:ABAT :?JA[dֽRA٘i)I9r@YG J}<JJJJE&K Y۔^~?y7SAE79B)BE[[t?[^~?[(C[[[[BZYY i) -z?[^~?[;[[[[BZYY i)  elevatorAngleAction: 0.085760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038139.243287F (some fields omitted in printout)Aףp=ʺ@A&L1@A8_~? ApdA%"AA*vNA"AZAbAjArAzAAAi7@AnsAt@ABV;ADAM?A 0?A'?Aj<*A?9?2At׽:ABA?9?JAt׽RA٘i)I9t@YG J<JJJJE&K Yݻ^~?yF .UAEo9B)pBE[[r?[^~?[+[[[[BZYY i) V Y>^~?yUAژ?"Eb7799)kB[[or?[_~?[#[[[[BZYY i) v elevatorAngleAction: 0.085760< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038140.503280F (some fields omitted in printout)ARk@Axy^@A^_~? AGOA3U%"AAOvNA"AZAbAjArAzAAAc8@AHsAv@A<A:7A(?Av?Ao?A0E<*A9?2A#׽:AZBA9?JA#׽RAZ٘i)I9v@Y(G J<JJJJE&K Y^~?yVA'E7779)\B[[?[+%_~?[[[[[BZYY i) YkJ~,;)AA{G@Aq@@Aj_~? AHA%%"AAYavNA"AZAbAjArAzAAAH=8@A_MGsAdw@AHAGDAU?AD?A?At<*A9?2A4ֽ:ABA9?JA4ֽRA٘i)I9dw@YG JN<B=JJJJE&K Y_^~?yVA*E9)WB[[?[2_~?[) [[[[BZYY i) BZYY i¸>) 2 Yf^~?yWA?/Eb77/9 B)GBE[[ר?[uK_~?[ [[[[ZZZZBZYY i) f)AJ"J*J2J:JBJnJvJA@A: @A}_~? AAP%"AAvNA"AZAbAjArAzAAAm2H9@AC]sA|@A]<AT~ؼAs?A86?A SO?A<*Al9?2A;ֽ:A+;BAl9?JA;ֽRA+;Yj??y>yؼh]<ٓH?Ņ=?@0?`?A `Y??c?)j? I٘i)I9|@YG J<B=J>JJJE&Kx> Y_~?y^ĩYA?=E77$9)$B[[?[g~_~?[Tͩ[[[[ZZZZBZYY i()  JJJE&Klw> YZ0_~?y̘QZA?JEj7j79B)BE[[?[_~?[a[[[[BZYY ij) . Y7_~?ylXA? DWE9B)BE[[w?[4_~?[&n[[[[BZYY i) ă;I8G?iߵh  @)) @ @PЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038148.083165 s, next control iter: 1743038148.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038148.483165 s.u_GlJ~,)AA\h@A6v[@A_~? AAt&"AA_)wNA"AZAbAjArAzAAAhGT79@A.=^qsA{@AWAț=Ai?AJ?A@a?A#*A 9?2AzG׽:A- =BA 9?JAzG׽RA- =٘i)I9{@YAG J™JJJJE&K Y6_~?ydXAZE9)#B[[?[_~?[pd[[[[BZYY i) =;I$G?i1k Ҭ@))Ҭ@Ҭ@4֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038148.523165 s, next control iter: 1743038148.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11647, header.stamp.nsec: 00 temperature: 13.562767* salinity: 33.375599, density: 1025.000000* values[0]: 0.584065F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038148.903165 s.MlJ~,9)AJ"J*J2J:JBJnJvJAQ@Aݳ@A_~? A괪A&"AA -wNA"AZAbAjArAzAAAյ9@AkevtlsAE{@A̢A(=AW?AR?Ak?AD䥼*A49?2AB׽:At =BA49?JAB׽RAt =٘i)I9E{@YG JJJJJE&K Y5_~?y6[/XA]E9)'B[[y?[_~?[Z[[[[BZYY i) w;IG?iubm ;@));@;@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038148.943165 s, next control iter: 1743038149.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038149.323165 s.wTlJ~,)T)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199382 time: 1743038149.323277F (some fields omitted in printout)AGzԿ@Apǿ@A__~? AڬA &"AA/wNA"AZAbAjArAzAAA9@AOϗgsAz@A)A=AW?AO?A s?Ap*A9?2AJֽ:A =BA9?JAJֽRA =٘i)I9z@YG JJJJJE&K Y4_~?yiRWA`E7o9)+B[[?[_~?[P[[[[BZYY i) R;;IF?im @))@@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038149.343165 s, next control iter: 1743038149.723179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11648*, header.stamp.nsec: 0*0 temperature: 13.562994** salinity: 33.375572*, density: 1025.000000** values[0]: 0.583427*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038149.743165 s.W[lJ~,mo)AJ"J*J2J:JBJnJvJAףp= @AF0@Av_~? AȤAL&"AA2wNA"AZAbAjArAzAAA9@ACibsA!z@A=A:A_=Ab?A@?A@x?AfĶ*A9?2Avֽ:Ae =BA9?JAvֽRAe =٘i)I9!z@Y<G JJJJJE&K Y4_~?yIcWAbE)7b7:9B)/BE[[?[_~?[;G[[[[BZYY i) :I+F?iθl  \@)) \@ \@=ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038149.783165 s, next control iter: 1743038150.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038150.163165 s.u}blJ~,q)AA@@A 2@A_~? AAM&"AAP3wNA"AZAbAjArAzAAA~09@Al]sAy@A:<A=A ?A?A@z?A*A9?2AR<ֽ:A =BA9?JAR<ֽRA =Y??yN=.G;<ٓHθ'R?`?`H?/س V??)? I٘i)I9y@YG JJ <JJJE&Kx> Y^0_~?y@VA?eEb79)3B[[E?[,_~?[=[[[[BZYY i) :IF?i@o v@))v@v@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038150.183165 s, next control iter: 1743038150.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038150.583165 s.hlJ~, S)AJ"J*J2J:JD?BJD?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038150.583293F (some fields omitted in printout)A)\u@Aeh@A_~? AA &"AA3wNA"AZAbAjArAzAAAD~9@AxXsAax@Aw<AjӜ=ACs?AzA {?A*AX9?2A?6ֽ:AU` =BAX9?JA?6ֽRAU` =٘i)I9x@Y}G JJJJJE&K Y,_~?y*8VAhE{7j79B):BE[[p?[ _~?[3[[[[BZYY i) X8IF?iuq w@))w@w@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038150.603165 s, next control iter: 1743038150.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11649, header.stamp.nsec: 00 temperature: 13.563295* salinity: 33.375595, density: 1025.000000* values[0]: 0.582710F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038151.003165 s.} plJ~,a4)AAR@A,y@A_~? AA%&"AA3wNA"AZAbAjArAzAAAPF9@A8SsAIx@AjH<A) =A?A6Ay?A3*A9?2A{ֽ:Ak =BA9?JA{ֽRAk =٘i)I9Ix@YG J9JJJJ E&K Y(_~?yq/#VAjEb779B)>BE[[ ?[)_~?[$*[[[[BZYY i) FRIoF?iq K@))K@K@3ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038151.043165 s, next control iter: 1743038151.403182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038151.423165 s.uvlJ~,۱)AJ"J*J2J:JBJnJvJA{G@A pA@A_~? AzA|&"AAj2wNA"AZAbAjArAzAAAتZ19@AڠjNsA5w@Aq;Ae=A'?A౽At?A鯼*A9?2Aֽ:A-W=BA9?JAֽRA-W=٘i)I9w@YG JŴB=JJJJ E&K Y2%_~?y&UAmE77e9)BB[[?[_~?[| [[[[BZYY i) I/F?i;p @))@@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038151.443165 s, next control iter: 1743038151.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11650, header.stamp.nsec: 00 temperature: 13.563569* salinity: 33.375595, density: 1025.000000* values[0]: 0.581627F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038151.843165 s.|lJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038151.843298F (some fields omitted in printout)Ap= @Ah 2 @A_~? Ai|Aa&"AA0wNA"AZAbAjArAzAAAOε{9@A8IsA w@AP7A/=Ań?A|Am?A *A9?2A=׽:A<BA9?JA=׽RA<_I٘i)I9 w@YhG JC=JJJJE&K Yx!_~?yNUApE)7ŧ7/ 9)GB[[?[_~?[[[[[BZYY i) R$,I$F?io\n e+!@))e+!@e+!@*̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038151.863165 s, next control iter: 1743038152.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038152.263165 s.lJ~,)AJ"J*J2J:JBJnJvJAL@A?@A_~? A[tAz&"AA-wNA"AZAbAjArAzAAA&&9@Ae EsAv@A IAѵ=A.?A`4A`c?Ae*A(9?2AuW׽:Al<BA(9?JAuW׽RAl Y_~?ymTA ?rEZ7j7!9)KB[[?[_~?[U [[[[BZYY i) :SiIoF?i򻿉p "@))"@"@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038152.283165 s, next control iter: 1743038152.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11651., header.stamp.nsec: 0.0 temperature: 13.563863.* salinity: 33.375584., density: 1025.000000.* values[0]: 0.581302.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038152.683165 s.llJ~,s+)AA(\@Aru@AP_~? AQlA&"AA;*wNA"AZAbAjArAzAAA39@AU|[N$@sAv@AMdA=A,?AG鴿AW?Ah*A9?2A*׽:A<BA9?JA*׽RA<٘i)I9v@YG JĞJJJJE&K Y]_~?y TAuE{7#9B)OBE[[H?[_~?[[[[[BZYY i) AI[F?ie%q I$@))I$@I$@ŪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038152.683165 s, next control iter: 1743038153.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743038153.103165 s.lJ~,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: -0.066674< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038153.103289F (some fields omitted in printout)AQ@A@#H@A+_~? AKdAw8&"AA%wNA"AZAbAjArAzAAACz9@A>;sAu@A%A=AJ?A ܭA H?A*A;9?2Aֽ:AF<BA;9?JAֽRAF<٘i)I9u@YsG J"JJJJE&K Y _~?yK(TAxE77%9B)TBE[[s?[A_~?[Z[[[[BZYY i) AݱI}GF?iȻ]p s%@))s%@s%@KêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038153.123165 s, next control iter: 1743038153.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038153.523165 s.lJ~,{a)AAHz@A @A_~? AK\A&"AA wNA"AZAbAjArAzAAAnČ9@A \6sA u@A;A=A?AkA 7?A@*Aw9?2Axֽ:A<BAw9?JAxֽRA<٘i)I9 u@Y"G J❼JJJJE&K YA_~?ySAzEŧ7b7Z'9)YB[[P?[|_~?[[[[[BZYY iS) 0wлIz3F?i~8n m'@))m'@m'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038153.563165 s, next control iter: 1743038153.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11652, header.stamp.nsec: 00 temperature: 13.564124* salinity: 33.375587, density: 1025.000000* values[0]: 0.580670F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038153.943165 s.[dlJ~,O]|)AJ"J*J2J:J?BJ?nJ5vJAq= #@AN@AR_~? ARTAp &"AAwNA"AZAbAjArAzAAAߦݕ9@AD؁r~1sAt@As<A=AU?A`Az$?Aޝ*A9?2AtPֽ:A=BA9?JAtPֽRA=٘i)I9t@YG JWJJJJE&K Y_~?y*eSA}E7)7%)9)]B[[?[s_~?[[[[[BZYY i) IF?i`j )@)))@)@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038153.963165 s, next control iter: 1743038154.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038154.363165 s.lJ~,u>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038154.363282F (some fields omitted in printout)AY@AZՒL@A_~? A_LAr &"AA-wNA"AZAbAjArAzAAA9@AVx,sAt@A؝v<A=Aj?A qAS?A×*A|9?2Aoֽ:AL&=BA|9?JAoֽRAL&=Y?`?y=*w<ٓH:տ7$? տlb?Bnӎ??)? I٘i)I9t@YG J'Jj,JJJ E&K@x> Yc^~?y SA?Ej7j7*9B)`BE[[?[i_~?[pި[[[[BZYY i) I F?i󷿉9@AIjssA )r@AvA T=AR?AuɿA`??A*A9?2AL׽:A=BA9?JAL׽RA=٘i)I9)r@YbG JQJJJJ+E&K Y ^~?yɨQAE77{729)qB E[[G@[;_~?[q[[[[BZYY i) ?EIE?i)` 0@))0@0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038156.083165 s, next control iter: 1743038156.443185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038156.463165 s.WlJ~,)AJ"J*J2J:JBJnJvJAfffff@AMaY@AO_~? A,%A &"AAvNA"AZAbAjArAzAAAS(9@AsAq@AAώ=A@A@H˿Ax?AJ%*A9?2Aֽ:A6D=BA9?JAֽRA6D=Y ?@yΎ=OٓH ;ۿ`5R?+ۿ8? ֱ`?) ? I٘i)I9q@YG JzB=J;JJJ-E&K x> Y%^~?y:QA@E739B)vBE[[J@[-_~?[[[[[BZYY i) TIE?iQh` d2@))d2@d2@yĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038156.503165 s, next control iter: 1743038156.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11655, header.stamp.nsec: 00 temperature: 13.385539* salinity: 33.391621, density: 1025.000000* values[0]: 0.701370F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038156.883165 s.ylJ~,U8)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075844< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038156.883296F (some fields omitted in printout)A(@Ac`@A_~? AwA &"AArvNA"AZAbAjArAzAAA89@A,sAr:q@A|:AL=AD@AUͿA S?AC*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9:q@YG JC=JJJJ0E&K Y-^~?yPAES7ŧ759)zB[[l@[_~?[[[[[BZYY i) dIE?i뭿^ <3@))<3@<3@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038156.903165 s, next control iter: 1743038157.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038157.303165 s.UlJ~,sgS)AJ"J*J2J:Jl3?BJl3?nJ#<5vJA@AiT@A8_~? AA8&"AAJvNA"AZAbAjArAzAAAjm8@AV sATp@ArD<AƁ=A}@A@BοA`%-?A흼*A9?2A,Bֽ:Ayt =BA9?JA,BֽRAyt =٘i)I9p@YG JJJJJ3E&K Y4^~?yzPAEj7Z7z79B)BE[[<@[_~?[[[[[BZYY inq) lasIE?iwz[ d5@))d5@d5@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038157.323165 s, next control iter: 1743038157.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11656*, header.stamp.nsec: 0*0 temperature: 13.385743** salinity: 33.391636*, density: 1025.000000** values[0]: 0.700351*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038157.723165 s.lJ~,Hn)AAz@A;@Ao_~? A4A &"AAcvNA"AZAbAjArAzAAAD>8@A7ysA2p@AYƃ<ATJ=AOb@A sSпA?A*A9?2A:ֽ:A]k=BA9?JA:ֽRA]k=٘i)I92p@Y0G JMJJJJ5E&K Y:^~?yPAE)77E99)BE[[@[_~?[5[[[[BZYY i) `I{tE?i9W 7@))7@7@dͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038157.763165 s, next control iter: 1743038158.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038158.143165 s.V/lJ~,*)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743038158.143272F (some fields omitted in printout)A ףp=@Aͩd0@A'_~? AAb&"AAvNA"AZAbAjArAzAAA%p8@A PsAao@A@<A%=Ar@A 8ѿA?A*A89?2Aֽ:A=BA89?JAֽRA=٘i)I9o@YG J@JJJJ8E&K YA^~?yOAE777;9)B[[@[^~?[[[[[BZYY i) 1IbE?im0Q 8@))8@8@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038158.163165 s, next control iter: 1743038158.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038158.563165 s.lJ~,t )AA3333s@A(f@A`_~? A,A&"AAQvNA"AZAbAjArAzAAA~u8@A3rAP#o@A:A<=A3@A@ҿAࡨ?A*AA9?2Aֽ:A =BAA9?JAֽRA =Y?@y4=b:ٓHe`*t@.`? p ?@/`S??)? I٘i)I9#o@YG J J^N<JJJ;E&KCx> Y^~?y(SOA@E77<9B)BE[[̬ @[ ^~?[懨[[[[BZYY i) IuQE?i4şO 1:@))1:@1:@ySBӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038158.583165 s, next control iter: 1743038158.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11657, header.stamp.nsec: 00 temperature: 13.386018* salinity: 33.391659, density: 1025.000000* values[0]: 0.699239F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038158.983165 s.lJ~,쾳)AJ"J*J2J:JBJnJvJA\@A9ӄ@A_~? AAe&"AA'vNA"AZAbAjArAzAAA=SQ8@ACrA;n@A!A=Ak@A ӿAw?A *AP9?2AB׽:A$q=BAP9?JAB׽RA$q=٘i)I9n@Y9G JJJJJ=E&K Y;y^~?yNAES7S7>9)B[[; @[^~?[[[[[BZYY i) (IB@E?i🿉L #;@))#;@#;@_תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038159.003165 s, next control iter: 1743038159.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038159.403165 s.&lJ~,ٳ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038159.403282F (some fields omitted in printout)AQ@AM)@AXw_~? AgA&"AA>vNA"AZAbAjArAzAAA%Kc8@AtrAMn@A"A&=A @A VӿA=C?Aè*A9?2AV׽:AQf=BA9?JAV׽RAQf=٘i)I9n@YG JJJJJ@E&K Yj^~?y NAE)7ŧ7p@9 B)BE[[c @[^~?[#x[[[[BZYY i) Il/E?i|H L=@))L=@L=@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038159.423165 s, next control iter: 1743038159.803179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11658", header.stamp.nsec: 0"0 temperature: 13.386253"* salinity: 33.391666", density: 1025.000000"* values[0]: 0.698110"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038159.823165 s.lJ~,>)AJ"J*J2J:JBJnJvJAGz@As@Al_~? AA&"AAvvNA"AZAbAjArAzAAAI E?iIB 9>@))9>@9>@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038159.863165 s, next control iter: 1743038160.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038160.243165 s.mJ~,\)AAףp=J@AP0=@Ac`_~? AA 3&"AA Y<^~?ytDMA @Eŧ7b7E9)B[[j@[^~?[a[[[[BZYY i) ID?iݐm9 A@))A@A@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038160.683165 s, next control iter: 1743038161.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038161.083165 s.DmJ~, SE)AA)\µ@A^@AG_~? AөAI&"AAh@vNA"AZAbAjArAzAAA|@7@AjrAk@Ax<AĬ=A/@Ac:׿ARb?AwǼ*AF9?2AJֽ:A?=BAF9?JAJֽRA?=٘i)I9k@YwG J¼C=JJJJKE&K Y+^~?ymLAE{7j7G9B)BE[[@[q^~?[Z[[[[BZYY i) kIoD?iȍp{5 C{C@))C{C@C{C@lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038161.123165 s, next control iter: 1743038161.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038161.503165 s.mJ~,P4`)AJ"J*J2J:JBJnJvJAR@AwNy@A~:_~? A̩A&"AA,vNA"AZAbAjArAzAAAa`/7@A'5rAk@A#Vq<Ax=A@A`z ؿA$?AX˼*A9?2A(ֽ:A=BA9?JA(ֽRA=٘i)I9k@YG JpɼJJJJME&K Y^~?yf`LAE77{7eI9)B[[>}@[n]^~?[S[[[[BZYY i) ļID?i80 nE@))nE@nE@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038161.543165 s, next control iter: 1743038161.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11660, header.stamp.nsec: 00 temperature: 13.386820* salinity: 33.391678, density: 1025.000000* values[0]: 0.695658F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038161.923165 s.:mJ~,{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038161.923313F (some fields omitted in printout)A{G!@AemS<@A,_~? AũAIZ&"AAvNA"AZAbAjArAzAAAL2h 7@A.B9rAej@A;A{=As@AؿA?A˼*A9?2A"ֽ:A_=BA9?JA"ֽRA_=٘i)I9ej@YG J˼JJJJPE&K Y0 ^~?y_KAEb770K9B)BE[[@[H^~?[L[[[[BZYY i) }̼IaD?i0) F@))F@F@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038161.963165 s, next control iter: 1743038162.323180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038162.343165 s.<%mJ~,)AJ"J*J2J:J1?BJ1?nJ:5vJAp= W@A@k~I@A_~? AA&"AAvNA"AZAbAjArAzAAAvW7@AcrAi@A9ꤻAP=A@ASٿA@ڠ?Aƭʼ*A89?2A$׽:A=BA89?JA$׽RA=٘i)I9i@Y@G J˼JJJJSE&K YP]~?yX{KAEb7L9)įB[[@[z3^~?[&F[[[[BZYY i) aӼID?i|[! H@))H@H@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038162.383165 s, next control iter: 1743038162.743174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11661*, header.stamp.nsec: 0*0 temperature: 13.387143** salinity: 33.391693*, density: 1025.000000** values[0]: 0.694306*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038162.763165 s.=+mJ~,8ذ)AǍ@A9?@A_~? AZAc&"AApuNA"AZAbAjArAzAAA&(d+7@A>KrAQi@A+dA¡=AJ,@A }ڿA[?ALʼ*A9?2Af>׽:A=BA9?JAf>׽RA=Y$@I@yJ=eٓHvx?ԭ?kL(?)$@ I٘i)I9i@Y G J|ʼB=J<JJJVE&K+x> Y7]~?y:RKA@E{7j7N9B)˯BE[[g@[^~?[?[[[[BZYY i) ڼI~D?i1wM4 dH))cHRI@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038162.803165 s, next control iter: 1743038163.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038163.183165 s.2mJ~,c˴)AJ"J*J2J:J1?BJ1?nJ2:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084689< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743038163.183268F (some fields omitted in printout)A(\@AIAE{7%T9B)BE[[@[]~?[a-[[[[ZZBZYY i) ɼID?i5Z C))C/N@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038164.043165 s, next control iter: 1743038164.423181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038164.443165 s.7FmJ~,>])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038164.443281F (some fields omitted in printout)Aq= c@AdϞV@Aq^~? AzA_a&"AAƑuNA"AZAbAjArAzAAA*Źo6@AkυrA6f@A_K<AX=A:@AݿA$6?A`*AT9?2AXս:Ag<BAT9?JAXսRAg<٘i)I96f@Y G JJJJJ`E&K Y]~?yT8$IAE7b7U9)B[[@[]~?['[[[[ZZBZYY i) wĽID?iL kB))kBϳO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038164.463165 s, next control iter: 1743038164.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11663, header.stamp.nsec: 00 temperature: 13.387786* salinity: 33.391720, density: 1025.000000* values[0]: 0.691508F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038164.863165 s.+MmJ~,>7)AJ"J*J2J:J1?BJ1?nJ95vJA@A@A^~? ACA&"AA yuNA"AZAbAjArAzAAA<=6@AEXѴrAUe@AH<A=A'@A:޿An?AD*A\9?2A5 ֽ:A<BA\9?JA5 ֽRA YÄ]~?y{2HA@EZ7SI7W9B)BE[[ @[3]~?[!"[[[[ZZBZYY i) I}D?iE  @)) @6Q@yR=UҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038164.883165 s, next control iter: 1743038165.263180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038165.283165 s.2RTmJ~,R)AA(\@ASςP@A^~? A'ALT&"AA_uNA"AZAbAjArAzAAAݑ2 6@AKrA{d@A-<A/r=A@A`޿AC?A*AZ9?2A2=ֽ:A=l<BAZ9?JA2=ֽRA=l<٘i)I9{d@Y G JEC=JJJJfE&K Yo]~?y,XHAEb77Y9B)BE[["@[(]~?[[[[[ZZBZYY i) EyIsD?i<N f?))f?R@ͨYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038165.303165 s, next control iter: 1743038165.683176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 116642, header.stamp.nsec: 020 temperature: 13.3881912* salinity: 33.3917312, density: 1025.0000002* values[0]: 0.6897892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038165.703165 s.ۺZmJ~,&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: 0.082973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038165.703292F (some fields omitted in printout)AQ@Aqs*@A^~? A&A&"AAEuNA"AZAbAjArAzAAAy#O5@AvOrAc@A A6-=A;,@AЪ߿AH?A̼*A9?2A^ֽ:A:;BA9?JA^ֽRA:;٘i)I9c@Y G JiB=JJJJhE&K YZ]~?y&GAEŧ7b7P[9)B[[!#@[z]~?[[[[[ZZBZYY i) њI;jD?i15 =))=;T@}sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038165.723165 s, next control iter: 1743038166.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038166.123165 s.7amJ~,]⇵)AAG:@ABf-@A^~? AAA>&"AA3+uNA"AZAbAjArAzAAAkZܟ5@ArAc@A>AE<A }@AY/A`?A%]*Aʵ9?2A"Vֽ:A+9BAʵ9?JA"VֽRA+9٘i)I9c@Y: G J'C=JJJJkE&K YmE]~?y GAE{7{7]9B)B޹E[[ %@[Rb]~?[[[[[ZZBZYY i) _.IdaD?i$ٛһ d<))d<U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038166.143165 s, next control iter: 1743038166.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038166.543165 s.IhmJ~,â)AJ"J*J2J:JBJnJvJA= ףp@Ac@A{^~? AxA&"AAuNA"AZAbAjArAzAAAYh5@Amd/rAb@ANA'L <A@A`yAa?Aq*A79?2A?ֽ:A8)BA79?JA?ֽRA8)٘i)I9b@Y G JAJJJJnE&K YO0]~?y&GAE)7ŧ7^9) B[[c&@[I]~?[ [[[[ZZBZYY i) .IYYD?is :))::W@7WYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038166.583165 s, next control iter: 1743038166.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11665, header.stamp.nsec: 00 temperature: 13.388532* salinity: 33.391724, density: 1025.000000* values[0]: 0.688393F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038166.963165 s.xnmJ~,𤽵)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082973< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743038166.963330F (some fields omitted in printout)Affff@A \@AGi^~? AzA &"AAUtNA"AZAbAjArAzAAA13x05@AM{%rAKb@Ax`AA!@A AK?A2K%*A9?2AGֽ:ABA9?JAGֽRAYx@!@y廙`ٓH s/c@?y1|? u?)x@ I٘i)I9Kb@Y G J{QJEJJJpE&KUw> YW]~?y0GA!@E777`9 B)B۹E[[(@[Q0]~?[S [[[[ZZBZYY iy=) ;tIQD?iR 䴻 e9))e9X@)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038167.003165 s, next control iter: 1743038167.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038167.383165 s.J "J umJ~*J2J,@ص)A:J0?BJ0?nJ85vJA(@A.2@AiV^~? AAuA&"AA tNA"AZAbAjArAzAAA4@A[H}VrAb@AeAAb"@A2A?A?*Ac9?2A~ֽ:A BAc9?JA~ֽRA ٘i)I9b@Y G JJJJJsE&K Y`]~?y:GAEj7j7{b9"B)BعE[[y)@[]~?[[[[[ZZBZYY i1=) gaIJD?i§ 7))78Z@9)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038167.403165 s, next control iter: 1743038167.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11666", header.stamp.nsec: 0"0 temperature: 13.388711"* salinity: 33.391762", density: 1025.000000"* values[0]: 0.687579"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038167.803165 s.|A|mJ~,g)AA@A@A-C^~? AoA&"AA1tNA"AZAbAjArAzAAA꣥EU4@A@2#rAKa@A<A A#@A `A`/?A *A9?2Aֽ:AʼBA9?JAֽRAʼ٘i)I9a@Y G JtJJJJvE&K Yg\~?y CGAE777Fd9%B)BԹE[[k*@[$\~?[[[[[BZYY i) uNIPDD?i) Di6))Di6q[@7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038167.843165 s, next control iter: 1743038168.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038168.223165 s.gmJ~,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: 0.071757< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038168.223282F (some fields omitted in printout)AzG@A&:@A/^~? AjAb&"AAʝtNA"AZAbAjArAzAAAK4@AɢrAQa@As}<At4A%@A`gA`v?Ar2;*A9?2Aֽ:ABA9?JAֽRA⼙^I٘i)I9a@Y G JN:JJJJxE&K Yq\~?ysMGAE{7{7f9)[[+f,@[]\~?[[[[[BZYY i) ;I>D?iYѾ 4))42]@y}=r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038168.243165 s, next control iter: 1743038168.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038168.643165 s.uЉmJ~,*))AA ףp}@Awep@A^~? AVeAV&"AAtNA"AZAbAjArAzAAA|E4@Ab܍rAMb@A*j<A,ZAhU&@A%A?A;*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J;JJJJ{E&K Yz\~?yJWGAE77g9'B)BѹE[[-@[\~?[[[[[BZYY i) (I9D?i/b q3))q3^@**YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743038168.663165 s, next control iter: 1743038169.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11667, header.stamp.nsec: 00 temperature: 13.388802* salinity: 33.391754, density: 1025.000000* values[0]: 0.687342F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038169.063165 s.mJ~,J D)AJ"J*J2J:JBJnJvJA3333@Az0)@Ab^~? AH`Ad-&"AAkatNA"AZAbAjArAzAAA 4@A‰rAVb@A0;A/ryA'@A@aqA?A.<*A9?2Axqֽ:AoBA9?JAxqֽRAoY~@'@y;qy;ٓH.߿d?e?F8)?fv??)~@ I٘i)I9Vb@Y G JL <J^JJJ~E&Knw> Y\~?yGA'@Eb77i9(B)ιE[[PL/@[6\~?[g[[[[BZYY i$f=) 6 I5D?ivJ 1))1'`@¨*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038169.103165 s, next control iter: 1743038169.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038169.483165 s.}_mJ~,^)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056286< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743038169.483329F (some fields omitted in printout)A\@A@A]~? A[[A&"AA|BtNA"AZAbAjArAzAAA"$3@AH=ۇrAb@A%ѻA[A2(@AAn@?A\j<*A^9?2Ag ֽ:ABA^9?JAg ֽRA٘i)I9b@Y G JJ<JJJJE&K Y\~?y|GAE7777pk9*B)B˹E[[0@[ϔ\~?[[[[[BZYY i) E/ I2D?i⇾- ,0)),0a@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038169.503165 s, next control iter: 1743038169.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11668, header.stamp.nsec: 00 temperature: 13.388760* salinity: 33.391754, density: 1025.000000* values[0]: 0.687610F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038169.903165 s.ȝmJ~,y)AJ"J*J2J:JBJnJvJAQ@Au@A]~? AVA&"AA#tNA"AZAbAjArAzAAA6=3@AkUrARc@AUSuApXA *@A5Av~?Ai<*A9?2A(ս:AMeBA9?JA(սRAMe٘i)I9c@Y7 G J<JJJJE&K Yt\~?yRHAE{7{7;m9)B[[].2@[Vz\~?[[[[[BZYY i) >I/D?iZw /))/c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038169.923165 s, next control iter: 1743038170.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038170.323165 s.wmJ~,))AAGzT@A,`pG@A]~? AQAJ&"AA,tNA"AZAbAjArAzAAA]I3@AzrA\c@AA_A7i+@AHA`Q?A{<*A9?2Aս:A*BA9?JAսRA*٘i)I9c@Y G J<JJJJE&K Y[\~?yHAEj7j7o9-B)BǹE[[3@[_\~?[[[[[BZYY i[=) |һI,D?i ʺ T-))T-ad@yf=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038170.363165 s, next control iter: 1743038170.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11669*, header.stamp.nsec: 0*0 temperature: 13.388622** salinity: 33.391754*, density: 1025.000000** values[0]: 0.688340*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038170.743165 s.WmJ~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065605< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038170.743312F (some fields omitted in printout)Aףp=@A'8}@A*]~? A\MA&"AAsNA"AZAbAjArAzAAAM_ر3@A0rA&d@AAvoAۿ,@AnAm?A8<*AP9?2AXֽ:A BAP9?JAXֽRA ٘i)I9&d@Y G J$<B=JJJJE&K Y C\~?yFHAE)7b7p9/B) BĹE[[5@[XE\~?[[[[[BZYY i) G*I+D?i8g },))},8f@yvo=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038170.783165 s, next control iter: 1743038171.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038171.163165 s.{}mJ~,qʶ)AA@Aǀ@AZ]~? AHA&"AAsNA"AZAbAjArAzAAA2@A0/NrANd@Af;AՙA.@AA?Ax2<*A9?2Aֽ:A\ BA9?JAֽRA\ Y @.@yՙdf;ٓHE )ڿ.?`?/4m$6?l??) @ I٘i)I9d@Y1 G J<C=J JJJE&K9x> YM)\~?yaIA.@E77{7r90B) BE[[r6@[z*\~?[t[[[[BZYY i)  I +D?i G Q*))Q*dug@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038171.183165 s, next control iter: 1743038171.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038171.583165 s.$mJ~,7S)AJ"J*J2J:JV0?BJV0?nJ85vJA)\@A@A@]~? ADAYP&"AAsNA"AZAbAjArAzAAAF2@A*䄵rAQAe@A/\<AAu/@A AK?A¦<*A59?2A|׽:A}BA59?JA|׽RA}٘i)I9Ae@Y G J<JJJJE&K Y\~?yIAEb7b7ft91B)BE[[q7@[\~?[ [[[[BZYY i) mI+D?i=Z 7)))7)h@4*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038171.603165 s, next control iter: 1743038171.983186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11670, header.stamp.nsec: 00 temperature: 13.388407* salinity: 33.391724, density: 1025.000000* values[0]: 0.689325F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038172.003165 s.x mJ~,L4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065605< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038172.003293F (some fields omitted in printout)AR+@AEJy@Ap]~? A@A"&"AA sNA"AZAbAjArAzAAAq?2@A5F3rA]e@A]Ѕ<AŘA0@ARA&x?A-<*A/9?2Az׽:A)sBA/9?JAz׽RA)s٘i)I9e@Y G J<JJJJE&K Y[~?yy/JAEZ7Z70v9)B[[E9@[[~?[[[[[BZYY i) ng1I+D?iPZ=w : ''))''Yj@$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038172.043165 s, next control iter: 1743038172.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038172.423165 s.umJ~,)AJ"J*J2J:JBJnJvJA{Ga@AUt[: K$))K$j8m@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038172.883165 s, next control iter: 1743038173.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038173.263165 s.mJ~,P)AJ"JvPublished command to Gazebo (printed only once in a while):*J2J( dropWeightState: 1:JBJnJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065605< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038173.263288F (some fields omitted in printout)A@A~@A-,]~? A5A&"AAsNA"AZAbAjArAzAAA-rno1@A6{t51rAyg@AU\=AA4@A`4AS?A$<*A9?2A2"ֽ:ABA9?JA2"ֽRAYq&@4@y u=ٓH@L +)Կ9?-? Y^6@+n?@h1?)q&@ I٘i)I9yg@Y G J<J;JJJE&K%x> Yq[~?y֧aKA4@E{7{7{95B)BE[[Rt=@[[~?[]ܧ[[[[BZYY i) O8I3D?i"h>; y#))y#6n@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038173.283165 s, next control iter: 1743038173.663180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11672., header.stamp.nsec: 0.0 temperature: 13.388033.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.691323.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038173.683165 s.lmJ~,gk)AA(\@A~ƃ@A]~? A1A&"AASrNA"AZAbAjArAzAAAvqD(1@AD^FrA h@A"AA5@A4A?A<*A@9?2Aֽ:ABA@9?JAֽRA٘i)I9 h@Y9 G J<JJJJE&K Y[~?yӧKAE77[}9)BE[[Y>@[[~?[ڧ[[[[BZYY i) Pw:I6D?i> 55; [ "))[ "Zp@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038173.683165 s, next control iter: 1743038174.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038174.103165 s.mJ~,)AJ"J*J2J:JBJnJvJAQ8@A ސF+@A0\~? A0.A] &"AArNA"AZAbAjArAzAAA0@A Nd}rAch@AUMA[Ax'7@A zhAA?Aؤ<*A9?2Aaֽ:AXBA9?JAaֽRAX٘i)I9h@Y G J<JJJJE&K Yq[~?yЧ'LAEj7j7&9)B[[9@@[m[~?[٧[[[[BZYY i) H:Ig;D?i>PZ; I ))I lq@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038174.143165 s, next control iter: 1743038174.503176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038174.523165 s.mJ~,{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065605< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038174.523296F (some fields omitted in printout)AHzn@Aea@A\\~? A*A>R &"AAͬrNA"AZAbAjArAzAAAaɸ0@A =L{rAi@A AJjA8@A rA_?A_؛<*A9?2Aֽ:ABA9?JAֽRA٘i)I9i@Y G J<JJJJE&K YW[~?y4ΧLAE77797B)BE[[A@[S[~?[ا[[[[BZYY i)  <;;I@D?i>JC; 5))5r@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038174.543165 s, next control iter: 1743038174.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11673, header.stamp.nsec: 00 temperature: 13.387815* salinity: 33.391724, density: 1025.000000* values[0]: 0.692330F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038174.943165 s.ZdmJ~,J])AJ"J*J2J:JBJnJvJAq= ף@ABʖ@AR\~? A'A' &"AArNA"AZAbAjArAzAAA6O0@Ac~zrA0i@A <A'Av9@A .A{?AG<*A9?2AK׽:Al^BA9?JAK׽RAl^󼙘٘i)I9i@Y/G J͗<JJJJE&K Y3<[~?yp˧LAEb7798B)BE[[`B@[p8[~?[ק[[[[BZYY i) /?x;IRGD?i>; ))Rt@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038174.983165 s, next control iter: 1743038175.343178 s, wait time: 0.360013 s"3<[~?)"p˧ rAdjusting time to match Gazebo time: 1743038175.363165 s.mJ~,>׷)AA@A@A\~? A$A &"AAcrNA"AZAbAjArAzAAA4U0@AOxrAj@A<A6uA/;@A GA?A<*A59?2A9׽:AIBA59?JA9׽RAIYi-@;@ypW<ٓH ,@R˿h?̚?7?LW?? s?`?)i-@ I٘i)I9j@YyG J̏<Jg<JJJE&K)x> Y [~?yɧHMA;@E7799B)BE[[SD@[j[~?[֧[[[[BZYY i=) F;IbND?iZ?^";  d)) du@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038175.383165 s, next control iter: 1743038175.763178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11674", header.stamp.nsec: 0"0 temperature: 13.387630"* salinity: 33.391747", density: 1025.000000"* values[0]: 0.693235"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038175.783165 s.XmJ~,)AJ"J*J2J:Jw1?BJw1?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038175.783292F (some fields omitted in printout)A(\@AM@A\~? A%"A!&"AA?rNA"AZAbAjArAzAAAxx/@AKmvrAj@A/i<AS>A,{<@A!A ]?Aܪ<*A9?2A׽:A# BA9?JA׽RA# 9٘i)I9j@YG Jo<JJJJE&K Y [~?yǧMAE77{7P9:B)BE[[E@[[~?[r֧[[[[BZYY i) j;I'VD?i? ; ))#w@׶*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038175.803165 s, next control iter: 1743038176.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038176.203165 s.nJ~,  )AAQE@Aa/8@A \~? AA7!&"AArNA"AZAbAjArAzAAAkN.@AurAk@A0F;AօA\=@A@HA ?AM<*A9?2Aֽܵ:ApBA9?JAֽܵRAp٘i)I9k@YG J<B=JJJJE&K YqZ~?yŧMA E79;B)BE[[ G@[Z~?[֧[[[[BZYY i) ;I^D?i?B; ))Љx@A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038176.243165 s, next control iter: 1743038176.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038176.623165 s.Z nJ~,i')AJ"J*J2J:J1?BJ1?nJO:5vJAGz@AJVm@ADk\~? A Ai!&"AAqNA"AZAbAjArAzAAAsJM.@AۀsrAtk@AÍAuA>@AKmA?A<<*A9?2A#Zֽ:A(BA9?JA#ZֽRA(٘i)I9tk@YMG JH<C=JJJJE&K YZ~?yçYNAE扚9 elevatorAngleAction: 0.076177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038177.043271F (some fields omitted in printout)A= ף@AT@AWR\~? AA!&"AAqNA"AZAbAjArAzAAA-@A1rrA^k@A1%yAAC@@AAF?AŽ<*A9?2A-ֽ:ABA9?JA-ֽRA٘i)I9k@YG J+<JJJJE&K YFZ~?yNAE7779)ܯB[[ I@[Z~?[է[[[[BZYY i) I ?@? ?ˤ`?)Л3@ I٘i)I9cl@YG J<B=JJJJE&K x> Y5Z~?yOAA@Ej7j7{9)ٯBE[[K@[WZ~?[֧[[[[BZYY i) y< j))j|@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038177.483165 s, next control iter: 1743038177.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11676, header.stamp.nsec: 00 temperature: 13.387317* salinity: 33.391739, density: 1025.000000* values[0]: 0.694892F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038177.883165 s.ynJ~,Ix)AA(@A@A \~? AA0!&"AAqNA"AZAbAjArAzAAA{,@AylorA2l@A!AGɊAB@AbA`C?Ap<*A 9?2Aֽ֥:A`BA 9?JAֽ֥RA`٘i)I9l@Y'G J<C=JJJJE&K Y(zZ~?yῧlOAEŧ7b7F9=B)֯BE[[qhL@[}Z~?[p֧[[[[BZYY i) * elevatorAngleAction: 0.076177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743038178.303278F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AD@A\~? AA"&"AA\qNA"AZAbAjArAzAAAy+@A}8nnrAQm@Ac;AX匽ABD@AgA`?AT*<*AE9?2A ׽:A0BAE9?JA ׽RA0٘i)I9Qm@YoG J_<JJJJE&K Y^Z~?yܾOAEb779>B)ԯBE[[M@[cZ~?[֧[[[[BZYY i)  : elevatorAngleAction: 0.076177< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038179.563286F (some fields omitted in printout)A3333@Aӝ'@A[~? A4Ap"&"AApNA"AZAbAjArAzAAAH*@Ap4krA{n@A!<AT픽A0H@Aq.A3o?A<*A9?2Aֽ:A" BA9?JAֽRA" Y:@%H@yw딽C"<ٓH݋ϡ?C?.&? Y Z~?yPA%H@!E77q9@B)ʯBE[[ԮQ@[?Z~?[x٧[[[[BZYY i) h elevatorAngleAction: 0.085155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038180.823291F (some fields omitted in printout)AGz@A ףp@Al[~? A A"&"AAspNA"AZAbAjArAzAAAX6yE(@AeirAMp@AnAwA&FA[A3?A<*A9?2A#ֽ:ANBA9?JA#ֽRAN٘i)I9Mp@YAG J<JJJJE&K YY~?yPRA)E77ћ9)BE[[U@[Y~?[nݧ[[[[BZYY i) 9 Y|Y~?yRAvC.E77f9)BE[[+X@[ZY~?[[[[[BZYY i) P elevatorAngleAction: 0.085155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038182.083301F (some fields omitted in printout)A)\5@Aw(@A[~? A A"&"AAoNA"AZAbAjArAzAAA:Km&@AL|hrAq@A#<A6A+BA@rA?A<*AT9?2A\-׽:A>"BAT9?JA\-׽RA>"٘i)I9q@YEG J<JJJJE&K Y`Y~?yHSA1Eb7719CB)B}E[[uY@[Y~?[[[[[BZYY i) ͡X=hrAs@A_<A*A|?A@yuA@npA<*A9?2A׽:ABA9?JA׽RA٘i)I9s@YG Jƫ<JJJJE&K YN(Y~?yCTA6E777Ƥ9)BwE[[`\@[:OY~?[ [[[[BZYY i) Ű elevatorAngleAction: 0.085155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038183.343284F (some fields omitted in printout)Ap= @A<*@AZ~? A^ A"&"AAoNA"AZAbAjArAzAAA9ArAm4A7<*Aܒ9?2Aֽ:ABAܒ9?JAֽRA٘i)I9s@YNG J<JJJJE&K Y/ Y~?yTA9E79DB)BtE[[D]@[7Y~?[a[[[[BZYY i) @ YwX~?yTA<;E777\9)B[[^@[Y~?[[[[[BZYY i) E77&9)BqE[[_@[-Y~?[[[[[BZYY i) m elevatorAngleAction: 0.085155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038184.603289F (some fields omitted in printout)AQx@A2Fk@A Z~? A A"&"AAoNA"AZAbAjArAzAAA=n㝼"@A)sirA؟u@A(*wA'A,o:A3]A@A<*A9?2Aֽ:AdBA9?JAֽRAd٘i)I9u@Y~G J/<JJJJE&K Y X~?yħUAAE{79)BnE[[ka@[X~?[K[[[[BZYY i) d!!@AjrA5v@A;APA(7A@gBANɷA'<*A69?2Aoֽ:A#BA69?JAoֽRA#٘i)I9v@YRG J^<C=JJJJE&K YX~?yMȧVAFE{7{79)BhE[[c@[X~?[,[[[[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: 0.085155< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038185.863283F (some fields omitted in printout)A@Aa @A5Z~? AA"&"AAnNA"AZAbAjArAzAAA>;A' @At=krAQw@Alh<AA\6A1A|A <*A9?2Aa/׽:A[BA9?JAa/׽RA[YM@p6yQi<ٓH`n?fk? Iҿף? h?`P ??)M@ I٘i)I9w@YG J<JI JJJE&K3x> YfX~?yʧAWAp6IE777Q9)BeE[[d@[#X~?[W[[[[BZYY i) cBZYY i¸>韩) \ YhW~?yIاuYA/VE{7j7F9)hBZE[["j@[XAX~?[ [[[[ZZZZBZYY i) JJJE&Ki> Y^W~?yZA)dE{7j7<Ú9)SBNE[[4 q@[W~?[R [[[[ZZZZBZYY i~n) !e5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069032< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038190.903314F (some fields omitted in printout)AQ@ALA@A Y~? A4)Au &"AA-lNA"AZAbAjArAzAAA@AZzrA~@AjAN9=A 'A@SAΫѿAi*At:?2AXŽ:A|<BAt:?JAXŽRA|<٘i)I9~@YG JB=JJJJ E&K Y,W~?y/eZAiEƚ9BB)IE[[ ts@[W~?[<)[[[[BZYY i)  A &"AAlNA"AZAbAjArAzAAA^R@A[~rA}@AdRhA |=A%AA%ӿA0*Aj:?2AW˽:A=BAj:?JAW˽RA=٘i)I9}@YaG JJJJJE&K YV~?yw*ZAnE7gʚ9)UBFE[[u@[W~?[w2[[[[BZYY i)  Y7V~?y?YAY$qE{7j71̚9)WBCE[[Nw@[5W~?[A7[[[[BZYY itf) z 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056264< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038193.423316F (some fields omitted in printout)A{G@Az<@A{X~? A=AN.&"AAQkNA"AZAbAjArAzAAA0 @A{rA{@AX=<A4=A>u ATA[ֿAc*A[:?2AMoҽ:A=BA[:?JAMoҽRA=٘i)I9{@YFG JC=JJJJE&K Y V~?y XAyEZ7Z7њ9)bB=E[[Qz@[LW~?[ F[[[[BZYY i) ;IXH?i9@@ < ۔ʿ))۔ʿj@yf֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038193.443165 s, next control iter: 1743038193.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11692, header.stamp.nsec: 00 temperature: 13.384853* salinity: 33.391598, density: 1025.000000* values[0]: 0.707891F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038193.843165 s.oJ~,u)AAp= @A/ @AeX~? AAAl&"AA}kNA"AZAbAjArAzAAAY@A D߉rA>{@AY<AG%=AA}A`0׿A쳼*A]:?2Ahӽ:A} =BA]:?JAhӽRA} =٘i)I9>{@YG J7JJJJE&K YQV~?y]ZXA|Eŧ7b7\Ӛ9)gB;E[[+{@[ YNnV~?yWA~E77j7'՚9@B)kB8E[[U|@[i,W~?[KP[[[[BZYY i) 9Հ;I?H?iSG@"< ſ))ſ&@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038194.283165 s, next control iter: 1743038194.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 116932, header.stamp.nsec: 020 temperature: 13.3851052* salinity: 33.3915822, density: 1025.0000002* values[0]: 0.7068442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038194.683165 s.l*oJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038194.683286F (some fields omitted in printout)A(\@A u@A98X~? AIA5E&"AAkNA"AZAbAjArAzAAAtCkY@A\>rAz@AXcA—=AUA@yA`ؿA*A\:?2Ax*ֽ:AZ=BA\:?JAx*ֽRAZ=٘i)I9z@Y5G JC=JJJJ"E&K YMXV~?yeWAEZ7Z7֚9)oB[[~@[W~?[U[[[[BZYY i) cE;IH?i\J@= ÿ))ÿ+@ЪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038194.683165 s, next control iter: 1743038195.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038195.103165 s.1oJ~,Ƽ)AJ"J*J2J:J4?BJ4?nJ=5vJAQ@A{E@A1"X~? AINA&"AAaskNA"AZAbAjArAzAAA1VC@Agx7rA=y@A`Aeb=AA@NA@jٿA򙦼*AZ:?2Aֽ:Aߋ<BAZ:?JAֽRAߋ<٘i)I9y@YG JJJJJ$E&K YMBV~?y"#WAE77ؚ9?B)sB5E[[=@[? W~?[Z[[[[BZYY i) v ;II?iM@= ;));@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038195.123165 s, next control iter: 1743038195.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038195.523165 s.7oJ~,{)AAHz@A @As X~? ARA&"AA1RkNA"AZAbAjArAzAAAHFh?A|3LrAx@Af)A =A AzAtڿA񟥼*AdX:?2A5ֽ:AD<BAdX:?JA5ֽRAD<٘i)I9x@YG J饼JJJJ'E&K YK,V~?ym(VAE7777ښ9)wB1E[[2@[DV~?[B`[[[[BZYY i) :II?iQ@O#= 뾿))뾿T@y4ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038195.543165 s, next control iter: 1743038195.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11694, header.stamp.nsec: 00 temperature: 13.385348* salinity: 33.391582, density: 1025.000000* values[0]: 0.705815F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038195.943165 s.Ud>oJ~,5])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038195.943288F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A @AW~? AaWA@C&"AAr1kNA"AZAbAjArAzAAAOW?AkPrApx@Aæ:AT=AsA5A;ۿA\_*A.V:?2Aֽ:Ax =BA.V:?JAֽRAx =٘i)I9px@Y5G J̥JJJJ*E&K YIV~?y-TVAEj7j7Rܚ9){B[[ ƀ@[V~?[e[[[[BZYY i) c9IiU@E= [))[@LǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038195.983165 s, next control iter: 1743038196.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038196.363165 s.EoJ~,l>)AAY@AxWL@AW~? A!\A&"AA'kNA"AZAbAjArAzAAAeFV?A_*rAw@AD<A#=A50AAۿAI*A T:?2Ahoֽ:A=BA T:?JAhoֽRA=Y l@"y1!=9%E<ٓH`'|?t FP?`?) l@ I٘i)I9w@YG JqJgJJJ-E&K{> Y6V~?y#4UA"E7777ޚ9)B0E[[Z@[KV~?[?k[[[[BZYY i) !4Ii*X@tX = L))L|@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038196.403165 s, next control iter: 1743038196.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11695&, header.stamp.nsec: 0&0 temperature: 13.385601&* salinity: 33.391567&, density: 1025.000000&* values[0]: 0.704832&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038196.783165 s.QKoJ~,2)AJ"J*J2J:JBJnJvJA(\@AKU@A W~? AaA&"AATjNA"AZAbAjArAzAAAcc?AzzrA Zw@AN<A~=A:A4A:ܿA"(*AR:?2Aֽ:A=BAR:?JAֽRA=٘i)I9Zw@YG JJJJJ/E&K Y!U~?yU:UAEŧ7b7ߚ9>B)B,E[[@[EV~?[p[[[[BZYY i) z<պIiZ@ = ))@K) Iie@S= g ))g ǜ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038198.063165 s, next control iter: 1743038198.443182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038198.463165 s.VgoJ~,褝)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743038198.463302F (some fields omitted in printout)Afffff@A`Y@A}W~? AuA<&"AA wjNA"AZAbAjArAzAAAAEe?AdrAhu@AiAѶ=A:A`dAF߿AIK*AnH:?2A׽:A:<BAnH:?JA׽RA: YU~?ySTAE779)B'E[[8@[V~?[߇[[[[BZYY i)  Iig@C= cԮ))cԮZ@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038198.483165 s, next control iter: 1743038198.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11697, header.stamp.nsec: 00 temperature: 13.386073* salinity: 33.391544, density: 1025.000000* values[0]: 0.703016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038198.883165 s.ymoJ~,I)AA(@A[ @AiW~? AS{A׎&"AAYjNA"AZAbAjArAzAAA;YAflrAlt@AYmfA=AQ9AAA6AZ *AA:?2A1׽:A'<BAA:?JA1׽RA'<٘i)I9t@YG J<C=JJJJ=E&K YU~?yZSAE)779)B$E[[˄@[͒V~?[ˍ[[[[BZYY i) cлIi*j@= ))@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038198.903165 s, next control iter: 1743038199.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038199.303165 s.VtoJ~J"J*J,wgӽ)A2J:J3?BJ3?nJ<5vJA@A;@Aֽ:AHd=BA4:?JA>ֽRAHd=\I٘i)I9t@YG JxJJJJBE&K YjU~?y hSAE7)7r9 YHU~?yDv`RA Ej7j79-B)BE[[;@[eV~?[襨[[[[BZYY i) &Iiu@K= z))z61@ѼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038200.583165 s, next control iter: 1743038200.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11699, header.stamp.nsec: 00 temperature: 13.386454* salinity: 33.391541, density: 1025.000000* values[0]: 0.701489F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038200.983165 s.oJ~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743038200.983269F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@Ae,@AW~? AAX&"AAiNA"AZAbAjArAzAAAXʮiAvrA[r@A&;AJ=AA I޿AAθ*A#:?2A +׽:Aj=BA#:?JA +׽RAj=٘i)I9r@YG JJJJJJE&K Y8U~?y}RAE7)79)B[[@[e[V~?[[[[[BZYY i) cJ6Iiw@= 7))7 @4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038201.023165 s, next control iter: 1743038201.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038201.403165 s.&oJ~,Y)AAQ@AԲ@AKV~? AўA&"AA5iNA"AZAbAjArAzAAA߯@;A:?2A׽:Ad=BA>:?JA׽RAd=٘i)I9q@Y*G JXJJJJPE&K YU~?yFLQAE77{7g9)B[[@[GV~?[[[[[BZYY i ) UUIi}@D"= ))@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038201.863165 s, next control iter: 1743038202.223175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038202.243165 s.oJ~,d)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743038202.243278F (some fields omitted in printout)Aףp=J@A42=@AV~? AAF&"AAiNA"AZAbAjArAzAAAkIA.[xrAVq@A*Az=AA@hbܿA 5A*An:?2A׽:AY=BAn:?JA׽RAY=٘i)I9Vq@YG JJJJJRE&K Y U~?yPAE29+B)BE[[N@[>V~?[¾[[[[BZYY i) dIip@g$= {)){p@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038202.283165 s, next control iter: 1743038202.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038202.663165 s.oJ~,q)AJ"J*J2J:J)3?BJ)3?nJ;5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11701, header.stamp.nsec: 00 temperature: 13.386859* salinity: 33.391506, density: 1025.000000* values[0]: 0.699856F (some fields omitted in printout)A@A r@AqV~? AAmm&"AAliNA"AZAbAjArAzAAAeXbA?orAp@A]gA0B=A}A@ ۿA Ag*A~ :?2AR׽:A =BA~ :?JAR׽RA =YH@[yu@=ٓH౹ݿS?[Й>`Jݿ@ꃲ@،,?)H@ I٘i)I9p@YG J;JR<JJJUE&Kx> YT~?ygPAE7779)B[[މ@[5V~?[Ũ[[[[BZYY i) >tIi5@/c%= C<))C<@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038202.683165 s, next control iter: 1743038203.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038203.083165 s.DoJ~,Sž)AA)\µ@Aබ@AXV~? AA&"AAmUiNA"AZAbAjArAzAAApBA)vrA ^p@A;A=AQ=AڿAENA-*A5:?2Aֽ:A;=BA5:?JAֽRA;=٘i)I9^p@YKG J햼JJJJXE&K YT~?y2)PAEŧ7b79*B)BE[[Pn@[/-V~?[y˨[[[[BZYY i) Ii*@B&= ?))?K@yWЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038203.123165 s, next control iter: 1743038203.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038203.503165 s.oJ~,P4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743038203.503286F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A({@AV~? AJA'l&"AA>iNA"AZAbAjArAzAAA{ACʊrAo@A0O<AԚ=AA` ڿAoA *A=9?2A@ֽ:A=BA=9?JA@ֽRA=٘i)I9o@YG JJJJJZE&K YT~?yOAE79)B[[Z@[ %V~?[Ѩ[[[[BZYY i) SGIiN@(= “))“U@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038203.523165 s, next control iter: 1743038203.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11702, header.stamp.nsec: 00 temperature: 13.387079* salinity: 33.391499, density: 1025.000000* values[0]: 0.699017F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038203.923165 s.5oJ~,)AA{G!@AY>@AsV~? AƩA&"AA(iNA"AZAbAjArAzAAA׆A[rAyJo@AD<Aޝ=AfA AٿA Aw*A9?2Ayֽ:A6=BA9?JAyֽRA6=٘i)I9Jo@YG JJJJJ]E&K YbT~?yȲbOAE7777]9)BE[[ҋ@[LV~?[Hب[[[[BZYY i) 䐼Ii@)= 7))7ͭ@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038203.943165 s, next control iter: 1743038204.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038204.343165 s. YT~?y¨NAE779)B[[?@[V~?[5[[[[BZYYT~?)¨ i) 럼Ii@|,= )):ʥ@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038204.783165 s, next control iter: 1743038205.163175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038205.183165 s.oJ~,cK)AJ"J*J2J:J2?BJ2?nJ@;5vJA(\@A @A{V~? AکAT&"AA>hNA"AZAbAjArAzAAA>Aw-erAm@A+A=AJA ֿA@9Az*Aa9?2A4׽:A=BAa9?JA4׽RA=٘i)I9m@YG JUJJJJeE&K Y,T~?yʨ#NAE)7ŧ79)B[[6@[>V~?[[[[[BZYY i) UIi@d-= /݊))/݊X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038205.203165 s, next control iter: 1743038205.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038205.603165 s.94oJ~,f)AAQ@AF@AoV~? AA&"AAhNA"AZAbAjArAzAAAAMrA)AJ"J*J2J:J-2?BJ-2?nJ:5vJA@A)@ALV~? AA#&"AAhNA"AZAbAjArAzAAAN4 A||rAk@A;<AȀ=AOATӿAfA'̼*A9?2A;hֽ:AIp=BA9?JA;hֽRAIp=Y͆@HyF=<ٓHѿ@?@,@@ѿ@mx 鵿@?`?)͆@ I٘i)I9k@YG JǼJoh<JJJpE&K'x> Y‹T~?ydLAE7 9(B)ϯBE[[pl@[bU~?[[[[[BZYY i) ļIi}@42= ))k@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038206.903165 s, next control iter: 1743038207.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038207.283165 s.;RoJ~,ҿ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083542< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038207.283318F (some fields omitted in printout)A(\@A[;Q@ATBV~? A.A&"AAhNA"AZAbAjArAzAAAӽ 3 ArApj@A׀<A׭=AAvҿA AҼ*A9?2A5ֽ:A%=BA9?JA5ֽRA%=٘i)I9pj@YG JqϼJJJJrE&K YT~?yKKAE7 9)ԯBE[[@[U~?[ [[[[BZYY i) ̼Ii@Z3= ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038207.303165 s, next control iter: 1743038207.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11706., header.stamp.nsec: 0.0 temperature: 13.388082.* salinity: 33.391438., density: 1025.000000.* values[0]: 0.694851.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038207.703165 s.պoJ~, )AJ"J*J2J:JBJnJvJAQ@Aި@AT8V~? AA&"AAhNA"AZAbAjArAzAAA2 j% AՌ3sAi@AL!v<AI=AA ѿAXA,Լ*Aj9?2A^ֽ:A=BAj9?JA^ֽRA=٘i)I9i@YCG J ԼJJJJuE&K Y"|T~?yyKAE7{7}9)گB[[ʆ@[+U~?[F[[[[BZYY i) `SӼIi@ue4= 8{))8{Ũ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038207.723165 s, next control iter: 1743038208.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038208.123165 s.7pJ~,])AAG:@A-@A.V~? A(Ap&"AAIthNA"AZAbAjArAzAAAc)j8 A?sA% i@A;A_=A9A®пA`AӼ*A9?2A8ֽ:A'=BA9?JA8ֽRA'=٘i)I9 i@Y G JԼJJJJxE&K YStT~?y2KAE77G9)߯B[[\@[ U~?[[[[[BZYY i}) ڼIi@P5= v))vW5@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038208.143165 s, next control iter: 1743038208.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038208.543165 s.IpJ~,")AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092525< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038208.543286F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@Aa c@A%V~? AA&"AA;fhNA"AZAbAjArAzAAAyA E80O sA[h@A8A4ӱ=AzA@ϿAA(ϼ*A9?2A<׽:A=BA9?JA<׽RA=٘i)I9[h@Yk G JѼJJJJ{E&K YlT~?y JAE{7j79'B)BE[[{@[wU~?[ [[[[BZYY i) Ii@/7= %sr))%srv@tYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038208.563165 s, next control iter: 1743038208.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11707, header.stamp.nsec: 00 temperature: 13.388377* salinity: 33.391422, density: 1025.000000* values[0]: 0.693604F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038208.963165 s.{pJ~,=)AAffff@Af\@AQV~? A^A I&"AAXhNA"AZAbAjArAzAAA AsAg@AnA=A߿A ]ͿA DA˼*A=9?2ALu׽:A[=BA=9?JALu׽RA[=Y@c߿yB=JoٓH`Dƿ~?Q`^ ƿ@HNԍ?)@ I٘i)I9g@Y G JͼJq;JJJ}E&Kwx> YgT~?yNJA߿E77{79)BE[[?,@['U~?[A'[[[[ZZ¸BZYY i¸P=) ռIic@7=  n)) n:N@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038208.983165 s, next control iter: 1743038209.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038209.383165 s.pJ~,4X)AJ"J*J2J:Jh1?BJh1?nJ:5vJA(@A@AUV~? A %A &"AAlLhNA"AZAbAjArAzAAA31;AJcѨsAg@AA~=A&ݿA`˿A kiA/ͼ*A̮9?2A[V׽:A0=BA̮9?JA[V׽RA0=٘i)I9g@Y G J˼JJJJE&K Y{bT~?yIAE7779)B[[θ@[7U~?[-[[[[ZZBZYY i) ɼIi؏@"8= i))iګ@ypYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038209.403165 s, next control iter: 1743038209.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11708", header.stamp.nsec: 0"0 temperature: 13.388631"* salinity: 33.391403", density: 1025.000000"* values[0]: 0.692396"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038209.803165 s.xApJ~,gs)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083162< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038209.803281F (some fields omitted in printout)A@A@A V~? A,A) &"AA@hNA"AZAbAjArAzAAA1z0AP]d`sABf@A۪AZ=AڿAr ʿAೈA?*A׷9?2Aֽ:A{G<BA׷9?JAֽRA{G<٘i)I9Bf@Y$ G JJJJJE&K Yx]T~?y'%IAEŧ7b7r9)B[[%E@[U~?[4[[[[ZZBZYY i) ɽIi|@a8= Ee))Ee g@yp=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038209.843165 s, next control iter: 1743038210.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038210.223165 s.g#pJ~J"J,H)A*J2J:J1?BJ1?nJ95vJAzG@A:@AV~? A4A݅ &"AA5hNA"AZAbAjArAzAAA=Ȗ~AYfsAhe@A*;A=A"ؿA 8ȿAA 2*A9?2Aֽ:AV<BA9?JAֽRAV<٘i)I9he@Y G JJJJJE&K YuXT~?yD0HAE7{7=9)BE[[!ѓ@[uU~?[[;[[[[ZZBZYY i) ȱIiO@9= `))`@yէ=,ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038210.243165 s, next control iter: 1743038210.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038210.643165 s.x)pJ~,*)AA ףp}@Aep@AhV~? A^<A &"AAt+hNA"AZAbAjArAzAAA&}8A+d"sADd@ACM<Av=A9տA`aƿA`A*Ad9?2Atxֽ:Aggx<BAd9?JAtxֽRAggx<٘i)I9d@Y G J_JJJJE&K YqST~?y85HAEŧ7b79)B[[\@[U~?[ B[[[[ZZBZYY i) ťIiQ@TI;= 5\))5\~@YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11709, header.stamp.nsec: 0F0 temperature: 13.388961F* salinity: 33.391415, density: 1025.000000* values[0]: 0.691001F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743038210.663165 s, next control iter: 1743038211.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038211.063165 s.0pJ~,V )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: 0.083162< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038211.063308F (some fields omitted in printout)A3333@A=|(@AsU~? A9DAT &"AA"hNA"AZAbAjArAzAAAel+Akej'sAXc@Ac<A(T2=AuӿAĿAAּ*A9?2A-ֽ:A;BA9?JA-ֽRA;Y?Y\`s㳿@ᘥ H ?@>?) YCQT~?yAGAҿEj7Z79) B[[9@[,U~?[H[[[[ZZBZYY i圗=) Iik@$k;= 5%X))5%X4 @uzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038211.083165 s, next control iter: 1743038211.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038211.483165 s.z_7pJ~,)AA\@A"@AU~? ALA &"AAThNA"AZAbAjArAzAAAq"r.AK,sA%c@A$<A<A3cпA`t¿AXA3Ĭ*A9?2Aֽ:AvBA9?JAֽRAv٘i)I9%c@Y> G J%ƼJJJJE&K YOT~?yJGAEŧ7ŧ79&B) B E[[u@[U~?[O[[[[ZZBZYY i) (Ii@N;= S))S@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038211.503165 s, next control iter: 1743038211.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11710, header.stamp.nsec: 00 temperature: 13.572890* salinity: 33.374981, density: 1025.000000* values[0]: 0.567885F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038211.903165 s.=pJ~,)AJ"J*J2J:JBJnJvJAQ@AB?S@AU~? A TA &"AAnhNA"AZAbAjArAzAAAmA0KW1sADb@A6A<AͿAA A^z*A49?2Axֽ:A! BA49?JAxֽRA! ٘i)I9b@Y G J!JJJJE&K YLT~?yMSGAE{7{7h 9'B)BE[[@[]U~?[GV[[[[ZZBZYY i) ZIi-@c<= 5`O))5`O#@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038211.923165 s, next control iter: 1743038212.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038212.323165 s.tDpJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074030< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038212.323280F (some fields omitted in printout)AGzT@AnG@AU~? A[A &"AAP hNA"AZAbAjArAzAAAcs4AGX26sA{Lb@ADA}ƻAG.˿A@n使A+AC*A9?2ANֽ:A"{BA9?JANֽRA"{٘i)I9Lb@Y G JsSJJJJE&K YJT~?y\FGAE772"9)B[[ɍ@[U~?[][[[[ZZBZYY ie_=) uIiՓ@ :== K))Kį@yK=3(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038212.343165 s, next control iter: 1743038212.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11711&, header.stamp.nsec: 0&0 temperature: 13.573179&* salinity: 33.374966&, density: 1025.000000&* values[0]: 0.567251&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038212.743165 s.WKpJ~,m/)AJ"J*J2J:J7?BJ7?nJE5vJAףp=@AN1}@AU~? AcA&"AAhNA"AZAbAjArAzAAA sΫcAl;sAb@AGAQAWȿA@k"A >AӚ*A(9?2AU7ֽ:A BA(9?JAU7ֽRA ٘i)I9b@Y G JJJJJE&K YHT~?yd GAESI7SI7#9)B[[ǿ[ U~?[c[[[[ZZBZYY i) @|_Ii@L>= F))FFyk=_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038212.783165 s, next control iter: 1743038213.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038213.163165 s.w}RpJ~,qJ)AA@Ao@AeU~? AkAM&"AApgNA"AZAbAjArAzAAAHՌAyM?sA b@A@iVAA@ſA@WANAkSD*A9?2A5Xֽ:AjмBA9?JA5XֽRAjмYl@xſyVٓH'?@?74?W?n?;r?̊ ?)l@ I٘i)I9b@Y G JCJt8JJJE&K\w> Y=IT~?ym6GAſEb77%9)[[wſ[mU~?[wj[[[[BZYY iZ%l=) NIi@36>= CB))CBCByh=$/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038213.203165 s, next control iter: 1743038213.563178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038213.583165 s. XpJ~,&Se)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057653< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038213.583290F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A캷@AU~? AtAF&"AAgNA"AZAbAjArAzAAA:÷A@DsA b@A׷.A51AXÿA@WA@[Ao:;*A9?2A!ֽ:A2BA9?JA!ֽRA2켙٘i)I9 b@Y G JsZ:JJJJE&K YIT~?yvbGAE777'9)BE[[[yÿ[/U~?[2q[[[[BZYY i=) ۖ= =))==yo/=m*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038213.623165 s, next control iter: 1743038213.983180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11712 , header.stamp.nsec: 0 0 temperature: 13.573267 * salinity: 33.374969 , density: 1025.000000 * values[0]: 0.567040 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038214.003165 s.v `pJ~,D4)AAR+@AMy@A>U~? A|A_&"AAgNA"AZAbAjArAzAAA~XAIsAk*b@Ar<A'WAթA LAfAn!;*A9?2A׽:AwBA9?JA׽RAw٘i)I9*b@Y G Jk;JJJJE&K YJT~?yYGAE{7{7])9+B)B[[I[PU~?[w[[[[BZYY i) c#+Ii@>= o9))o9o9ye=\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038214.043165 s, next control iter: 1743038214.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038214.423165 s.ufpJ~,)AJ"J*J2J:J*?BJ*?nJ75vJA{Ga@A% elevatorAngleAction: 0.067724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743038214.843313F (some fields omitted in printout)Ap= @ARF\@A8U~? A.A&"AAPgNA"AZAbAjArAzAAAnASsAb@AҌe<AkA(iAA`tA]Y<*A9?2ASֽ:A9BA9?JASֽRA9٘i)I9b@Y G J=<JJJJE&K YKT~?yGAEŧ7b7,9)BE[[{켿[U~?[P[[[[BZYY i) =Ii*@"6@= 0))00*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038214.883165 s, next control iter: 1743038215.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038215.263165 s.tpJ~,)AJ"J*J2J:JBJnJvJA@A:m¿@AU~? AAA2<&"AAgNA"AZAbAjArAzAAA [APXsAc@A ;AL%A1㸿ATA@wAk|<*A9?2Aֽ:A BA9?JAֽRA Y&ѓ@y$;ٓH` ?`?@".࣪`!?`ӱ? ? t?V?)&ѓ@ I٘i)I9c@Y6 G J YOT~?yHHAE77{7.9)B[[׾[U~?[[[[[BZYY ik=) `Ii@r?= m,))m,m,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038215.303165 s, next control iter: 1743038215.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 117142, header.stamp.nsec: 020 temperature: 13.5730932* salinity: 33.3749582, density: 1025.0000002* values[0]: 0.5675162F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038215.683165 s.lzpJ~,c)AA(\@A@ANU~? ATA&"AA gNA"AZAbAjArAzAAA+ļAJw]sAFc@AfiAr@A(eA a?A xA'<*A9?2Aq/ֽ:AoBA9?JAq/ֽRAo٘i)I9c@Y G Jŏ<JJJJE&K YST~?yuHAE{7j709,B)BE[[[vU~?[[[[[BZYY i) <ӻIiܕ@?= /())/(/(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038215.683165 s, next control iter: 1743038216.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038216.103165 s.pJ~,Ț)AJ"J*J2J:JZ?BJZ?nJj5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038216.103286F (some fields omitted in printout)AQ8@AzF+@AU~? AgA&"AAgNA"AZAbAjArAzAAA:Y%AdbsAjd@AwAQkA޳AUM?A.wA<*A89?2Anս:ABA89?JAnսRA[I٘i)I9d@Y G Jq<JJJJE&K YVT~?y2 IA E777R29) B[[c[iU~?[K[[[[BZYY i) Ii@?= W#))W#W#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038216.123165 s, next control iter: 1743038216.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038216.523165 s.pJ~,|!)AAHzn@AVc a@AzU~? AyA7c&"AAgNA"AZAbAjArAzAAA#|AQgsAd@A{A/AlDAD?AsAa<*A9?2A $ֽ:Aj9BA9?JA $ֽRAj9٘i)I9d@Y/ G J<JJJJE&K Y2ZT~?ymIA Eb7749)BE[[5[U~?[럩[[[[BZYY i) IiI@G^@= K[))K[K[yk=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038216.543165 s, next control iter: 1743038216.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11715, header.stamp.nsec: 00 temperature: 13.572852* salinity: 33.374969, density: 1025.000000* values[0]: 0.568109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038216.943165 s.ZdpJ~,J]<)AJ"J*J2J:JBJnJvJAq= ף@AB˖@AU~? AA&"AAgNA"AZAbAjArAzAAAeA$5->lsA Le@AcA5AAr?A mAC<*A9?2A8ֽ:A BA9?JA8ֽRA ٘i)I9Le@Y G J<JJJJE&K Y]T~?yIAE77j759)B[[[aU~?[[[[[BZYY i)  nIiƖ@@= ))K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038216.963165 s, next control iter: 1743038217.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038217.363165 s.pJ~,>W)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038217.363289F (some fields omitted in printout)A@AC6@AU~? AA=(&"AAgNA"AZAbAjArAzAAASSA(qsAe@AA;AjA3ܫA߯?A`*eA޲<*AW9?2A[ֽ:AOvBAW9?JA[ֽRAOvY'@櫿y6;ٓH?+? y ?}?=;? 1(q??)'@ I٘i)I9e@Y G J <J(JJJE&K&x> YdT~?y>ũ6JA櫿EZ7SI779)B[[ۯ[gU~?[[[[[BZYY i) _2IiZ@=s@= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038217.383165 s, next control iter: 1743038217.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11716&, header.stamp.nsec: 0&0 temperature: 13.572569&* salinity: 33.374962&, density: 1025.000000&* values[0]: 0.568823&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038217.783165 s.XpJ~,r)AJ"J*J2J:JBJnJvJA(\@A[;Q@A8U~? AĪA &"AAZgNA"AZAbAjArAzAAA^PצAޓvsALyf@Aba<AA)A?A`ZAcլ<*A29?2A[<׽:ABA29?JA[<׽RA٘i)I9yf@YE G J<JJJJE&K YjT~?yͩJAEb77}99)B[[[U~?[[[[[BZYY il=) h$Ii@|$@= oM))oMoMi*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038217.823165 s, next control iter: 1743038218.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038218.203165 s.pJ~,)AAQE@A88@A3U~? A̪A#&"AApgNA"AZAbAjArAzAAAX[A8fzsAg@A<A֒AlA a?AxLA<*A9?2AE4׽:ABA9?JAE4׽RA٘i)I9g@Y G J<JJJJE&K YpT~?ye֩KAE7H;9.B)BE[[[U~?[2[[[[BZYY i) gIi @x@= [ ))[ [ ;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038218.243165 s, next control iter: 1743038218.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038218.623165 s.UpJ~,T)AJ"J*J2JvPublished command to Gazebo (printed only once in a while)::JBJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743038218.623288F (some fields omitted in printout)AGz@Am@AU~? AԪAQ&"AASgNA"AZAbAjArAzAAAW XA"csAg@AU%<A3AAN?A1<A<*A9?2Aֽ:AjBA9?JAֽRAj٘i)I9g@Y G Jw<JJJJE&K Y@wT~?yީlKAE7{7=9)B[[S[U~?[[[[[BZYY i) `"8Ii-@;:@= C ))C C D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038218.643165 s, next control iter: 1743038219.023177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11717, header.stamp.nsec: 00 temperature: 13.572290* salinity: 33.374985, density: 1025.000000* values[0]: 0.569519F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038219.043165 s.pJ~,)AA= ף@A@AU~? AܪAu%"AAhNA"AZAbAjArAzAAA\v='AI\㹄sAh@A A#'A{AN ?A )A'I<*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9h@YC G J<JJJJE&K Y}T~?yKAE7ŧ7>9)B[[o&[U~?[1ǩ[[[[BZYY i) `{:Ii|@@= =))==y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038219.083165 s, next control iter: 1743038219.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038219.463165 s.YpJ~,)AJ"J*J2J:JBJnJvJAffff@AV_]@AHU~? AA%"AAu hNA"AZAbAjArAzAAAlAm% sAzh@A*iCANgAAa?AAv<*A9?2AsQֽ:AnBA9?JAsQֽRAnY`U@ݞydCٓH?uH?@Gs5? :?M)?@l?)`U@ I٘i)I9h@Y G JX<J<JJJE&K;x> YƆT~?y/LAݞE77{7@9)B[[c[V~?[ͩ[[[[BZYY i) :Ii@)?= ))I*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038219.503165 s, next control iter: 1743038219.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11718, header.stamp.nsec: 00 temperature: 13.571987* salinity: 33.374981, density: 1025.000000* values[0]: 0.570172F (some fields omitted in printout)6ƆT~?)6 rAdjusting time to match Gazebo time: 1743038219.883165 s.zpJ~,Y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199122 time: 1743038219.883329F (some fields omitted in printout)A(@AB @AXU~? AA~%"AAhNA"AZAbAjArAzAAA#ALksA&i@A*lAᆽAWeA`>?A 1Ai<*A"9?2A6Pֽ:ABA"9?JA6PֽRA٘i)I9&i@Y G Jĝ<JJJJE&K YT~?y6LA"Ej7j7sB9)BE[[ˢ[ V~?[ԩ[[[[BZYY i) ;;Iiv@\O?= ~))~~Ϸ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038219.903165 s, next control iter: 1743038220.283184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743038220.303165 s.UpJ~,sg)AJ"J*J2J:J ?BJ ?nJ#5vJAQ@AD@AU~? AlA9%"AAhNA"AZAbAjArAzAAA+oAcy= V))V義V_*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038220.743165 s, next control iter: 1743038221.123186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743038221.143165 s.W/pJ~, *I)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066666< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038221.143290F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@Ae@AV~? AA]%"AA%-hNA"AZAbAjArAzAAA:nAM͜sAj@A $"<A䁽AZA?A@Ay<*A9?2AA׽:ABA9?JAA׽RA٘i)I9j@YG J<JJJJE&K YZT~?y6MA*E7G90B)ۯBE[[?[V~?[+[[[[BZYY i =) ;IiK@<?= ޾))޾޾*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038221.163165 s, next control iter: 1743038221.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038221.563165 s.pJ~,_ d)AA3333@Ax $(@AV~? A A"%"AA7hNA"AZAbAjArAzAAA'[Q~A<]8sAj@A<AgAA`O?A A~<*A9?2AWV׽:ABA9?JAWV׽RAYȗ@ԑy #΃<ٓHض?` ?@1@?r?-?@'q??)ȗ@ I٘i)I9j@YG J<J<JJJE&KKx> Y,T~?y7MAԑ-E77{7I91B)ٯB!E[[9[5$V~?[s[[[[BZYY i) ;Ii@>= .)־)).)־.)־W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038221.603165 s, next control iter: 1743038221.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11720, header.stamp.nsec: 00 temperature: 13.571483* salinity: 33.374992, density: 1025.000000* values[0]: 0.571372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038221.983165 s.pJ~,~)AJ"J*J2J:JE?BJE?nJ`5vJA\(@A>x@AjV~? AAʁ%"AABhNA"AZAbAjArAzAAAgwq@!AJCsA2ik@A/a<A,AAF?A `Apz<*A9?2A&׽:A BA9?JA&׽RA 񼙘٘i)I9ik@YFG J{<JJJJE&K YT~?y7!NNA/E77hK9)կB[[i㗿[,V~?[[[[[BZYY i) ;Ii@T== m;))m;m;**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038222.003165 s, next control iter: 1743038222.383177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038222.403165 s.&pJ~,͙)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: 0.4199952 time: 1743038222.403281F (some fields omitted in printout)AQ^@AnPQ@AV~? ADAd%"AANhNA"AZAbAjArAzAAA|}AmsACk@A6;AAHA`Z?A@J:A<*Ad9?2Aֽ:ABAd9?JAֽRA٘i)I9k@YG J|<JJJJE&K YT~?y8)NA2E77773M9)үB[[[a4V~?[[[[[BZYY i) ԇ elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038223.663291F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11722, header.stamp.nsec: 00 temperature: 13.570991* salinity: 33.374969, density: 1025.000000* values[0]: 0.572437F (some fields omitted in printout)A@A@A:V~? A1Ap.%"AAvhNA"AZAbAjArAzAAAN A1̸sA",m@AmxAAA ?A`A2<*A9?2A`ֽ:A@BA9?JA`ֽRA@Y٠@̄ykxٓH:?`?,~@ YT~?y@OĀ:E777R93B)ʯB(E[[ $[3OV~?[N [[[[BZYY i) Sz; elevatorAngleAction: 0.076191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038224.923286F (some fields omitted in printout)A{G@A"<@AZV~? AHA;|%"AAhNA"AZAbAjArAzAAA A_NsAjn@A\sf<A:AfyA@{?A F!A`F<*Ae9?2A9[׽:A jBAe9?JA9[׽RA j٘i)I9n@Y4G J<JJJJE&K YU~?yWPABE77W95B)B,E[[C[mV~?[I[[[[BZYY i) i Y?U~?y elevatorAngleAction: 0.085511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038226.183292F (some fields omitted in printout)A(\B@AXQ5@A~V~? A]Az%"AAhNA"AZAbAjArAzAAAU抩tAȊ(jsAp@AAךA|ajA?A vAMI<*A˸9?2Azֽ:ABA˸9?JAzֽRA٘i)I9p@YG J <JJJJE&K YOU~?yRmQAJEZ7j7S]9)B[[-[V~?[/[[[[BZYY i) :ҋ])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038227.443285F (some fields omitted in printout)Aq= @A%X@A$V~? AQrA>%"AAeiNA"AZAbAjArAzAAAݤAsAXq@At=A^AZA@'o?AA<*Aҧ9?2A)mֽ:ABAҧ9?JA)mֽRA٘i)I9q@Y$G J<JJJJE&K YU~?y%SARE)7ŧ7b9)B[[v[ͱV~?[@[[[[BZYY i) )AJ"J*J2J:JBJnJvJA@AsF @ArV~? AyA%"AA,iNA"AZAbAjArAzAAA~wIA?|2sAYr@AآGAAa|UAq=?A`tA9<*Aآ9?2Aֽ:ABAآ9?JAֽRAY]@SxUyOKHٓHo?β?@ɀ?? ?ZH@?)]@ I٘i)I9Yr@YG J<B=JJJJE&K?x> YU~?ySAxUUE7777~d99B)B9E[[Tr[UV~?[SF[[[[BZYY i)  elevatorAngleAction: 0.085511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200612 time: 1743038228.703320F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AYx@AbV~? ABA5%"AA]YiNA"AZAbAjArAzAAAJ"lAȥAsAs@Aۣ<A«AJAK?AAH<*A˙9?2AHL׽:ABA˙9?JAHL׽RA٘i)I9s@Y9G J\<B=JJJJE&K YU~?y!sTAZE777h9;B)B=E[[~i[oV~?[9Q[[[[BZYY i) V?Ar~%sA&t@Alc;AzAg@AP?AOA <*A&9?2Afֽ:AMBA&9?JAfֽRAM٘i)I9t@YG J<JJJJE&K YU~?y)RUA`EZ7Z7k9 elevatorAngleAction: 0.085511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038229.963298F (some fields omitted in printout)Affff&@A`=[@AwW~? AQA>%"AA3iNA"AZAbAjArAzAAA<A%wsAtu@AA%AR;A ?AMA<*A9?2Aֽ:ABA9?JAֽRAY@fq;y#'EٓH&?h?Gu`xOP?@?#]?+@h?)@ I٘i)I9tu@YdG Jb<JyJJJE&Kw> YU~?y UAq;bEj7sm9)BCE[[1\[W~?[a[[[[BZYY i) o9)B[[W[eW~?[8f[[[[BZYY i) kVSsAv@AqA*aAY1A@v?AcA#<*A9?2A ֽ:AUBA9?JA ֽRAU٘i)I9v@Y@G J<JJJJ E&K YV~?y̴VAhEŧ77q9>B)BGE[[MS[+W~?[Lk[[[[BZYY i)  elevatorAngleAction: 0.085511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743038231.223267F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A@A&7W~? AoA%"AAiNA"AZAbAjArAzAAA5/qA`JtAזw@A̻AsൽA+A?AA%<*A9?2Awֽ:A2BA9?JAwֽRA2٘i)I9w@YG J<JJJJ E&K Y4V~?y3WAjE7777r9?B)BJE[['N[E.W~?[Pp[[[[ZZZZ¸>BZYY i¸>C) ~ Y`V~?yŪ!XA]!pE777iv9@B)wBME[[E[GMW~?[z[[[[ZZZZBZYY i) KywvٓH?,#?5}"?? ΂?؎?)`#@ I٘i)I9|@YG Jˠ<J9>JJJE&KQx> YV~?yުZAK}E777^9)^B[E[[k/[W~?[#[[[[ZZZZBZYY iC ) ~W~?[ș[[[[ZZZZBZYY i) 2W)) > >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038235.023165 s, next control iter: 1743038235.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038235.423165 s.uqJ~,w)AJ"J*J2J:JBJnJvJA{G@AVp;@AKW~? AA%"AAkNA"AZAbAjArAzAAAAHrh+?Al|#tA_}@Af5<A =AA5?A@ڿAn8j9*A9?2A<ֽ:Al5<BA9?JA<ֽRAl5<٘i)I9_}@Y6G J"F;C=JJJJ'E&K YvW~?yH(ZAE7779)YBaE[[![PW~?[[[[[BZYY i) |C))>>yg;YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038235.443165 s, next control iter: 1743038235.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11734, header.stamp.nsec: 00 temperature: 13.566751* salinity: 33.375095, density: 1025.000000* values[0]: 0.581478F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038235.843165 s.ݼqJ~,)AAp= @A\sG @AX~? AA]m%"AA(5kNA"AZAbAjArAzAAAm:?Aǐ4F%tAR}@Ao<AW5=A{A y?A%ڿA_*A9?2Aս:A5<BA9?JAսRA5<٘i)I9R}@Y.G JaJJJJ)E&K Y5W~?y5ZAE{79FB)\BeE[[2[W~?[[[[[BZYY i) /))v/>v/>xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038235.863165 s, next control iter: 1743038236.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038236.263165 s.qJ~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075223< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038236.263292F (some fields omitted in printout)AL@AUm7?@Ar&X~? AA\%"AAUkNA"AZAbAjArAzAAA)]@Ao{(tAE*}@ÁP<A1Z=A۾A@9?A@XٿA.X*A9?2Aֽ:A,=BA9?JAֽRA,=Yb@ھyW-Z=P<ٓH?C??`yڿ;?:]B ??)b@ I٘i)I9*}@YG JJA>JJJ,E&K6w> YOW~?ybYAھE77S9)]B[[[W~?[[[[[BZYY ih) mz)) A> A>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038236.283165 s, next control iter: 1743038236.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11735., header.stamp.nsec: 0.0 temperature: 13.566678.* salinity: 33.375114., density: 1025.000000.* values[0]: 0.581486.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038236.683165 s.lqJ~,k+)AA(\@A'u@At@A{١5+tA|@A<;A0y=A;RоA`?AؿA[0*A'9?2Aֽ:A =BA'9?JAֽRA =٘i)I9|@YG JJJJ0FJ/E&K YaiW~?y YAEj7Z79GB)`BhE[[[ X~?[[[[[BZYY i) 0))`S>`S>䪪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038236.683165 s, next control iter: 1743038237.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038237.103165 s.qJ~,F)AJ"J*J2J:JBJnJvJAQ@A F@ARX~? AAzm%"AAkNA"AZAbAjArAzAAA@Aaj-tA|@AuA=AžAx>?A`/׿Aua*AƎ9?2Aֽ:Aqd =BAƎ9?JAֽRAqd =٘i)I9|@YG JGJJJJ1E&K YW~?yYYAE)7ŧ7鋛9)cBkE[[ [X~?[ȭ[[[[BZYY i) ;Ii`@jf= @;f>))@;f>@;f>ȻYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038237.143165 s, next control iter: 1743038237.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038237.523165 s.qJ~,{a)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743038237.523273F (some fields omitted in printout)AHz@Ap& @AOiX~? AA%"AA~kNA"AZAbAjArAzAAA-@AtV00tAu0|@A#vA=AܺA@{?ABֿAM*A9?2A׽:A =BA9?JA׽RA =٘i)I90|@Y}G JAtB=JJJJ4E&K YܜW~?yWYAEZ7Z79HB)fBnE[[ [_3X~?[[[[[BZYY i) =;Iie]@v = x>))x>x>y/heǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038237.543165 s, next control iter: 1743038237.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11736, header.stamp.nsec: 00 temperature: 13.566711* salinity: 33.375145, density: 1025.000000* values[0]: 0.581233F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038237.943165 s.zdqJ~,]|)AJ"J*J2J:J?BJ?nJ5vJAq= #@Ah @A"X~? AmA%"AAkNA"AZAbAjArAzAAAԒ+ @A8ʌ2tA{@AaAF=A}At?AֿA5֒*A`9?2Aֽ:A =BA`9?JAֽRA =٘i)I9{@Y6G JC=JJJJ7E&K YW~?yXAE77~9)jBqE[[+B[GX~?[![[[[BZYY i) >;Ii[@; = `>))`>`>ymϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038237.983165 s, next control iter: 1743038238.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038238.363165 s.qJ~,l>)AAY@AlL@A4X~? A&A%"AAkNA"AZAbAjArAzAAAJtR[ @A4tAi:{@AMA=ALhA`5?A /տAȡ*AΙ9?2A*ֽ:A =BAΙ9?JA*ֽRA =Y@Jy=6ٓH ;?@o?`²?fԿS?l X@#puv?)@ I٘i)I9:{@YG J虼JIZ=JJJ9E&Kw> YVW~?y_XAE7I9)oBtE[[;[ZX~?[[[[[BZYY i) ;IiW@. = @Î>))jZ@Î>@Î>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038238.403165 s, next control iter: 1743038238.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11737&, header.stamp.nsec: 0&0 temperature: 13.566842&* salinity: 33.375141&, density: 1025.000000&* values[0]: 0.580757&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038238.783165 s.]qJ~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252643@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038238.783309F (some fields omitted in printout)A(\@AB]P@AX~? AA"?%"AA"lNA"AZAbAjArAzAAAx@A z7tAkz@A;A!=ApA@#?AWԿAH*A9?2A~"ֽ:A=BA9?JA~"ֽRA=٘i)I9z@YG JৼJJJJ))  > >3تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038238.803165 s, next control iter: 1743038239.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038239.203165 s.qJ~,)AAQ@AL@A X~? A'A%"AA=FlNA"AZAbAjArAzAAA9e@A9݊9tArz@Ah<AI=AuAX?A`zӿAN*A9?2A$ս:A=BA9?JA$սRA=٘i)I9z@Y6G JJJJJ?E&K YX~?yo WAE7777ޔ9IB)xBwE[[[ X~?[I[[[[BZYY i) ֿD;IiP@5/= )A>)))A>)A>+٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038239.243165 s, next control iter: 1743038239.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038239.623165 s.WqJ~,])AJ"J*J2J:J?BJ?nJ5vJAG@A@AX~? AoA%"AAjlNA"AZAbAjArAzAAAH?%@AB&L;tA|y@AOss<A=A6A?AҿA+]*Aг9?2AUս:A =BAг9?JAUսRA =٘i)I9|y@YG JܷB=JJJJAE&K Y!X~?y?&WAE779)}BzE[[5[X~?[{ª[[[[BZYY i) ;Ii1M@R= >))>>تYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038239.663165 s, next control iter: 1743038240.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11738 , header.stamp.nsec: 0 0 temperature: 13.566997 * salinity: 33.375149 , density: 1025.000000 * values[0]: 0.580193 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038240.043165 s.rJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743038240.043305F (some fields omitted in printout)A= ף0@Axܙ#@AX~? A A'z%"AA7lNA"AZAbAjArAzAAA1vQ@AAM=tAx@AQ;Ap-=A+{A@?A@ѿA*Ay9?2AGս:Az =BAy9?JAGսRAz =٘i)I9x@YzG JC=JJJJDE&K YX))>>ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038240.063165 s, next control iter: 1743038240.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038240.463165 s.ZrJ~,)AJ"J*J2J:Jq?BJq?nJ5vJAfffff@A aY@A Y~? A AQ>%"AAlNA"AZAbAjArAzAAA;,{@A >tALx@AugA~=AeA l?AпA²*A9?2AVֽ:AK=BA9?JAVֽRAK=Ye޺@Yey?=WhٓH@P?|s?Ӳ?@g̿3?`l?)e޺@ I٘i)I9Lx@YG JB=JJJJGE&K+v> YWX~?yXVAeE7{7>9)BE[[Ծ[hX~?[Ȫ[[[[BZYY i) ~9IigF@S< 8>))=~8>8>ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038240.483165 s, next control iter: 1743038240.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11739, header.stamp.nsec: 00 temperature: 13.567151* salinity: 33.375168, density: 1025.000000* values[0]: 0.579537F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038240.883165 s.y rJ~,D8)AA(@A=@AO&Y~? A`Az%"AAtlNA"AZAbAjArAzAAAb6@A_x@tACw@AtSA=APA ?AIϿA^*AF9?2Aֽ:A#=BAF9?JAֽRA#=٘i)I9w@YG JC=JJJJIE&K YfsX~?yUAEb77 9TB)BE[[A˾[X~?[[˪[[[[BZYY i) E2IiB@< u>)) u>u>ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038240.923165 s, next control iter: 1743038241.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038241.303165 s.XrJ~,gS)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038241.303278F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AWv@A>Y~? A A%"AAlNA"AZAbAjArAzAAAl@AEɠ/BtAY0w@A~AK=A S;A@1>?A`οA*A*9?2A7ս:A<BA*9?JA7սRA<٘i)I90w@YrG JJJJJLE&K YX~?yUAE77{7ԝ9)B[[9,¾[ X~?[Ϊ[[[[BZYY i) ѺIi?@< }>))}>}>̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038241.343165 s, next control iter: 1743038241.703177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11740., header.stamp.nsec: 0.0 temperature: 13.567330.* salinity: 33.375175., density: 1025.000000.* values[0]: 0.578942.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038241.723165 s.rJ~,Hn)AAz@AE@AWY~? AA%"AA!mNA"AZAbAjArAzAAA*DlJ@AHRMCtAv@A`,$AEq=AV'A@wc?AQ̿A*A9?2Aս:A*P<BA9?JAսRA*P<٘i)I9v@YG JJJJJOE&K YrX~?y$UAE7)79)BE[[[Y~?[Ъ[[[[BZYY i) OV%Ii;@< f>))f>f>ɪY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038241.763165 s, next control iter: 1743038242.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038242.143165 s.Y/"rJ~,*)AJ"J*J2J:JBJnJvJA ףp=@AR h0@AzpY~? AAm%"AApGmNA"AZAbAjArAzAAA!x@A |)EtAv@AF:AU=AA?AXʿAtq*A=9?2Aeս:AG<BA=9?JAeսRAG<٘i)I9v@YG JңB=JJJJRE&K YX~?yTAE{7{7i9)BE[[8[Y~?[>Ӫ[[[[BZYY i) aIi/9@ < >))>>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038242.163165 s, next control iter: 1743038242.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038242.563165 s.(rJ~,R )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038242.563285F (some fields omitted in printout)A3333s@A)f@AY~? A"AH@%"AAAmmNA"AZAbAjArAzAAAJW>@A+A8FtAu@A'6<At=AAp?A`1ȿAI*A9?2AWս:A=BA9?JAWսRA=Y,@fy4=m6<ٓH@ϭ?ɿ?`B? ?#࿱Ć?`?),@ I٘i)I9u@YvG JC=J*OJJJTE&K}u> YX~?y^TAfE7749)BE[[]ҥ[-Y~?[ժ[[[[BZYY iw) ܬIi4@nU< YM>)){YM>YM>êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038242.603165 s, next control iter: 1743038242.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11741, header.stamp.nsec: 00 temperature: 13.567454* salinity: 33.375175, density: 1025.000000* values[0]: 0.578389F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038242.983165 s./rJ~,)AJ"J*J2J:J?BJ?nJB5vJA\@A@AY~? A0Ay%"AAImNA"AZAbAjArAzAAA@AODGtAF u@As<ANj=AսA@h?A`vƿAC*A9?2Aeս:AL=BA9?JAeսRAL=٘i)I9 u@Y"G JJJJJWE&K YX~?ySAE7779)BE[[eZ[CY~?[ת[[[[BZYY i) `wIi0@< Q>)) Q>Q>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038243.023165 s, next control iter: 1743038243.383181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038243.403165 s.&6rJ~,)AAQ@A(@AY~? AA%"AAmNA"AZAbAjArAzAAAUf @AD:HtA1t@Au)B<A=AA?A@/ſAm*A9?2A}pԽ:A =BA9?JA}pԽRA =٘i)I9t@YG JnJJJJZE&K YY~?ySAEj7Z7ɦ9)BE[[Eђ[|ZY~?[ڪ[[[[BZYY i) AͻIi,@^j< qN>))qN>qN>1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038243.423165 s, next control iter: 1743038243.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11742", header.stamp.nsec: 0"0 temperature: 13.567602"* salinity: 33.375206", density: 1025.000000"* values[0]: 0.577843"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038243.823165 s.V?)&N@ I٘i)I9s@YG JJ.JJJbE&Kt> Y^nY~?y RAE7)7)9)B[[l[,Y~?[ߪ[[[[BZYY i) Ii3"@+< t ?))~Axt ?t ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038244.683165 s, next control iter: 1743038245.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038245.083165 s.DQrJ~, SE)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242437@ elevatorAngleAction: -0.074936< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038245.083278F (some fields omitted in printout)A)\µ@AK\Ǹ@AO"Z~? A$At%"AADTnNA"AZAbAjArAzAAA8r @ALtA+r@AZA3=AA>?A37A1*A9?2A4ֽ:A=BA9?JA4ֽRA=٘i)I9r@YG JFJJJJdE&K YY~?y &RAEj7Z79)BE[[sX[UY~?[K[[[[BZYY i) h$Ii@ 8< >?)) >?>?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038245.103165 s, next control iter: 1743038245.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038245.503165 s.WrJ~,;4`)AJ"J*J2J:J?BJ?nJ5vJAR@A $}@A Y~Y~?y PA=E{79RB)ͯBE[[ [Z~?[y[[[[BZYY i) %bIi@^ < 2Q&?))v2Q&?2Q&?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038246.803165 s, next control iter: 1743038247.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038247.183165 s.rrJ~,^)AJ"J*J2J:JBJnJvJA(\@An@AߣZ~? A'A%"AAfoNA"AZAbAjArAzAAAUOlK#@AyNtAN%p@AS;A=AD=Ay?AAt*A9?2ABս:AB[ =BA9?JABսRAB[ =٘i)I9%p@Y(G JBJJJJrE&K YZ~?yIPAE77鶛9)ѯBE[[[,Z~?[k[[[[BZYY ia ) fqIi @< 3+?))C3+?3+?}̪YFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743038247.203165 s, next control iter: 1743038247.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038247.603165 s.74yrJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.259913@ elevatorAngleAction: -0.084008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200762 time: 1743038247.603336F (some fields omitted in printout)AQ@AgI@AZ~? A8(A%"AA?oNA"AZAbAjArAzAAAb9#"$@AJOtAo@A Aҕ=A=Au?A >ATq*A :?2A|`Խ:AQl =BA :?JA|`ԽRAQl =YI٘i)I9o@YG JB=JJJJtE&K Y3Z~?yIOAE79)կBE[[v}ǽ[EZ~?[:[[[[BZYY i) TIi@*{< , 0?)) , 0?, 0?hΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038247.623165 s, next control iter: 1743038248.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11746 , header.stamp.nsec: 0 0 temperature: 13.568039 * salinity: 33.375240 , density: 1025.000000 * values[0]: 0.575847 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038248.023165 s.ZrJ~, |)AJ"J*J2J:JBJnJvJAHz.@A΍ !@AZ~? AW(A~%"AAMgoNA"AZAbAjArAzAAAV؍$@A| {q.OtA8o@AYAΠ=A >A?AjAF*A :?2A"Խ:A) =BA :?JA"ԽRA) =٘i)I9o@YG JC=JJJJwE&K YOZ~?yOAE{7j79)ٯB[[۟[p]Z~?[[[[[BZYY i) Ii<@< z5?))z5?z5?zЪYA?A) ?Af*A:?2A.ս:Aۺ =BA:?JA.սRAۺ =٘i)I9n@Y8G JJJJJzE&K YlZ~?y OAEj7Z7I9QB)ܯBE[[o[vZ~?[l[[[[BZYY i) 4Ii!@t< :?)):?:?y7+ԪY0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038248.463165 s, next control iter: 1743038248.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11747, header.stamp.nsec: 00 temperature: 13.568171* salinity: 33.375278, density: 1025.000000* values[0]: 0.575324F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038248.863165 s.J "J *J 2J :J H?BJ H?nJ o5vJ +rJ~,>7)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038248.863305F (some fields omitted in printout)A@AĐ@A [~? A(A%"AAAoNA"AZAbAjArAzAAAk%@AOtAn@A/A =A 5>A-}?Ag?AdB*AC9?2AKս:A=BAC9?JAKսRA=YD@/5>yU=ТٓH?h?oƿ?@v?@~?K.?౬`傿k?)D@ I٘i)I9n@YG JJuA<JJJ}E&Ks> YZ~?yaNA/5>E7779)BE[[![MZ~?[[[[[BZYY i) SIi?x۝< >?))et>?>?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038248.883165 s, next control iter: 1743038249.263185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743038249.283165 s.2RrJ~,R)AA(\@AjQ@A&[~? A'A%"AAoNA"AZAbAjArAzAAAO&@AȬưNtA9m@AA:A#Π=AI>Aw?A7?A*A9?2A?ս:AH9=BA9?JA?սRAH9=٘i)I9m@YG J<JJJJE&K YZ~?yMNAEb77߿9PB)BE[[1[ҦZ~?[[[[[BZYY i) {Ii?:< LC?))mLC?LC?ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038249.323165 s, next control iter: 1743038249.683175 s, wait time: 0.360010 sZ~?).tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11748., header.stamp.nsec: 0.0 temperature: 13.568298.* salinity: 33.375278., density: 1025.000000.* values[0]: 0.574787.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038249.703165 s.ӺrJ~,m)AJ"J*J2J:JBJnJvJAQ@Ae@A@[~? A7'As#%"AApNA"AZAbAjArAzAAAZ7'@A_,p~NtAl@AN@<Ạ=A6L]>Ap?A]i?A*A :?2A6ӽ:AC=BA :?JA6ӽRAC=٘i)I9l@Y7G J㰼JJJJE&K Y~Z~?yHMAE77{79)BE[[e[Z~?[[[[[BZYY i) 4Ii?< nH?)) nH?nH?dYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038249.723165 s, next control iter: 1743038250.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038250.123165 s.8rJ~,a)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743038250.123313F (some fields omitted in printout)AG:@Ac#-@AZ[~? A&A/%"AA~,pNA"AZAbAjArAzAAA{'@AHNtAYl@A <Aa=Aq>A`f?Aұ?Af*AI :?2Ahӽ:Au=BAI :?JAhӽRAu=٘i)I9Yl@YG J-JJJJE&K YGZ~?yyMAEb7b7tÛ9OB)BE[[l<[qZ~?[[[[[BZYY i) AIi?< @N?))@N?@N?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038250.163165 s, next control iter: 1743038250.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038250.543165 s.IrJ~,â)AJ"J*J2J:J?BJ?nJ75vJA= ףp@A0c@As[~? A%A=%"AASpNA"AZAbAjArAzAAAVq(@AqVMtAk@A"9<A{=A>AZ?AJ?A%*A:?2A(Խ:A-q=BA:?JA(ԽRA-q=٘i)I9k@YwG JJJJJE&K YZ~?y/MAE7{7?ś9)BE[[Ti =[}Z~?[[[[[BZYY i) Iim?:< pS?))pS?pS?Y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038250.563165 s, next control iter: 1743038250.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11749, header.stamp.nsec: 00 temperature: 13.568452* salinity: 33.375282, density: 1025.000000* values[0]: 0.574176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038250.963165 s.|rJ~,)AAffff@A%c\@Aƍ[~? A$AO%"AA{pNA"AZAbAjArAzAAA af)@A'LtAk@AH:A=An>A`J?A l@?AT*Ak9?2ASս:A=BAk9?JASսRA=Y\l=Í>y틪=ʒ:ٓH@?=}ѿ?@1o?/?@.?`/K`IR?@?)\l= I٘i)I9k@YG JrB=Jow<JJJE&Ks> Y7[~?yLAÍ>Ej7j7 Ǜ9NB)BùE[[ԩp=[9 [~?[k[[[[BZYY i) mZIi?O< xX?))sxX?xX?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038251.003165 s, next control iter: 1743038251.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038251.383165 s.صrJ~,/)AJ"J*J2J:J?BJ?nJ 5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238270@ elevatorAngleAction: -0.084008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038251.383318F (some fields omitted in printout)A(@A;@A[~? A#Ad%"AA&pNA"AZAbAjArAzAAAr{{)@A0(>LtAwj@AA=A>Ap8?A?AU*A9?2AUս:A=BA9?JAUսRA=٘i)I9wj@YG J|C=JJJJE&K YX-[~?y`+LAE77ț9)B[[jǠ=[!#[~?[[[[[BZYY i) üIi?tI}< (]?))#(]?(]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038251.403165 s, next control iter: 1743038251.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11750", header.stamp.nsec: 0"0 temperature: 13.568633"* salinity: 33.375313", density: 1025.000000"* values[0]: 0.573520"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038251.803165 s.|ArJ~,g)AA@A@A?[~? A3"A|%"AA)pNA"AZAbAjArAzAAAF*@A8nKtAFi@A6{A=A>A@m%?A@}?A*A:?2Ad=Խ:A|q=BA:?JAd=ԽRA|q=٘i)I9i@YQG JOB=JJJJE&K Y~H[~?yKAE)7ŧ7ʛ9KB)BŹE[[=[6<[~?[0[[[[BZYY i) ʼIiٽ? s< nBb?)) nBb?nBb? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038251.843165 s, next control iter: 1743038252.203182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038252.223165 s.grJ~,H)AJ"J*J2J:J?BJ?nJ5vJAzG@Ai:@A[~? A A4%"AA pNA"AZAbAjArAzAAAAv*@AJtA1i@ATAxj=A>A?A@I?A$Ǽ*AT:?2A>Խ:A =BAT:?JA>ԽRA =٘i)I91i@Y G JļC=JJJJE&K Yc[~?y FKAE7777i̛9)BȹE[[=[kU[~?[U[[[[BZYY i) LҼIi?i< dg?))dg?dg?jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038252.243165 s, next control iter: 1743038252.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038252.643165 s.yrJ~,*))AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084008< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038252.643292F (some fields omitted in printout)A ףp}@Adp@A][~? AA%"AAqNA"AZAbAjArAzAAAĥ|+@A!>\ItAh@AvAG=A>A.?A?Aμ*A :?2AxPԽ:A=BA :?JAxPԽRA=٘i)I9h@Y G JnʼJJJJE&K Y~[~?y) JAEŧ7b74Λ9JB)B˹E[[5>[n[~?[P[[[[BZYY iD}) ټIiU?a< (l?))(l?(l?tReceived state from Gazebo (printed only once in a while):Y^ 2 header.stamp.sec: 11751, header.stamp.nsec: 00 temperature: 13.568790* salinity: 33.375332, density: 1025.000000* values[0]: 0.572842F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038252.663165 s, next control iter: 1743038253.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038253.063165 s.rJ~,_ D)AJ"J*J2J:JBJnJvJA3333@AAA)@A \~? ACA%"AA_=qNA"AZAbAjArAzAAAb,@AjHtAg@A;AS=A>A`\?A@p?Aqּ*A:?2AAdԽ:A=BA:?JAAdԽRA=YT!>>yR=i;ٓH`?d׿`?us?p?͙?`b@~?`c?)T!> I٘i)I9g@Y G J]ҼJ#'<JJJE&KCs> Y[~?y[JA>E7)7ϛ9IB) BιE[[p">[[~?[&[[[[ZZ¸BZYY i¸2=) UͼIi?NU< q?))tq?q?mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038253.103165 s, next control iter: 1743038253.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038253.483165 s.y_rJ~,^)AA\@A>x@A '\~? AOA%"AAcqNA"AZAbAjArAzAAA,@A+9GtAF!g@Asr<A{=A>A?A ɧ?Awټ*AZ9?2AԽ:A=BAZ9?JAԽRA=٘i)I9!g@Y G J1ؼJJJJE&K Y;[~?yIAEb77ћ9)BѹE[[%7>[ [~?[[[[[ZZBZYY i) Ii̝?I< dv?))Bdv?dv?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038253.503165 s, next control iter: 1743038253.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11752, header.stamp.nsec: 00 temperature: 13.569006* salinity: 33.375340, density: 1025.000000* values[0]: 0.572119F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038253.903165 s.rJ~,y)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258316> elevatorAngleAction: 0.084569< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743038253.903297F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A6@A,@\~? A2A$%"AAqNA"AZAbAjArAzAAAhKUH-@Am>EtAVf@ApWj<Anu=A>A ?A F?A*A!:?2Aӽ:A=BA!:?JAӽRA=٘i)I9Vf@Y0 G JJJJJE&K Yu[~?yujIAEZ7SI7ӛ9)B[[K>[[~?[P[[[[ZZBZYY i) tIi͕?7?< |?)) |?|?y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038253.923165 s, next control iter: 1743038254.303181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038254.323165 s.srJ~,)AAGzT@A"uqG@A*Y\~? AAN%"AAqNA"AZAbAjArAzAAA)-@A:)DtAxe@A;AOL=A>A{?AP?Al*A1:?2Aeӽ:A<BA1:?JAeӽRA<٘i)I9xe@Y G JGJJJJE&K Y[~?y8HAE777_՛9HB)BԹE[[`>[=[~?[[[[[ZZBZYY i) /Ii?Л6< ɠ?))ɠ?ɠ?yޠ=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038254.363165 s, next control iter: 1743038254.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11753*, header.stamp.nsec: 0*0 temperature: 13.569247** salinity: 33.375347*, density: 1025.000000** values[0]: 0.571262*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038254.743165 s.WrJ~,~)AJ"J*J2J:J>?BJ>?nJX5vJAףp=@Av4}@Ar\~? AAQ|%"AAqNA"AZAbAjArAzAAAĂv.@A,t=CtAd@A賻A Fr=A>AX?A?A@M*A7:?2APԽ:A`<BA7:?JAPԽRA`<٘i)I9d@Y' G J1JJJJE&K Y\~?yyHAE*כ9GB)"B׹E[[u>[[~?[ު[[[[ZZBZYY i) фIid?.< 0C?))0C?0C?ĨY[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038254.783165 s, next control iter: 1743038255.143181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038255.163165 s.t}rJ~,q)AvPublished 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: 0.4199922 time: 1743038255.163287F (some fields omitted in printout)A@ATV@A\~? AA%"AAQqNA"AZAbAjArAzAAA5n|; /@AA"AtAc@AmA7.=AU(>A?3?A?Aȼ*A^9:?2AQԽ:A'~;BA^9:?JAQԽRA'~;Y>V>yi2.=nٓH@i?y_ݿ`ݟ?@{P?Lm?d?ĥ?)> I٘i)I9c@Y G J޼J۽JJJE&Kr> Y\~?y?HA>E{7j7؛9FB)'BڹE[[[`>[\~?[ܪ[[[[ZZBZYY iԘ=) Ii}?VB"< ?))u??tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038255.183165 s, next control iter: 1743038255.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038255.583165 s.#rJ~,3S)AJ"J*J2J:JBJnJvJA)\@A%@A8\~? A5A|%"AA rNA"AZAbAjArAzAAAеA[/@Am'?tA^Mc@AA<A_>AU ?A`{P?A9!*A5:?2A?ս:ADIBA5:?JA?սRADI٘i)I9Mc@YV G JJJJJE&K Y24\~?yHAE7777ڛ9)+BݹE[[>[\~?[ڪ[[[[ZZBZYY i) -Iik?% < Ђ?))لЂ?Ђ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038255.623165 s, next control iter: 1743038255.983182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11754, header.stamp.nsec: 00 temperature: 13.569507* salinity: 33.375362, density: 1025.000000* values[0]: 0.570377F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038256.003165 s.u sJ~,@4)AAR+@AAb{@A\~? AR A)%"AAErNA"AZAbAjArAzAAA^"E0@A~>tAb@ALA<AI?A@?A@?Ahx*ArQ:?2Aӽ:ABArQ:?JAӽRA٘i)I9b@Y G J JJJJE&K YVM\~?yGA Eŧ7b7ܛ9CB),BܹE[[>[7\~?[Gت[[[[ZZBZYY i) `zIi5\? < S+?)) S+?S+?fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038256.023165 s, next control iter: 1743038256.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038256.423165 s.usJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074624< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743038256.423311F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@AjJ>T@A\~? AI AP%"AAtjrNA"AZAbAjArAzAAA(P(c0@Agp8[P\~?[ժ[[[[ZZBZYY i=) dIi.N?< ؍?))؍?؍?y=f(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038256.463165 s, next control iter: 1743038256.823175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11755, header.stamp.nsec: 00 temperature: 13.569623* salinity: 33.375393, density: 1025.000000* values[0]: 0.569859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038256.843165 s. sJ~,5)AAp= @A @A\~? AAm%"AArNA"AZAbAjArAzAAAh20@A[j\~?[Ӫ[[[[ZZBZYY i) ICOIiA? >; ?))??y=m)Y.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038256.883165 s, next control iter: 1743038257.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038257.263165 s.sJ~, P)AJ"J*J2J:JBJnJvJA@At]@Av]~? AA%"AA#rNA"AZAbAjArAzAAAJ=0@Ajcd>8tAPb@A5}<AdA­?A@V?A?AU*A6:?2APDս:AoǼBA6:?JAPDսRAoǼY>?yE ~<ٓH`? hsrpn???`s? ?)> I٘i)I9b@Y G J&Jz7JJJE&Kt> YX\~?yGA?E9@B)0BE[[>[͂\~?[.Ъ[[[[BZYY io=) =Ii/?; u5?))vu5?u5?yW=2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038257.303165 s, next control iter: 1743038257.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 117562, header.stamp.nsec: 020 temperature: 13.5696132* salinity: 33.3753812, density: 1025.0000002* values[0]: 0.5696572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038257.683165 s.lsJ~,k)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240971> elevatorAngleAction: 0.058538< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743038257.683308F (some fields omitted in printout)A(\@A9 Q@A]~? AJA=%"AArNA"AZAbAjArAzAAA{;1@A 6tAb@AE0<A5A]?A`"?A?AE;*A':?2Aս:A6bBA':?JAսRA6b뼙٘i)I9b@Y G J[JJJJE&K Y\~?y'ܪGAEZ7SI79AB)[[y>[\~?[%ͪ[[[[BZYY i i=) fp,Ii?; e?))˅e?e?y=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038257.683165 s, next control iter: 1743038258.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743038258.103165 s.!sJ~,)AJ"J*J2J:JBJnJvJAQ8@AF+@AP2]~? AAT%"AArNA"AZAbAjArAzAAAx(I1@A)@3tA_9b@A*i9AK]A"?A?A)?A;*A;:?2A|ӽ:A_BA;:?JA|ӽRA_٘i)I99b@Y G J;JJJJE&K Y\~?yXתGAE77j79@B).BE[[KT>[>\~?[ɪ[[[[BZYY i) Iil?M; ?)) ??yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038258.143165 s, next control iter: 1743038258.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038258.523165 s.'sJ~,{)AAHzn@A? a@AeI]~? AA%"AAsNA"AZAbAjArAzAAAgB1@Ap5˚1tA{b@A-A{A"?Aຶ?A'V?AA<*A6:?2Aӽ:AA BA6:?JAӽRAA ٘i)I9{b@Y G J<B=JJJJE&K Y\~?yҪ HAEŧ7b7J9?B)+BE[[C>[\~?[ƪ[[[[BZYY i)  Ii?; X?))X?X?y=V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038258.543165 s, next control iter: 1743038258.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11757, header.stamp.nsec: 00 temperature: 13.569493* salinity: 33.375397, density: 1025.000000* values[0]: 0.569801F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038258.943165 s.Yd.sJ~,F])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068560< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038258.943281F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@Aϖ@A<`]~? AAX%"AA@sNA"AZAbAjArAzAAAjl 2@A 8/tAb@ACA󥉽A߲'?A }?A@%$?A$w<*A2:?2A)Խ:AfBA2:?JA)ԽRAf٘i)I9b@Y G JH[<C=JJJJE&K YB\~?yͪ6HAEb779;B)$BE[[D>[\~?[ª[[[[BZYY i) aIi>ӕ; ?))??*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038258.963165 s, next control iter: 1743038259.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038259.363165 s.5sJ~,>)AA@A72@Av]~? AA4%"AAbsNA"AZAbAjArAzAAAqQ2@A{,tAGc@A_VAdrAH,?A.A?A)?A|/<*A.:?2AԽ:ABA.:?JAԽRAY-*>--?y-oVٓH@?.\@?;?I?ˊ]?)-*> I٘i)I9Gc@YS G J<JJJJE&K"t> YG ]~?y7ȪHA--?E7{79) B[[K">[\~?[1[[[[BZYY i]o=) HѻIiN>|; Р?))TyР?Р?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038259.383165 s, next control iter: 1743038259.763180 s, wait time: 0.380015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11758&, header.stamp.nsec: 0&0 temperature: 13.569189&* salinity: 33.375420&, density: 1025.000000&* values[0]: 0.570314&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038259.783165 s.V;sJ~,)AJ"J*J2J:J?BJ?nJ5vJA(\@A&P@A#]~? AA%"AAsNA"AZAbAjArAzAAAH2@ArQl1*tAXc@A]ABИAW2?A`?AH?A<*A*:?2Aս:ABA*:?JAսRA٘i)I9c@Y G Jj<JJJJE&K YK"]~?yªHA!E{7j79:B)BE[[>[]~?[H[[[[BZYY i) &FIi> R; *?)) *?*?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038259.803165 s, next control iter: 1743038260.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038260.203165 s.CsJ~,2 )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200442 time: 1743038260.203331F (some fields omitted in printout)AQE@Al"38@A,]~? AkA4%"AAsNA"AZAbAjArAzAAAr2@Ah>'tA~Jd@A"<AsќA7?A`?A@l?A;<*ALF:?2A[Խ:AȮBALF:?JA[ԽRAȮ٘i)I9Jd@Y G J<B=JJJJE&K YT8]~?y0]IA#E77u98B)BE[[?[r-]~?[.[[[[BZYY i) Ii}>&,; Q?))Q?Q?0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038260.223165 s, next control iter: 1743038260.603184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743038260.623165 s._IsJ~,~')AJ"J*J2J:JBJnJvJAGz@A)$m@A]~? AA .%"AAsNA"AZAbAjArAzAAANc3@A%$tAd@Ay<AtA ;  ?)) ? ?y1do=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038260.643165 s, next control iter: 1743038261.023175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11759, header.stamp.nsec: 00 temperature: 13.568839* salinity: 33.375408, density: 1025.000000* values[0]: 0.570981F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038261.043165 s.PsJ~,B)AA= ף@A0k@Ab]~? AXޫA%"AAsNA"AZAbAjArAzAAAa&s[3@A.FO"tAje@Ak<AmEAr B?A@"9?A,?AN<*A.M:?2Aս:A0BA.M:?JAսRA0٘i)I9je@Y G J%<JJJJE&K Y]d]~?y*!JA)E77 97B) BE[[!?[\]~?[g[[[[BZYY i) ./Ii,>{: ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038261.063165 s, next control iter: 1743038261.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038261.463165 s.[WsJ~,])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038261.463299F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@A![@A]~? A٫A%"AAtNA"AZAbAjArAzAAAX23@Auo0tAf@As;A A]G?A?A B?A<*AO:?2Aoս:AxBAO:?JAoսRAxY?nF?yR;ٓH`#?`8s@_?u?`7 *?`Wnx??)? I٘i)I9f@Y G J<JT@JJJE&Kmu> Y~x]~?yJAF?+Eŧ7793B)BE[[I?[s]~?[ϩ[[[[BZYY i) EIi>=: ?))n|??o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038261.483165 s, next control iter: 1743038261.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11760, header.stamp.nsec: 00 temperature: 13.568461* salinity: 33.375462, density: 1025.000000* values[0]: 0.571765F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038261.883165 s.y]sJ~, elevatorAngleAction: 0.067318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743038262.723305F (some fields omitted in printout)Az@A(z@A%!^~? AʫA%"AAgtNA"AZAbAjArAzAAA?J]V4@AHK&tAg@AO yA~A"V?A ?A@*?A<*Ah:?2AԽ:A=BAh:?JAԽRA=٘i)I9g@Y G J<JJJJE&K Yߴ]~?yzKA4E77591B)BE[[0%?[5]~?[ۚ[[[[BZYY i) :II?iˆ, D ?))D ?D ?*YH/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038262.743165 s, next control iter: 1743038263.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038263.143165 s.[/rsJ~,*)AJ"J*J2J:J?BJ?nJ5vJA ףp@AoUf@A5^~? A_ūA8g%"AAtNA"AZAbAjArAzAAA64@AoVtA_h@AQA&Ap[?AY?A?A<*Ae:?2Aս:A/BAe:?JAսRA/٘i)I9_h@Yl G J<JJJJE&K Y]~?yM/LA6E77779)B[[*?[]~?[~[[[[BZYY i) l:I= I?inٽO( ׹?))׹?׹?yiΉ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038263.163165 s, next control iter: 1743038263.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038263.563165 s.xsJ~,_ )AA3333@Aw*@AH^~? AA%"AAetNA"AZAbAjArAzAAA^4@A,|tAh@A G;A?AI`?A v?A}?AT<*Ab:?2AOֽ:Ax2BAb:?JAOֽRAx2Y2(?`?yDH;ٓH@c?Ϥ൑?`%n?ఆ` Y ]~?yLA`?9Eb779,B)BE[[ 0?[M]~?[[[[[BZYY i) } ;;I I?i0A 㔼?))㔼?㔼?,*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038263.603165 s, next control iter: 1743038263.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11762, header.stamp.nsec: 00 temperature: 13.567719* salinity: 33.375473, density: 1025.000000* values[0]: 0.573329F (some fields omitted in printout): ]~?): rAdjusting time to match Gazebo time: 1743038263.983165 s.sJ~,)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249531> elevatorAngleAction: 0.067318< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038263.983310F (some fields omitted in printout)A\(@A,I@A[^~? AA8%"AAtNA"AZAbAjArAzAAAshe5@A !" tAci@A Q<AƶArBA_:?JA]ֽRA>r9XI٘i)I9ci@Y G J<C=JJJJE&K Y]~?yLAE77{7_9+B)ܯBE[[a elevatorAngleAction: 0.076114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038265.243288F (some fields omitted in printout)Aףp=@AED1@A^~? AOA%"AAuNA"AZAbAjArAzAAA0Kn5@A\xdtAj@A7A턽Ayu?A ?A )?A"O<*Ad:?2Aս:ANBAd:?JAսRAN٘i)I9j@YG Jŋ<JJJJE&K Y3#^~?yjqMADE{7Z79)ӯB[[ơG?[8^~?[8x[[[[BZYY i) ;IAH?in ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038265.263165 s, next control iter: 1743038265.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038265.663165 s.sJ~,qj)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11764, header.stamp.nsec: 00 temperature: 13.567030* salinity: 33.375484, density: 1025.000000* values[0]: 0.574627F (some fields omitted in printout)A@A@A¤^~? AZA%"AA0uNA"AZAbAjArAzAAAOwa5@AGsA@?)B? I٘i)I9 Y2^~?yjXNAz?FE779%B)˯B E[[hM?[L^~?[q[[[[BZYY i) O;I_H?iھ ?))M??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038265.683165 s, next control iter: 1743038266.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038266.083165 s.DsJ~, S)AA)\5@A g(@A^~? AJAAm%"AA2KuNA"AZAbAjArAzAAA +06@A=6LsA1k@Am⁼AԅA?A?A&?A\<*AT:?2Aֽ:AnBAT:?JAֽRAn٘i)I9k@YsG J<C=JJJJE&K YB^~?ybNAIE77{79)ǯB[[":S?[`^~?[ck[[[[BZYY i) O elevatorAngleAction: 0.076114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038266.503312F (some fields omitted in printout)ARk@A{^@A^~? AA%"AA$euNA"AZAbAjArAzAAA6M6@A(~sA)l@AKA7-Aq?A?A`?A]<*AkX:?2Aս:ABAkX:?JAսRA٘i)I9)l@YG J4<JJJJE&K YxR^~?yy[ OALEŧ7b7U 9#B)¯B E[[Y?[s^~?[d[[[[BZYY i) I elevatorAngleAction: 0.076114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038267.763288F (some fields omitted in printout)A @A8q@A.^~? AAW%"AA?uNA"AZAbAjArAzAAA B6@AO,sAm@A9z<A(CAIy?A ?A`?A<*A#B:?2A3׽:A~ BA#B:?JA3׽RA~ Y\?^V?y>{<ٓH@ ?0?*? ?@ 3ı?]? I?)\? I٘i)I9m@YG J<B=Jb0JJJE&Kmw> YF^~?yEPAV?TEb779B)B[[j?[|^~?[O[[[[BZYY i) icJ elevatorAngleAction: 0.076114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038269.023307F (some fields omitted in printout)AHz@A#=@A#_~? AoA%"AAuNA"AZAbAjArAzAAA쓖e7@AsAFn@AJһAᖽA?Az?A?AhY<*A.:?2Axֽ:A:BA.:?JAxֽRA:٘i)I9n@YoG J$<JJJJE&K Y'^~?y-;QA\E)7ŧ79B)BE[[î|?[^~?[69[[[[BZYY i;=) xQ ?))??9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038269.463165 s, next control iter: 1743038269.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11768, header.stamp.nsec: 00 temperature: 13.565805* salinity: 33.375534, density: 1025.000000* values[0]: 0.577121F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038269.863165 s.+sJ~,>w)AJ"J*J2J:J?BJ?nJ5vJA@A72 @A>_~? A1bA%"AAvNA"AZAbAjArAzAAA37@A59sAZ p@AuAԚA@?A?AF?A<*A:?2A6ֽ:ANHBA:?JA6ֽRANHYv?e?yUКvٓH@%?¥h? Y!^~?yRAe?aES779)B[[=X?[3^~?[)[[[[BZYY i)  elevatorAngleAction: 0.085074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743038270.283295F (some fields omitted in printout)A(\O@A]mOB@AK_~? A.[An%"AA1vNA"AZAbAjArAzAAAJc7@A]msAQp@AA(A?A?A|?A,Ө<*A:?2Aֽ:ABA:?JAֽRA٘i)I9p@YoG J <C=JJJJE&K Y^~?yjRAdE7777u9)B[[ [?[ _~?[![[[[BZYY i)  elevatorAngleAction: 0.085074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038271.543282F (some fields omitted in printout)A= ף@A@A p_~? AEA%"AAivNA"AZAbAjArAzAAAHMM8@AJCsAEr@A~<A>A?Al?A@-?A7<*A9?2AG׽:ABA9?JAG׽RA٘i)I9Er@YsG J <B=JJJJE&K Y^~?yASAlE779)B[[|?[6_~?[[[[[BZYY i) PA%"AAzvNA"AZAbAjArAzAAA jQo8@AɃWsA2r@A E <A A?A?A_?A<*A|9?2AG׽:ABA|9?JAG׽RAYh?&u?y <ٓH?δyf? ?`wM*?@??)h? I٘i)I9r@YG J<C=JJJJE&Kx> Y^~?yTAu?nEj7j7 9B)zBE[[?[ C_~?[[[[[BZYY i) F elevatorAngleAction: 0.085074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038272.803275F (some fields omitted in printout)A@Aq!@A_~? A/A%%"AA3vNA"AZAbAjArAzAAA|[FA/8@AMFIsAt@A <AA(?A`?A?Ag<*A9?2Aqֽ:AS BA9?JAqֽRAS ٘i)I9t@YG JZ<JJJJE&K Y_~?yTAtEb775$9)mB[[t?[KZ_~?[[[[[BZYY i)  elevatorAngleAction: 0.085074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038274.063294F (some fields omitted in printout)A33333@A4(&@AP_~? AAw%"AAvNA"AZAbAjArAzAAA[9@AIosA*v@AGPݺALA}?AT? ~uV? o? 浿Z? [?)qv? I٘i)I9*v@YG Jx<J5JJJE&Kx> Y_~?yiʩSVA?|Ej7Z7)9 B)XBE[[?[Ex_~?[ө[[[[BZYY i) vG J<JJJJ!E&K Y_~?yVAEb77`+9)RB[[?[_~?[ʩ[[[[BZYY i) YBA(9?JAԍ׽RAN>٘i)I9w@YG JH<JJJJ#E&K Y#!_~?yCWAE77+-9)MB[[?[ֈ_~?[][[[[BZYY i) r elevatorAngleAction: 0.085074< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743038275.323269F (some fields omitted in printout)AGz@AWo@A-_~? AAr:%"AAvNA"AZAbAjArAzAAA.F9@AIsA:x@AO(\<A|GA|?Aa?A٧?Awy<*A9?2AN׽:ABA9?JAN׽RA٘i)I9:x@YG J+<JJJJ&E&K YL&_~?yzWAE7777.9)HB[[9?[_~?[ [[[[ZZZZ¸>BZYY i¸>H) % Y-_~?yXA?E{7{729)9B[[v?[__~?[6[[[[ZZZZBZYY i) I߿|@ATŻA}/AD?A _վ?A@q%?Ah<*A79?2Avֽ:AeƻBA79?JAvֽRAeƻ٘i)I9>|@YG J<B=JJJJ3E&K Y4_~?yÄ ZAE{7{779)!B[[?[R_~?[[[[[ZZZZBZYY i) JJJ9E&Kv> Y6_~?y-sZA?ESI7SI7;9)B[[t-?[1_~?[/u[[[[ZZZZBZYY iTꂽ)  'E&K Yl5_~?yaZAEZ7Z7?9)B[[s?[_~?[a[[[[ZZZZBZYY i) d)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074288< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038280.363296F (some fields omitted in printout)AY@AՐL@A+_~? AA&"AA=3wNA"AZAbAjArAzAAA| 9@Ao X`sA}@A,AqV=A?A?Ay?A:Ȼ*A9?2Ae׽:Ai<BA9?JAe׽RAiJJJFE&Kix> Y0_~?yGuZA?E{7j7vD9)B[[?[_~?[hD[[[[BZYY i܊f) ,--ZAE)7b7@F9B)BE[[4?[V_~?[:[[[[BZYY i) BA@.p?A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9v|@YG J敼B=JJJJQE&K YK#_~?y$UYAEŧ7ŧ7K9)B[[U?[_~?[[[[[BZYY i) ;IەF?iiq 8 @))8 @8 @yݺΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038282.083165 s, next control iter: 1743038282.443183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743038282.463165 s.UtJ~,㤝)AJ"J*J2J:JBJnJvJAfffff@A$}ZY@A_~? AyAO&"AA/wNA"AZAbAjArAzAAA+N9@ACBOEHsA{@AJxU<A=Am?AAg?A@*A9?2AOֽ:A=BA9?JAOֽRA=Y??y=V<ٓH,̿7n?E!̿"^? )׮?w?)? I٘i)I9{@YUG JmC=JX=JJJTE&Kw> Y_~?yXA?EZ7Z7kM9)!B[[?[G_~?[[[[[BZYY i) ;I[F?i&t !@))!@!@sҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038282.483165 s, next control iter: 1743038282.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11781, header.stamp.nsec: 00 temperature: 13.562736* salinity: 33.375576, density: 1025.000000* values[0]: 0.584155F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038282.883165 s.ytJ~,/)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038282.883291F (some fields omitted in printout)A(@AZ+@A@_~? AqA4&"AA,wNA"AZAbAjArAzAAAVN9@A: \CsA`{@AP;Ap=A!?A 񣲿A%]?A⨼*Ar9?2A!ֽ:AC =BAr9?JA!ֽRAC =٘i)I9`{@YG J9JJJJVE&K Y_~?yXAEŧ776O9)%B[[g?[ّ_~?[i [[[[BZYY i) Q;IlF?in}u 0#@))0#@0#@ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038282.923165 s, next control iter: 1743038283.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038283.303165 s.TtJ~,og)AJ"J*J2J:JBJnJvJA@Au@Aj_~? AiA&"AA)wNA"AZAbAjArAzAAA{9@AHu>sAz@A^QAϚ=AE?A~A O?An*A9?2A%׽:A =BA9?JA%׽RA =٘i)I9z@YG J-JJJJYE&K Y_~?y[ !XAE77Q9B))BE[[^B?[_~?[[[[[BZYY i) 8z;I;XF?iat $@))$@$@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038283.323165 s, next control iter: 1743038283.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11782*, header.stamp.nsec: 0*0 temperature: 13.563005** salinity: 33.375580*, density: 1025.000000** values[0]: 0.583468*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038283.723165 s.tJ~,H)AAz@AZ@A _~? AaA.n&"AAY$wNA"AZAbAjArAzAAA6-D9@A͘9sA4Ez@A1}Ar=A%?A UA??A:槼*A9?2A L׽:Aֿ=BA9?JA L׽RAֿ=٘i)I9Ez@YRG JZB=JJJJ\E&K Y] _~?yWAE77j7R9B)/BE[[n?[_~?[q[[[[BZYY i) =;ICF?iŵr U&@))U&@U&@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038283.763165 s, next control iter: 1743038284.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038284.143165 s.U/tJ~,* )AJ"J*J2J:JG?BJG?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065570< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038284.143301F (some fields omitted in printout)A ףp=@AOe0@A&_~? AYAg &"AAwNA"AZAbAjArAzAAAqr9@Akt~4sAy@AlAԄ=A?AA -?Aa*A9?2A%׽:A:=BA9?JA%׽RA:=٘i)I9y@YG JC=JJJJ^E&K Y"_~?y/SWAE777T9)3B[[?[z_~?[[[[[BZYY i) nb;I/F?io '@))'@'@^ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038284.163165 s, next control iter: 1743038284.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038284.563165 s.tJ~,k $)AA3333s@AU3k)f@A_~? AQA& &"AAwNA"AZAbAjArAzAAAo 9@Aj%w/sA(y@AA=AN?A A?A_*A9?2Aֽ:A2g=BA9?JAֽRA2g=Y??y =ٓH WԿnS 흿Q??mԿ?F`Sx@J?)? I٘i)I9(y@YG J\J艺JJJaE&KCx> Y!^~?yVA?E77`V9)8B[[?[p_~?[[[[[BZYY i) L:IF?i컿p Ax)@))Ax)@Ax)@kѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038284.583165 s, next control iter: 1743038284.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11783, header.stamp.nsec: 00 temperature: 13.563291* salinity: 33.375607, density: 1025.000000* values[0]: 0.582765F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038284.983165 s.tJ~,>)AJ"J*J2J:J0?BJ0?nJo5vJA\@A6@A_~? AIA\A &"AAwNA"AZAbAjArAzAAAOó9@AG*sA x@A ;A=A=#?A¿A`,?A{*A9?2Alֽ:A2=BA9?JAlֽRA2=٘i)I9x@YLG J@JJJJdE&K Y!^~?yVAE+X9B)ֽ:A7=BA9?JA3>ֽRA7=٘i)I9x@YG JJJJJfE&K Y"^~?y'!VAEj7j7Y9B)BB E[[?[[_~?[iҨ[[[[BZYY i) PIPE?iYn  ,@)) ,@ ,@N˪YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038285.423165 s, next control iter: 1743038285.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11784", header.stamp.nsec: 0"0 temperature: 13.563579"* salinity: 33.375584", density: 1025.000000"* values[0]: 0.582074"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038285.823165 s.tJ~,)t)AJ"J*J2J:J?BJ?nJ?5vJAGz@A{ds@Ac_~? A9Au &"AAwNA"AZAbAjArAzAAA-?{_9@AĒ^!sArw@AO{<A=AJD?A }ƿAn?A*Ar9?2AYֽ:AS=BAr9?JAYֽRAS=٘i)I9rw@YG J/B=JJJJiE&K Y!^~?yרUAEŧ7b7[9)FB[[B?[ P_~?[_ɨ[[[[BZYY i) eIE?i|k -.@))-.@-.@fǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038285.863165 s, next control iter: 1743038286.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038286.243165 s.tJ~,q)AAףp=J@A.;1=@A_~? A2A0 &"AAvNA"AZAbAjArAzAAA(Z`K9@A+ sAv@A<AB=A?A Ys^~?yqǨTA?E77V_9B)PBE[[@[6_~?[[[[[BZYY iBט) kIE?ilf O1@))O1@O1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038286.683165 s, next control iter: 1743038287.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038287.083165 s.DtJ~,"S)AA)\µ@A@Ai_~? A"A9? &"AAvNA"AZAbAjArAzAAA|xT9@A9b\sAu@ATA=A+@AA̿Aj?A@*A9?2AhP׽:A<BA9?JAhP׽RA<٘i)I9u@YG JC=JJJJqE&K Yƿ^~?ymTAEj7j7 a9)TB[[\\@[0)_~?[䮨[[[[BZYY i) uIrE?i=me K2@))K2@K2@YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038287.103165 s, next control iter: 1743038287.483181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038287.503165 s.tJ~,L4)AJ"J*J2J:JBJnJvJAR@A+z@Ad_~? AA &"AAvNA"AZAbAjArAzAAAm9@AfmsAku@A炼AZɇ=A6|@A ͿAmD?A/*A9?2A J׽:AJ<BA9?JA J׽RAJ<٘i)I9ku@Y_G JJJJJtE&K Y^~?ygtJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038287.923318F (some fields omitted in printout)A{G!@A'>@Aޤ_~? A;Ak&"AAYvNA"AZAbAjArAzAAA[׷8@Aʴ sAMt@A,Aއ=A@A`״ϿA*?As*AH9?2A׽:A8<BAH9?JA׽RA8<٘i)I9t@YG JJJJJwE&K Yi^~?ybSAEd9B)^BE[[O@[ _~?[ѝ[[[[BZYY i) MkһIE?i[^ 6@))6@6@yPʘYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038287.943165 s, next control iter: 1743038288.323183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038288.343165 s.<uJ~,)AJ"J*J2J:JBJnJvJAp= W@A;I@Aٛ_~? A A%&"AAvNA"AZAbAjArAzAAA.T>_8@A#sAt@AaQ9A)=A@A 2пA?A1i*AK9?2Aֽ:A =BAK9?JAֽRA =٘i)I9t@YG JJJJJyE&K Y^~?y^SAEf9)aB[[C@[f^~?[[[[[BZYY i) @^ImE?iaX ֓7@))֓7@֓7@+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038288.383165 s, next control iter: 1743038288.743178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11787*, header.stamp.nsec: 0*0 temperature: 13.385087** salinity: 33.391636*, density: 1025.000000** values[0]: 0.703340*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038288.763165 s.5 uJ~,0)AǍ@AN"@AW_~? A!A&"AAvNA"AZAbAjArAzAAAmw8@A-&sAH t@Aa'7<AoΉ=AF@AѿAy?AE*Ai9?2AUֽ:A(=BAi9?JAUֽRA(=Y?R@y:̉=7<ٓH@@ Ƙ O?O?36?`?)? I٘i)I9 t@YG JJBĺJJJ|E&Kx> Y^~?yŸ%SAR@Eb77Kh9B)gBE[[@[)^~?[H[[[[BZYY i) 2Ik[E?i[rW "9@))"9@"9@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038288.803165 s, next control iter: 1743038289.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038289.183165 s.uJ~,cK)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: -0.074629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038289.183301F (some fields omitted in printout)A(\@A%>w@AZ_~? AA%&"AAZvNA"AZAbAjArAzAAAd@8@AT\rAs@A֡<AR =A@A}ҿA?A>*A9?2A@Hֽ:A:=BA9?JA@HֽRA:=٘i)I9s@Y=G J뒼JJJJE&K YE^~?y'RAE{7{7j9)kB[[>3 @[R^~?[4[[[[BZYY i) IIE?iHT ɰ:@))ɰ:@ɰ:@eYFFF]k:Waiting for Gazebo time sync: latest Gz time: 1743038289.203165 s, next control iter: 1743038289.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038289.603165 s.74uJ~,f)AAQ@ATTJ@A}_~? AFA&"AAvNA"AZAbAjArAzAAAFK4}w8@A+ѩzrA\s@AvM<AQ=A@A]ӿA&e?A^*A'9?2A7ֽ:AsI=BA'9?JA7ֽRAsI=٘i)I9s@YG J0B=JJJJE&K Yr^~?ylRAE777k9)nB[[ @[^~?[F}[[[[BZYY i) 9'I7E?i)JP @<@))@<@@<@%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038289.623165 s, next control iter: 1743038290.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11788 , header.stamp.nsec: 0 0 temperature: 13.385313 * salinity: 33.391636 , density: 1025.000000 * values[0]: 0.702357 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038290.023165 s.Z uJ~, |)AJ"J*J2J:J3?BJ3?nJ<5vJAHz.@AR !@Ar_~? AAF&"AAvNA"AZAbAjArAzAAA@V8@AHjrAr@A;A=A*: @A>ԿA0?Au*A9?2Alֽ:A6=BA9?JAlֽRA6=٘i)I9r@YG JC=JJJJE&K Yc^~?yRAEŧ7b7m9 B)uBE[[P @[^~?[u[[[[BZYY i) 6I&E?ipK =@))=@=@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038290.043165 s, next control iter: 1743038290.423185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743038290.443165 s.:&uJ~,J])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074629< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743038290.443287F (some fields omitted in printout)Aq= c@AßV@Axg_~? AA_&"AAovNA"AZAbAjArAzAAAF+38@AuMדrAr@AA+p=A @A տA?AL*A_9?2A@׽:A=BA_9?JA@׽RA=٘i)I9r@Y\G JhJJJJE&K YU^~?ySQAEZ7SI7vo9)xB[[c@[y^~?[m[[[[BZYY i) ?FI\E?iϙD ]?@))]?@]?@cŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038290.463165 s, next control iter: 1743038290.843180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11789, header.stamp.nsec: 00 temperature: 13.385578* salinity: 33.391647, density: 1025.000000* values[0]: 0.701321F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038290.863165 s.+-uJ~,>)AJ"J*J2J:J3?BJ3?nJB<5vJA@AW횐@A[_~? AߩAbb&"AA^vNA"AZAbAjArAzAAAad8@AlqK1rAKq@A1Aj=A6 @AzտA?Abˏ*A9?2A7[׽:A=BA9?JA7[׽RA=Yԣ? @y/f=ٓH eګ@6?K`?(@叿^?)ԣ? I٘i)I9q@YG JAJ<JJJE&K]x> YD^~?y5zQQA @E77Aq9 B)~BE[[i@[Z^~?[vf[[[[BZYY i) MUIE?i𗿉${B @@))@@@@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038290.883165 s, next control iter: 1743038291.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038291.283165 s.7R4uJ~,)AA(\@AP@A%O_~? AhةA&"AAKvNA"AZAbAjArAzAAAf7@AD]rA/,q@A.eAA=A5@AֿAg?A*A 9?2A*׽:A!5=BA 9?JA*׽RA!5=٘i)I9,q@YG JdJJJJE&K YL4^~?ysPAEj7j7 s9)B[[@[~^~?[(_[[[[BZYY i) dID?i> tB@))tB@tB@ʪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038291.303165 s, next control iter: 1743038291.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11790., header.stamp.nsec: 0.0 temperature: 13.385798.* salinity: 33.391674., density: 1025.000000.* values[0]: 0.700311.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038291.703165 s.Ժ:uJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743038291.703272F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AT@AJB_~? AbѩAw&"AA8vNA"AZAbAjArAzAAAu7@AтvrAJp@AA}=AIx@A׿A"J?A T*A69?2Apֽ:AP =BA69?JApֽRAP =٘i)I9p@Y{G J JJJJE&K Y#^~?ykPAE7777t9B)BE[[݀@[j^~?[X[[[[BZYY i)  ,tIfD?i)9 D@))D@D@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038291.723165 s, next control iter: 1743038292.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038292.123165 s.7AuJ~,])AAG:@A-@A4_~? AqʩAQ&"AA$vNA"AZAbAjArAzAAAKx7@A g3UrA(p@A;AF=A@A`rpؿA ?A*A]9?2A^ֽ:Ana=BA]9?JA^ֽRAna=٘i)I9(p@Y*G JJJJJE&K Y^~?yd-PAEb77v9)B[[ @[V^~?[Q[[[[BZYY i) JIUD?ifZ3 &E@))&E@&E@jЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038292.143165 s, next control iter: 1743038292.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038292.543165 s.IHuJ~,")AJ"J*J2J:JBJnJvJA= ףp@Azؘc@A:'_~? AéA&"AAAvNA"AZAbAjArAzAAAnIp7@AL[&rAYo@Aq<A=A@A<ٿA?A/*A9?2A+)ֽ:AR=BA9?JA+)ֽRAR=٘i)I9o@YG JJJJJE&K Yc^~?y]OAE77{7kx9B)BE[[@[A^~?[YJ[[[[BZYY i) [dID?i"α+ G@))G@G@y]⪽ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038292.563165 s, next control iter: 1743038292.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11791, header.stamp.nsec: 00 temperature: 13.386056* salinity: 33.391666, density: 1025.000000* values[0]: 0.699241F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038292.963165 s.yNuJ~,=)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038292.963311F (some fields omitted in printout)Affff@A'_[@A _~? AѼA5 &"AAuNA"AZAbAjArAzAAA({>E7@Ac rAo@A5x<A?=AJH@AqڿA`?ACE*A9?2ADֽ:AE=BA9?JADֽRAE=Y,U@Q[@y;=y<ٓH@(QB ?\Y ?@@?`:?),U@ I٘i)I9o@YG JJHN<JJJE&Kx> Y]~?y2WbOA[@Ej7j76z9B)BE[[m@[y+^~?[C[[[[BZYY i) 搼IƺD?iyI( ԞH@))ԞH@ԞH@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038292.983165 s, next control iter: 1743038293.363179 s, wait time: 0.380014 s.]~?).2W rAdjusting time to match Gazebo time: 1743038293.383165 s.UuJ~,X)AJ"J*J2J:J2?BJ2?nJ;5vJA(@A@Af _~? A$A&"AAKuNA"AZAbAjArAzAAA{^7@A (rAIn@A(;A/=A@A`ڿA B?A ܪ*A#9?2Aֽ:A.=BA#9?JAֽRA.=٘i)I9n@Y)G JªJJJJE&K Y]~?yPNAE{7{7|9)B[[^@[x^~?[L=[[[[BZYY i) hI D?ip# G))G 'J@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038293.403165 s, next control iter: 1743038293.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11792", header.stamp.nsec: 0"0 temperature: 13.386294"* salinity: 33.391682", density: 1025.000000"* values[0]: 0.698089"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038293.803165 s.xA\uJ~,gs)AA@A'%@AT^~? AA&"AAuNA"AZAbAjArAzAAA 6@AEWrAm@Aq|A!=AT@A@NۿA?Ar*A9?2A׽:An=BA9?JA׽RAn=٘i)I9m@YG JB=JJJJE&K Y]~?yJNAE7)7}9B)BE[[$@[]~?[7[[[[BZYY i) 럼I˟D?i/v pF))pFK@ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038293.823165 s, next control iter: 1743038294.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038294.223165 s.gcuJ~,H)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: -0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038294.223292F (some fields omitted in printout)AzG@A&S:@A^~? AA&"AAuNA"AZAbAjArAzAAA]6@A^rAacm@AAZAۣ=ARV@AcܿA+?Ax*A=9?2AO׽:A^=BA=9?JAO׽RA^=٘i)I9cm@YzG JߪC=JJJJE&K Y]~?yC'NAE{7{79)B[[t@[]]~?[1[[[[BZYY i) mI-D?ijA D))D5M@6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038294.243165 s, next control iter: 1743038294.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038294.643165 s.ziuJ~,*)AA ףp}@AKep@A^~? AAU&"AAݟuNA"AZAbAjArAzAAAV+Z6@ArAl@A A=A@A%ݿABd?A*A09?2AZ>׽:AX8=BA09?JAZ>׽RAX8=٘i)I9l@Y"G J:JJJJE&K Y]~?y=MAEb77a9B)BE[['@[Y]~?[2+[[[[BZYYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11793, header.stamp.nsec: 00 temperature: 13.386598* salinity: 33.391705, density: 1025.000000* values[0]: 0.696939F (some fields omitted in printout) i) ﮼IFD?i]]] cC))cCN@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038294.683165 s, next control iter: 1743038295.043179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038295.063165 s.puJ~,V )AJ"J*J2J:Jj2?BJj2?nJ;5vJA3333@AD(@A^~? AkA&"AAouNA"AZAbAjArAzAAAGZ6@A #>rAS;l@Ab!An=A2@A ݿA@D?Abη*A{9?2Ahֽ:AF=BA{9?JAhֽRAF=Y @@ytl=m"ٓHL`~@L]`q?`@ ï?`';`?) @ I٘i)I9;l@YG J6JM{<JJJE&K%x> Y0]~?y7MMA@E7777,9B)BE[[L@[Ĺ]~?[%[[[[BZYY i) DI{D?iVm[ A))A?P@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038295.103165 s, next control iter: 1743038295.463176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038295.483165 s.u_wuJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743038295.483338F (some fields omitted in printout)A\@AB@A̺^~? A?A&"AAcnuNA"AZAbAjArAzAAAv(6@AjƼyrAfk@Aw˝:AЫ=A#*@Ah޿A?Aa*A09?2Aiֽ:A"9=BA09?JAiֽRA"9=٘i)I9k@YfG JJJJJE&K YMz]~?y+1LAEb7b79)B[[B+!@[ۡ]~?[ [[[[BZYY i) IpD?iM  \@)) \@Q@&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038295.523165 s, next control iter: 1743038295.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11794, header.stamp.nsec: 00 temperature: 13.386857* salinity: 33.391701, density: 1025.000000* values[0]: 0.695712F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038295.903165 s.}uJ~,)AJ"J*J2J:J2?BJ2?nJ:5vJAQ @AB @A^~? A-AU{&"AATuNA"AZAbAjArAzAAAЃw 5@AဃŹrAj@Aq4?<A'=Ah@AM߿A`]y?Aɼ*AY9?2A#ֽ:A>=BAY9?JA#ֽRA>=VI٘i)I9j@YG JhżJJJJE&K Yje]~?yA+iLAEj7Z79B)ůBE[[ "@[]~?[[[[[BZYY i) ļI.fD?iC >))>FS@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038295.943165 s, next control iter: 1743038296.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038296.323165 s.suJ~,)AAGzT @A'jinG @A ^~? A7A&"AA:uNA"AZAbAjArAzAAA5b5@AfnH"rAKj@AQ:<A=Ai@A`߿Ac'?Aϼ*A9?2Aֽ:A)=BA9?JAֽRA)=٘i)I9Kj@YG J̼JJJJE&K YP]~?yW%KA EZ7SI79)ʯB[[c&$@[Eq]~?[[[[[BZYY i) "B̼I`\D?id6v V=))V=T@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038296.363165 s, next control iter: 1743038296.723176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11795., header.stamp.nsec: 0.0 temperature: 13.387164.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.694404.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038296.743165 s.WuJ~,/)AJ"J*J2J:J1?BJ1?nJg:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743038296.743310F (some fields omitted in printout)Aףp= @A1?74} @A7^~? A^ADd&"AAuNA"AZAbAjArAzAAAϪ5@ADrAi@A5D<A=A@A`XA?A м*Aɕ9?2ALֽ:A =BAɕ9?JALֽRA =٘i)I9i@Y.G JϼB=JJJJE&K Y;]~?ylKA E77V9B)ѯB޹E[[ %@[X]~?[[[[[BZYY iC) mӼI[SD?i'ֻ %;))%;IV@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038296.783165 s, next control iter: 1743038297.143178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038297.163165 s.}uJ~,qJ)AA @As @As^~? A~Am&"AAAuNA"AZAbAjArAzAAA'Q5@A5TrAh@At:A53=AN` @AA{?Aͼ*AՓ9?2Aֽ:A4j=BAՓ9?JAֽRA4j=Yz\@b @y&3=_@:ٓH`s? L˪?pZ?`?)z\@ I٘i)I9h@Y G JϼC=J<JJJE&K8x> Y$]~?y4KAb @E777!9 B)دB۹E[[F'@[?]~?[ [[[[BZYY i) ڼIJD?ik̻ V:))V:W@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038297.203165 s, next control iter: 1743038297.563185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038297.583165 s.uJ~, Se)AJ"J*J2J:JBJnJvJA)\ @A4 @A?a^~? AyAJD&"AACtNA"AZAbAjArAzAAAd鸁5@Ai3rACh@AE<A9=A!@A`A !?Azoɼ*Am9?2AE ׽:AU=BAm9?JAE ׽RAU=٘i)I9Ch@Y\ G J˼JJJJE&K Y=]~?yJAE77j7썜9!B)߯BعE[[(@[0&]~?[[[[[BZYY i) 4IBD?ia %8))%8GY@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038297.623165 s, next control iter: 1743038297.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11796, header.stamp.nsec: 00 temperature: 13.387507* salinity: 33.391712, density: 1025.000000* values[0]: 0.693019F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038298.003165 s.w uJ~,H4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092414< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038298.003304F (some fields omitted in printout)AR+ @A;z @A5N^~? AsAϰ&"AAtNA"AZAbAjArAzAAA9E c4@Ah]IrAg@AoA4=A#@AYA`ʍ?ASɼ*AA9?2A7׽:A=BAA9?JA7׽RA=٘i)I9g@Y G JȼJJJJE&K Y\~?y#JAE)7ŧ79"B)B׹E[[*@[ ]~?[?[[[[ZZ¸BZYY i¸x?=) OּIQ;D?i a )Z7)))Z7Z@y3+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038298.043165 s, next control iter: 1743038298.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038298.423165 s.uuJ~,)AJ"J*J2J:J=1?BJ=1?nJ95vJA{Ga @AUt<BA9?JA|ֽRA><٘i)I9.f@Y G J6JJJJE&K Y#\~?yQ7IAEb77L9&B)BѹE[[,@[E\~?[F[[[[ZZBZYY i)  %I.D?iJؾl /b4))/b4]@yOM=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038298.863165 s, next control iter: 1743038299.243180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038299.263165 s.uJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743038299.263288F (some fields omitted in printout)J"J*J2J:JBJnJvJA @Aÿ @A^~? AcA&"AArtNA"AZAbAjArAzAAA6T+4@AﮞrA|Qe@A+!;A=A&@AAA_?A*A$9?2A$@ֽ:AU<BA$9?JA$@ֽRAU YԱ\~?yHA&@E{7j79)B[[m.@[\~?[[[[[ZZBZYY i) sI)D?iƾύ} 2))2 8_@y=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038299.283165 s, next control iter: 1743038299.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11798., header.stamp.nsec: 0.0 temperature: 13.388183.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.690156.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038299.683165 s.luJ~,Z)AA(\ @A@ @A]~? A^AJ&"AA>TtNA"AZAbAjArAzAAA6_(r3@A&z䢛rA elevatorAngleAction: 0.082641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743038300.523258F (some fields omitted in printout)AHzn @A!A a @A]~? A5UA &"AAtNA"AZAbAjArAzAAA?n3@A)npYǕrA+ c@Ac`;A<A*@A^AW?An*A9?2AsTֽ:A ]BA9?JAsTֽRA ]٘i)I9 c@Y- G J@ǼC=JJJ1FJE&K Yh\~?ygGA%E77v9*B)BȹE[[s2@[o\~?[[[[[ZZBZYY i) `ID?ipM f}.))f}.Oc@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038300.543165 s, next control iter: 1743038300.923174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11799, header.stamp.nsec: 00 temperature: 13.388559* salinity: 33.391747, density: 1025.000000* values[0]: 0.688532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038300.943165 s.]duJ~,W]<)AJ"J*J2J:JBJnJvJAq= ף @A1>̖ @A]~? APAHd&"AAmsNA"AZAbAjArAzAAAwH.3@AKdrAb@ArAڹ'<AF,@AeAcW?A&*A9?2AI>ֽ:ATBA9?JAI>ֽRAT٘i)I9b@Y G JJJJJE&K YP\~?y.GA'E777A9,B)BǹE[[Q-4@[3U\~?[[[[[ZZBZYY i) I/D?i-4n޺ f-))f-Oe@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038300.963165 s, next control iter: 1743038301.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038301.363165 s.uJ~,y>W)AA @Ad @A]~? A$LA&"AAsNA"AZAbAjArAzAAAek2@A,7\>rA*b@A)pA)A[-@AA]?Av(*Aާ9?2Aeֽ:A6BAާ9?JAeֽRA6YLV@o\-@yw$*pٓHs `ڿ)Q? |  w??)LV@ I٘i)I9*b@Y G J[J]FJJJE&Kfv> Y6\~?y86GA\-@*Ej7j7 9-B)BĹE[[g5@[3:\~?[[[[[ZZBZYY iz=) utIdD?i\J K+))K+jf@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038301.383165 s, next control iter: 1743038301.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11800&, header.stamp.nsec: 0&0 temperature: 13.388818&* salinity: 33.391739&, density: 1025.000000&* values[0]: 0.687445&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038301.783165 s.YuJ~,r)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061255< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743038301.783319F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\ @AX zR @A]~? AGA&"AAsNA"AZAbAjArAzAAA@)32@AvrAOa@ACA:A.@AA u?A{H*A79?2Aֽ:AsBA79?JAֽRAs٘i)I9a@Y G J_JJJJE&K Y5\~?y=GA-Eŧ7b7ן9.B)BE[[ 7@[(\~?[j[[[[ZZBZYY i=) {aI>D?iWZ *))*h@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038301.823165 s, next control iter: 1743038302.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038302.203165 s.uJ~,)AAQE @A*8 @A}]~? ACAWf&"AAtsNA"AZAbAjArAzAAA7f2@A* rA a@AZ+AA/@A+AE?Aw=*A|9?2AFֽ:A}ͼBA|9?JAFֽRA}ͼ٘i)I9a@Yv G J(TJJJJE&K Y\~?yEGA0E77790B)!BE[[v8@[#\~?[[[[[BZYY i) INID?iT㗹 ())(-xi@ 1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038302.243165 s, next control iter: 1743038302.603174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743038302.623165 s.YuJ~,e)AJ"J*J2J:JBJnJvJAGz @Amm @ANg]~? A?A&"AApsNA"AZAbAjArAzAAAW"2@ArA2a@AZa ;A5/AH1@AjA?A{B;*AҖ9?2A:ֽ:ABAҖ9?JA:ֽRA伙٘i)I9a@Yz G Jc:JJJJE&K Y[~?yMGA2E)7b7l91B)"BE[[9@[)[~?[[[[[BZYY i) o;IKD?i=xK9 4'))4'j@y@'=k*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038302.643165 s, next control iter: 1743038303.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11801, header.stamp.nsec: 00 temperature: 13.388940* salinity: 33.391758, density: 1025.000000* values[0]: 0.687031F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038303.043165 s.uJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072095< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743038303.043313F (some fields omitted in printout)A= ף @A3f @AP]~? A;A&"AAWNsNA"AZAbAjArAzAAAT1@Ap/rAb@AH<ATA2@A AB?AC;*A9?2Aֽ:Ad(BA9?JAֽRAd(٘i)I9b@Y G J;B=JJJJE&K Y[~?yhܧUGA5E7779)!B[[gE;@[E[~?[ߧ[[[[BZYY i) (ID?i=: >%))>%w\l@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038303.063165 s, next control iter: 1743038303.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038303.463165 s.UuJ~,)AJ"J*J2J:JBJnJvJAffff @Aܠ[ @A9]~? A7AO&"AA+sNA"AZAbAjArAzAAAܨp1@A_vorA 8b@A[<A+tAv3@A Ai?A<*A9?2A.ֽ:ABA9?JA.ֽRAY%@ 3@yit? <ٓHg5 Կ =??D]rG??d?)%@ I٘i)I98b@Y G J<C=JJJJE&K+x> Y_[~?y٧GA3@8Eŧ7793B)E[[ۭ<@[ [~?[Aݧ[[[[BZYY i7g=) @ID?i[>u: [S$))[S$Zm@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038303.503165 s, next control iter: 1743038303.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11802, header.stamp.nsec: 00 temperature: 13.388932* salinity: 33.391766, density: 1025.000000* values[0]: 0.687109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038303.883165 s.yuJ~,I)AA( @Am @AP"]~? AI4AЗ&"AAsNA"AZAbAjArAzAAAnRQ1@A}1rAb@A 0<A A75@A=Ab?ABU<*Ap9?2Aֽ:A BAp9?JAֽRA ٘i)I9b@Y G J7<JJJJE&K Y[~?y֧GA:E77{7̨94B) BE[[>@[ݗ[~?[ۧ[[[[BZYY i) [IVD?i(F>: ]"))]"X;o@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038303.923165 s, next control iter: 1743038304.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038304.303165 s.QvJ~,bg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056571< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743038304.303271F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ @AuD @A ]~? A0A&"AAGrNA"AZAbAjArAzAAA/Z 1@AQrAb@A_8A\Ajx6@A HAض?Aı<*A9?2A>ֽ:A%BA9?JA>ֽRA%٘i)I9b@Y G Jq<JJJJE&K Y[~?yӧKHA=E7795B)BE[[w?@[|[~?[Rڧ[[[[BZYY i) zI!D?i/>+$; Yv!))Yv!\p@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038304.323165 s, next control iter: 1743038304.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11803., header.stamp.nsec: 0.0 temperature: 13.388864.* salinity: 33.391747., density: 1025.000000.* values[0]: 0.687656.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038304.723165 s. vJ~,H.)AAz @A z @A&\~? A-A &"AArNA"AZAbAjArAzAAA%%0@AWW}rAfc@AJ0A|GA`7@A`zA?ACڞ<*AΗ9?2Aս:ABAΗ9?JAսRA٘i)I9fc@Yf G J<JJJJE&K Y0e[~?yЧHA@E)7ŧ7a97B)BE[[@@[a[~?[$٧[[[[BZYY iP=) R8һI&D?i>kN;  )) r@y<h=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038304.743165 s, next control iter: 1743038305.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038305.143165 s.P/vJ~,)I)AJ"J*J2J:JBJnJvJA ףp @A"d @A>\~? AS*A_ &"AArNA"AZAbAjArAzAAAMY z0@A=M{rAjc@A\΂AA18@A A?Agʬ<*A.9?2A<ս:A&BA.9?JA<սRA&٘i)I9c@Y G JQ<JJJJE&K YvJ[~?yΧHABE{7{7,99B)BE[[6B@[F[~?['ا[[[[BZYY i) ]Ii+D?iN>Ԍ|; ))s@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038305.163165 s, next control iter: 1743038305.543174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038305.563165 s.vJ~,_ d)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038305.563289F (some fields omitted in printout)A3333 @APs' @A#\~? AM'A &"AA"yrNA"AZAbAjArAzAAA3v800@AV1yrAzd@AQAAP:@A A@(?A6Ư<*A/9?2A%ֽ:A BA/9?JA%ֽRA YhZ,@`:@yaXDRٓH@ ;Ϳg ? ?@&Z[@M?@45?)hZ,@ I٘i)I9d@Y G J<JJJJE&Kw> Y.[~?y̧WIA`:@EE7779:B)BE[[ߗC@[+[~?[Vק[[[[BZYY i) Y>IT1D?i>2܌; 5))5t@yU=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038305.583165 s, next control iter: 1743038305.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11804, header.stamp.nsec: 00 temperature: 13.388662* salinity: 33.391750, density: 1025.000000* values[0]: 0.688554F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038305.983165 s.vJ~,~)AJ"J*J2J:JE0?BJE0?nJ85vJA\(@A'@Aժ\~? An$Ag &"AAvTrNA"AZAbAjArAzAAAO֍/@Al;xrAe@Ac>A)A;@AA@4?A0<*A9?2A>ֽ:A BA9?JA>ֽRA ٘i)I9e@Yn G J<JJJJE&K Yy[~?yʧIAHEŧ7ŧ79)B[[D@[[~?[֧[[[[BZYY i) ǝ; ))Sv@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038306.003165 s, next control iter: 1743038306.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038306.403165 s.&&vJ~,Ι)AAQ^@AQ@AX\~? A!A !&"AA/rNA"AZAbAjArAzAAA&Rp :/@A~YvrA5e@A{ <AAA=@A@ /A@?AT/<*AƬ9?2Aֽ:A5BAƬ9?JAֽRA5٘i)I9e@Y G J<B=JJJJE&K YZ~?yȧ'JA DJE7{79;B)BE[[RSF@[Z~?[C֧[[[[BZYY i) z/Ie?D?iJ ?; d))dw@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038306.423165 s, next control iter: 1743038306.803181 s, wait time: 0.380016 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11805", header.stamp.nsec: 0"0 temperature: 13.388464"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.689593"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038306.823165 s.,vJ~,G)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038306.823310F (some fields omitted in printout)AGz@AIp@Ay\~? A)A?!&"AAA rNA"AZAbAjArAzAAAB>z.@AMotrA7f@AT}<AA\>@AvVA?A)<*A9?2A!׽:A%BA9?JA!׽RA%٘i)I97f@Y G JШ<C=JJJJE&K Y{Z~?yƧJAME77W9=B) BE[[G@[`Z~?[է[[[[BZYY i) zIGD?i?; ))&"y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038306.863165 s, next control iter: 1743038307.223182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038307.243165 s.3vJ~,q)AAףp=@A2@A`\~? AAp!&"AAqNA"AZAbAjArAzAAAà .@ArSsrAf@A?6j<Az,Aӧ?@A{A ?AX%<*A9?2Aֽ:AOBA9?JAֽRAO٘i)I9f@Yr G Jy<JJJJE&K YZ~?yħJAPE777"9>B)BE[[I@[Z~?[է[[[[BZYY i) ]IQD?i-?gL; ))z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038307.263165 s, next control iter: 1743038307.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038307.663165 s.:vJ~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11806, header.stamp.nsec: 00 temperature: 13.388258* salinity: 33.391758, density: 1025.000000* values[0]: 0.690586F (some fields omitted in printout)A@AX@AG\~? AA!&"AAqNA"AZAbAjArAzAAAlqgv-@Al*FqrAOg@At;A`eA@@A A?AD<*A9?2Aqֽ:ArBBA9?JAqֽRArBY2@@@yd;ٓH"?ؐ?A? m@q? w?`?)2@ I٘i)I9Og@Y G J<J\;JJJE&Kx> YZ~?y§ZKA@@RE)7ŧ7츜9?B)BE[[]J@[9Z~?[է[[[[BZYY i) 8I [D?in9? Z; S4))S4b{@A*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038307.683165 s, next control iter: 1743038308.063175 s, wait time: 0.380010 s Z~?) § rAdjusting time to match Gazebo time: 1743038308.083165 s.DAvJ~,R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038308.083298F (some fields omitted in printout)A)\5@A^(@A.\~? AoA!&"AA qNA"AZAbAjArAzAAAα ,@AgprA?g@AûAVAK*B@APAK?ALI<*A~9?2A{Hֽ:AhBA~9?JA{HֽRAh٘i)I9g@Y G J^<JJJJE&K YZ~?yKAUEj7j79>B)BE[['K@[Z~?[=֧[[[[BZYY i) :IeD?iF?Y; ))N}@v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038308.103165 s, next control iter: 1743038308.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038308.503165 s.GvJ~,P4 )AJ"J*J2J:JBJnJvJARk@A3g}^@Az\~? AAS!&"AArqNA"AZAbAjArAzAAAqD,@A[ForAvkh@Ad%lAA&nC@AxA u?Aب<*Aɾ9?2Aֽ:ABAɾ9?JAֽRA٘i)I9kh@Yt G JB<B=JJJJE&K YlZ~?y!LAXE{79?B)BE[[ M@[XqZ~?[֧[[[[BZYY i) O:ICqD?iMV?' < =n))=nx~@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038308.543165 s, next control iter: 1743038308.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11807, header.stamp.nsec: 00 temperature: 13.388077* salinity: 33.391743, density: 1025.000000* values[0]: 0.691613F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038308.923165 s.7NvJ~,;)AA{G@A-;@A[~? AA"&"AALqNA"AZAbAjArAzAAAr+@AumnrAh@AyAPgAD@AA?A*<*A9?2Ay;ֽ:ABA9?JAy;ֽRA٘i)I9h@Y G J_<C=JJJJE&K YPZ~?yLAZEj7L9)B[[^N@[DWZ~?[Aק[[[[BZYY i) 4$<;I}D?i]g?< C ))C 9 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038308.963165 s, next control iter: 1743038309.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038309.343165 s. elevatorAngleAction: 0.065926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743038309.343281F (some fields omitted in printout)Ap= @AEu@A[~? A A4"&"AA%qNA"AZAbAjArAzAAAm+@AQqmrAi@AA݊AF@A@w A`?A<*A9?2Aֽ:A!BA9?JAֽRA!٘i)I9i@YG J<JJJJE&K Y4Z~?yxLA]E7S79)BE[[ O@[s=Z~?[ا[[[[BZYY i) y;I%D?i*z? < í))í@C*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038309.383165 s, next control iter: 1743038309.743179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11808&, header.stamp.nsec: 0&0 temperature: 13.387868&* salinity: 33.391727&, density: 1025.000000&* values[0]: 0.692631&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038309.763165 s.=[vJ~,8p)AA @A=z@A[~? AAR"&"AACpNA"AZAbAjArAzAAAJa9u*@AgߏlrApj@A_;AêAmkG@A$A`^?A-<*A9?2Aֽ:ABA9?JAֽRAYa9@gG@y1`;ٓH@Fc?r?`A[? ?>k? ?)a9@ I٘i)I9j@YkG J,<JX_<JJJE&K$x> YZ~?y>DMAgG@`E77{79@B)BE[[ Q@[c#Z~?[ا[[[[BZYY iS=) ;I elevatorAngleAction: 0.076014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038310.603287F (some fields omitted in printout)AQx@Ad]Fk@A[~? AGA "&"AAkpNA"AZAbAjArAzAAAVA()8=)@A0MEkrAXj@A<AgA HAHA?A<*A`9?2A)׽:APBA`9?JA)׽RAP򼙘٘i)I9j@YG JV<JJJJE&K Y7Y~?yɽMAeEb77wŜ9)BE[[MS@[Y~?[Fۧ[[[[BZYY i) M;ID?i?j:<  )) SƂ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038310.623165 s, next control iter: 1743038311.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11809 , header.stamp.nsec: 0 0 temperature: 13.387684 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.693540 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038311.023165 s.ZpvJ~,{)AJ"J*J2J:JBJnJvJAHz@AE @A{[~? ARAo"&"AARpNA"AZAbAjArAzAAAА(@ATqejrA]k@A )<AAFAVA@s;?AH<*A9?2A`ֽ:A2BA9?JA`ֽRA2٘i)I9]k@Y?G J<JJJJ E&K YY~?yWNAhE777Bǜ9BB)BE[[*T@[Y~?[ܧ[[[[BZYY i) F;IND?i9?gE< 7 ))7 St@y㝛=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038311.063165 s, next control iter: 1743038311.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038311.443165 s.7vvJ~,>])AAq= @A_@Aa[~? A A"&"AA!cpNA"AZAbAjArAzAAA(@Ah=~jrAjk@A0AAEA`tbA x?A0<*A9?2Aiֽ:A!BA9?JAiֽRA!٘i)I9k@YG JV<JJJJ E&K YY~?yUNAkE7b7 ɜ9)BE[[:V@[Y~?[6ާ[[[[BZYY i)  )AJ"J*J2J:J1?BJ1?nJd:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038311.863311F (some fields omitted in printout)A@AR @AG[~? A A"&"AA;pNA"AZAbAjArAzAAAbTnOf'@A2\ԤirAGl@AZ9AYNA.BDAkA@m?Ap<*Aν9?2A6ֽ:AyBAν9?JA6ֽRAyY?@5DyL9ٓH `1? ~q?X j7jy%F?*0?)?@ IUI٘i)I9Gl@YG JJ<J}JJJE&Kw> YY~?yOA5DmEb77ʜ9)BE[[W@[Y~?[ߧ[[[[BZYY i) ym@AsJAAAAvA@Tm?Aw<*A9?2Ahֽ:A* BA9?JAhֽRA* ٘i)I9>m@YdG Jf<JJJJE&K Y9SY~?yUOAsE777mΜ9)ٯB[[Z@[)sY~?[[[[[BZYY i) x: elevatorAngleAction: 0.076014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038313.123281F (some fields omitted in printout)AG@A׭@AZ~? A A"&"AAoNA"AZAbAjArAzAAAQ%@AɬirAʺm@Ab A㏽AN@A`xA`s?A7<*A}9?2A~ֽ:APBA}9?JA~ֽRAP٘i)I9m@YG J<JJJJE&K Y7Y~?y'PAuE777М9)կBzE[[Cd[@[ZY~?[[[[[BZYY i) IA`BxAAߑ<*AY9?2Ah'׽:A'BAY9?JAh'׽RA'٘i)I95n@YG Jw<JJJJE&K YY~?yPAxEŧ7b7Ҝ9)үBwE[[P\@[CY~?[;[[[[BZYY i) sxY YX~?y9§PA={E77Ӝ9DB)ίBtE[[]@[*Y~?[[[[[BZYY i) rh elevatorAngleAction: 0.076014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038314.383305F (some fields omitted in printout)A(\@AzO@AZ~? A A"&"AAOoNA"AZAbAjArAzAAA0P#@A9AoirA.o@AVb<AÖAS<A >oA`AO<*A9?2A׽:ABA9?JA׽RA٘i)I9.o@YG J8<JJJJ E&K YMX~?yçKQA}E77՜9)ʯBqE[[`5_@[FY~?[C[[[[BZYY i) ]w elevatorAngleAction: 0.085219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743038315.643293F (some fields omitted in printout)A ףp@Anf@A/^Z~? AA"&"AAnNA"AZAbAjArAzAAAf,!@AjrAp@ANrArA8AUOA [Ay<*Ax9?2Aֽ:A6BAx9?JAֽRA6٘i)I9p@YG JQ<JJJJ(E&K YX~?yrȧuRAE)7ŧ7ڜ9)BhE[[0b@[-X~?[[[[[BZYY i) Β YtX~?yʧRA.7Eb7ܜ9)B[[:d@[tX~?[[[[[BZYY i) H@yEi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038316.103165 s, next control iter: 1743038316.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038316.483165 s.u_vJ~,)AA\h@A[@A*Z~? AA"&"AAgnNA"AZAbAjArAzAAA zu @ApXlrA:q@AA7A#5A@m-A`@*A<*A9?2Aֽ:A`BA9?JAֽRA`٘i)I9q@Y>G JӮ<JJJJ-E&K YYX~?yMͧJSAE777ޜ9)BeE[[ze@[X~?[[[[[BZYY i) `á elevatorAngleAction: 0.085219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200702 time: 1743038316.903361F (some fields omitted in printout)AQ@Aͮ@AZ~? AAg"&"AAydnNA"AZAbAjArAzAAA 3c7 @AF]lrAr@Aυ;AAw4A@~A~A ʭ<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YG J<<JJJJ0E&K Y>X~?yϧSAES77W9)BbE[[f@[X~?[v[[[[BZYY i) N>!;o@AvY~? AASL"&"AA=nNA"AZAbAjArAzAAAqК@A_=bmrAs@Ao[<A=إA33AAe¿A®<*A9?2AG:׽:A BA9?JAG:׽RA ٘i)I9s@YG J<JJJJ3E&K Ya#X~?y'ҧTAE{7{7"9)B`E[[g@[UuX~?[[[[[BZYY i) X~?yԧTAE779)B]E[[,i@[ `X~?[z[[[[BZYY i) 2 elevatorAngleAction: 0.085219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038318.163281F (some fields omitted in printout)A@@AK2@AY~? AA "&"AAmNA"AZAbAjArAzAAAft@AjMorAq@t@A<AAx0AAƿAZ<*A9?2Aֽ:AvbBA9?JAֽRAvbYmS@0y)~<ٓH?@C?@׿j@%? #q?޽?@?)mS@ I٘i)I9@t@YG J<J}JJJ8E&Kx> Y W~?yקTA0E{79)BZE[[ elevatorAngleAction: 0.085219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743038319.423264F (some fields omitted in printout)A{G@A$;@AyY~? A{A!&"AAI~mNA"AZAbAjArAzAAA*։9@A]zsrA!:v@AAA,A@iA{˿Az<*A9?2Aս:A/BA9?JAսRA/٘i)I9:v@YG J<JJJJ@E&K Y{W~?yVVAE77779)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #72q/H^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) &f<)l*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038319.463165 s, next control iter: 1743038319.823177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11818", header.stamp.nsec: 0"0 temperature: 13.385901"* salinity: 33.391647", density: 1025.000000"* values[0]: 0.702636"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038319.843165 s.vJ~,)AAp= @A% @A`Y~? AAe!&"AAXmNA"AZAbAjArAzAAAmR@ALz CurAv@Ai@AA+A@;DAaͿA<*Ac9?2A9ֽ:Ag,BAc9?JA9ֽRAg,٘i)I9v@YIG J<B=JJJJCE&K YIW~?yVAEb7b79CB)BQE[[Go@[=W~?[[[[[BZYY i) ɳڎ@A !vrA w@A9wA;߳A*A@A пA <*A)J:?2A5h½:AXBA)J:?JA5h½RAXYlY@)*y5߳cuxٓHPf?R?Jݿcl04?t?Nk?)lY@ I٘i)I9w@YG Je<C=JJJJFE&Kj> Y elevatorAngleAction: 0.085219< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038320.683282F (some fields omitted in printout)A(\@ACnu@A/Y~? A]%A &"AA mNA"AZAbAjArAzAAA=hf@AA-xrAeRx@Ag-<A0䴽A)A@AпAMF<*A[:?2Aý:AoBA[:?JAýRAo٘i)I9Rx@Y#G JP<JJJJHE&K Y/SW~?yWAEb77x9)B[[ʴq@[%W~?["[[[[ZZZZ¸>BZYY i¸>5) h)AAY@A5L@A^X~? A1A &"AAZ{lNA"AZAbAjArAzAAA @AlrAW~{@AAVvA&%AiANmӿA5<*Aw:?2Avͽ:ATnBAw:?JAvͽRATnY_@%y.vQٓH:`?@?@ x?@?g?)_@ I٘i)I9~{@YG J=B=JR=JJJSE&KP> YV~?yxYA%EZ7SI79)UB[[|v@[JW~?[5[[[[ZZZZBZYY i)  < ҿ))ҿU`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038322.383165 s, next control iter: 1743038322.763174 s, wait time: 0.380009 s V~?) &tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11821&, header.stamp.nsec: 0&0 temperature: 13.385020&* salinity: 33.391617&, density: 1025.000000&* values[0]: 0.706965&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038322.783165 s.X+wJ~,)AJ"J*J2J:JBJnJvJA(\@A{2Q@AX~? A5A&"AAYWlNA"AZAbAjArAzAAAe7En@AyY.rACD|@A~wA?#1AM#A:A=ԿAI<*Afv:?2AgϽ:AۻBAfv:?JAgϽRAۻ٘i)I9D|@YG J<C=JJJJVE&K Y;V~?yYAE77m9)OBCE[[w@[vW~?[9[[[[ZZZZBZYY i) !D[[[[ZZZZBZYY i) 5vJAG@Ap@AX~? AT<AI&"AAMlNA"AZAbAjArAzAAA] @AXYҙrAp}@A*A A!AIAտAOH<*Af:?2Aҽ:AQ<BAf:?JAҽRAQ<٘i)I9p}@Y@G JC<B=JJJJ[E&K YlV~?y pZAE77{790B)EB=E[[ z@[bTW~?[C[[[[ZZZZBZYY i) ӽ:Aԅ<BAY:?JA>ӽRAԅ<٘i)I9}@YyG J^<C=JJJJ^E&K YV~?yZAE7791B)CB>E[[4{@[CW~?[H[[[[ZZZZBZYY i) vJJJ`E&Kz>  9YCzV~? 9yZArE77779)@B;E[[Xc|@[3W~?[M[[[[ZZZZBZYY i0m) d~@A03<A =A'A@J"A@s\ؿA9*A::?2AEս:Ak<BA::?JAEսRAk<٘i)I9~@YG J@;JJJJcE&K YdV~?yZAEb77b90B)?B8E[[t}@[#W~?[=S[[[[BZYY i/) R5vJ iTwJ~,gS)AA@A?@A.X~? ALA&"AAkNA"AZAbAjArAzAAAv't@AibzrA ~@Ap<Af9=AA@UA`-ٿAs*A1:?2A ս:A<BA1:?JA սRA<٘i)I9 ~@YG JQJJJJfE&K YMV~?y!hZAE7-9)5E[[ܻ~@[W~?[X[[[[BZYY i) {@5vJA ףp=@A@1d0@AKX~? ArUA8h&"AA,DkNA"AZAbAjArAzAAAGoԫ?A rAԦ}@AZA>Bz=AAWAnڿAi,*A :?2A ׽:A;>=BA :?JA ׽RA;>=٘i)I9}@YaG J>JJJJkE&K Y:!V~?y+,ZAEŧ779/B)BB1E[[o@[V~?[Tc[[[[BZYY i) l@qyy =͂ٓH@ bE?3 %P ?)#>l@ I٘i)I9U}@Y0G JAJ=JJJnE&Kz> Y V~?y 2YAE77j7 90B)EB0E[[y@[`V~?[h[[[[BZYY i g) "\ YAESI7SI7" 9/B)LB,E[[^C@[eV~?[t[[[[BZYY i) `;Ii[@a5 = ))Ye@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038327.423165 s, next control iter: 1743038327.803175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11826, header.stamp.nsec: 00 temperature: 13.384803* salinity: 33.391544, density: 1025.000000* values[0]: 0.708557F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038327.823165 s.|wJ~,>)AJ"J*J2J:JBJnJvJAGz@AK!q@A W~? AhA{&"AAjNA"AZAbAjArAzAAA[M?A@ҡrA{@A&B<A=AA@1A&ݿA*Az:?2Aiֽ:AWD=BAz:?JAiֽRAWD=TI٘i)I9{@YTG JJJJJvE&K YU~?yjDXAE{7j79)PB[[ւ@[V~?[y[[[[BZYY i) F;Ii^@= #_))#_@y0g֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038327.843165 s, next control iter: 1743038328.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038328.243165 s.wJ~,i)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038328.243279F (some fields omitted in printout)Aףp=J@A52=@AW~? AnA~&"AA\jNA"AZAbAjArAzAAAT5?AorA_U{@A\<Ab=AcAA@ ޿A춼*A$!:?2A oֽ:A=BA$!:?JA oֽRA=٘i)I9U{@YG J4JJJJyE&K YU~?yJ`XAE77{79)TB)E[[g@[V~?[[[[[BZYY i) T{;Iib@=  )) ؉@LתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038328.263165 s, next control iter: 1743038328.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038328.663165 s.wJ~,q*)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11827, header.stamp.nsec: 00 temperature: 13.385040* salinity: 33.391537, density: 1025.000000* values[0]: 0.707576F (some fields omitted in printout)A@AGr@A`W~? AmsA '&"AAIjNA"AZAbAjArAzAAA$a?An r@WRy3z=G<ٓH u?}h~Jވ??)>r@ I٘i)I9z@YG JHJ9<JJJ{E&Kx> YU~?yFQWAREj79)YB'E[[@[EV~?[d[[[[BZYY i) Y;Iid@a|= ˯))˯@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038328.683165 s, next control iter: 1743038329.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038329.083165 s.DwJ~,SE)AA)\µ@As@AuW~? AxA!&"AAjjNA"AZAbAjArAzAAA75_?ArA"z@A\/:A=AA ?A߿A)ɯ*Aq&:?2A 4׽:Axw=BAq&:?JA 4׽RAxw=٘i)I9"z@Y=G JJJJJ~E&K YUU~?yXWAE77M9)^B[[{@[V~?[J[[[[BZYY i) tD;Iiwg@#= ))v@ЪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038329.103165 s, next control iter: 1743038329.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038329.503165 s.wJ~,;4`)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038329.503289F (some fields omitted in printout)AR@A#fy@A"bW~? Am~AR&"AAMjNA"AZAbAjArAzAAAzڽAФrA y@A׏ Aqٔ=AAzA@YAl*A&:?2A׽:A=BA&:?JA׽RA=٘i)I9y@YG JLJJJJE&K Y%U~?y^)WAE779)bB$E[[U@[V~?[;[[[[BZYY i) 1;Iinj@B = +:))+:PA@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038329.523165 s, next control iter: 1743038329.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11828, header.stamp.nsec: 00 temperature: 13.385291* salinity: 33.391533, density: 1025.000000* values[0]: 0.706510F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038329.923165 s.:wJ~,{)AA{G!@ARy;@AOW~? AA&"AAM1jNA"AZAbAjArAzAAA,kտA0ejrAy@AAN=AT A@LA!AM*A&:?2A׽:AX<BA&:?JA׽RAX<٘i)I9y@YG JJJJJE&K YrU~?yyeVAEb779)fB[[d@[ZV~?[4[[[[BZYY i) ޗ:Iim@v,= ))_Ҟ@y\ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038329.943165 s, next control iter: 1743038330.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038330.343165 s. YPU~?y}sUA E{7Z7x9/B)oB"E[[B҆@[?jV~?[T[[[[BZYY i) Z7Iihs@= wn))wn=@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038330.803165 s, next control iter: 1743038331.163179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038331.183165 s.˲wJ~,o)AJ"J*J2J:JBJnJvJA(\@AmW胵@A,W~? AؕAl&"AAmiNA"AZAbAjArAzAAAA=>rA,ww@A5;A9ʋ=A A: ߿A@zAeO*A%:?2Aqֽ:A<BA%:?JAqֽRA<٘i)I9ww@YG J螼C=JJJJE&K Y@U~?yzUAE)7ŧ7C9)sBE[[=c@[_V~?[{[[[[BZYY i) n׺Iiu@@= *))*8@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038331.203165 s, next control iter: 1743038331.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038331.603165 s.94wJ~,)AAQ@AfF@A( W~? AA&"AAOiNA"AZAbAjArAzAAAAEιA2nrAv@A.Sy<A=A'?AU޿A@AN(*A$:?2Aֽ:Ab<BA$:?JAֽRAb<٘i)I9v@YLG JJJJJE&K Y1U~?y ;UAE777 9)wB[[@[UV~?[[[[[BZYY i) r")Iibx@^= 蟿))蟿@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038331.623165 s, next control iter: 1743038332.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11830 , header.stamp.nsec: 0 0 temperature: 13.385768 * salinity: 33.391502 , density: 1025.000000 * values[0]: 0.704619 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038332.023165 s.ZwJ~,{)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065691< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038332.023319F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@AR* !@AV~? A5A=&"AA˫iNA"AZAbAjArAzAAA µA _rAQnv@AYw<Ae=A{AdݿAHA*AI$:?2Afֽ:Al<BAI$:?JAfֽRAl<٘i)I9nv@YG JZJJJJE&K Y/!U~?ySTAEb77 9.B){BE[[y@[KV~?[ᵨ[[[[BZYY i) ffIio{@R = ))t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038332.063165 s, next control iter: 1743038332.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038332.443165 s.8wJ~,B])AAq= c@AdV@AWV~? AA$&"AAiNA"AZAbAjArAzAAAĤA-rAu@A;A^=AKAܿAiA*Ac#:?2AO׽:Au*<BAc#:?JAO׽RAu*<٘i)I9u@YG JmJJJJE&K YIU~?y}TAE777"9/B)BE[[w@[vBV~?[[[[[BZYY i) ,Ii~@#= m))mr4@׷YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038332.463165 s, next control iter: 1743038332.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11831, header.stamp.nsec: 00 temperature: 13.385997* salinity: 33.391499, density: 1025.000000* values[0]: 0.703753F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038332.863165 s.+wJ~,>7)AJ"J*J2J:JBJnJvJA@A>@AV~? AAӧ&"AAziNA"AZAbAjArAzAAAPl)A῿rAxxu@A/AɃ=A>A ܿA`A*A<":?2Au׽:A<BA<":?JAu׽RA YU~?yZ$TACE7m$9)BE[[@[c9V~?[r¨[[[[BZYY iO) -Ii=@&$= ,)),Ģ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038332.903165 s, next control iter: 1743038333.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038333.283165 s.3RwJ~,R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038333.283310F (some fields omitted in printout)A(\@AQ@A7V~? AA )&"AA ciNA"AZAbAjArAzAAAYS]A ƕrAwu@A$fAmʂ=AAGۿA`)A<*A :?2A׽:A;<BA :?JA׽RA;<٘i)I9u@Y!G JJJJJE&K YfT~?ySAEj7j78&9)B[[s2@[0V~?[Ȩ[[[[BZYY i) лIi=@m%= 햿))햿nT@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038333.303165 s, next control iter: 1743038333.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11832., header.stamp.nsec: 0.0 temperature: 13.386183.* salinity: 33.391468., density: 1025.000000.* values[0]: 0.702927.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038333.703165 s.ֺwJ~,m)AJ"J*J2J:J3?BJ3?nJ<5vJAQ@Aʉv@ANV~? A+A&"AALiNA"AZAbAjArAzAAAܕ@A ]rAt@AkAG=AA |ڿA`oA*|*A;:?2AX׽:A<BA;:?JAX׽RA<٘i)I9t@YG J8JJJJE&K YT~?y٧sSAE)7b7(9.B)BE[[@[f(V~?[2Ϩ[[[[BZYY i) 9Iim@&= ))@))3>N@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038334.563165 s, next control iter: 1743038334.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11833, header.stamp.nsec: 00 temperature: 13.386395* salinity: 33.391468, density: 1025.000000* values[0]: 0.702199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038334.963165 s.ywJ~,)AAffff@A0[@AؿA1A*A:?2Aֽ:AB=BA:?JAֽRAB=Yz-@@}y ?=L<ٓH ؿ:?x{/ؿ@3 $8?`?)z-@ I٘i)I9Rs@YG J/J;JJJE&KZx> Y:T~?y{fRA}E{7Z7c-9)B)B[[Bm@[V~?[[[[[BZYY i) ]&Ii@ʉ+= w))w=@ڼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038335.003165 s, next control iter: 1743038335.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038335.383165 s.J wJ~"J*J2J,M)A:J3?BJ3?nJg<5vJA(@AH@AV~? AשAs&"AAhNA"AZAbAjArAzAAAW0JAq8brA r@A'<AR׋=AHA@TA׿A nAr*AN:?2Aֽ:A") =BAN:?JAֽRA") =٘i)I9r@YG JB=JJJJE&K YaT~?yǨ RAE77./9)B[[@[ V~?[ [[[[BZYY i) 6Iiۆ@,= Nj))Nj@bYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038335.423165 s, next control iter: 1743038335.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11834", header.stamp.nsec: 0"0 temperature: 13.386559"* salinity: 33.391464", density: 1025.000000"* values[0]: 0.701442"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038335.803165 s.AwJ~,g)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038335.803308F (some fields omitted in printout)A@A̯@AqvV~? AީAM &"AAbhNA"AZAbAjArAzAAAw'CAR[)rA`r@A.?<A]=AJ^A iֿA`A8*A9?2Aֽ:AR =BA9?JAֽRAR =٘i)I9`r@YG JHC=JJJJE&K YT~?yϨQAEb7709)BE[[@[V~?[[[[[BZYY i) y FIi@-= 7))7 @êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038335.823165 s, next control iter: 1743038336.203185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743038336.223165 s.gxJ~,H)AJ"J*J2J:JBJnJvJAzG@AH7¢:@A@jV~? AA&"AAhNA"AZAbAjArAzAAA[1jAvrApq@ANe:A)=AAտAAΆ*A9?2AC4׽:AY =BA9?JAC4׽RAY =٘i)I9q@Y:G JJJJJE&K YT~?yרRQA E777729)BE[[@[tU~?[[[[[BZYY i) ڐUIi@B|/= Y))Y9@_ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038336.263165 s, next control iter: 1743038336.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038336.643165 s.t xJ~,)))AA ףp}@AMdp@A^V~? A AZ&"AA`hNA"AZAbAjArAzAAA>2I Ao fxrA YT~?yrPAoEb7b7X69(B)BE[[2@[tU~?[J[[[[BZYY i) iEtIi@1= g킿))g킿T@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038337.103165 s, next control iter: 1743038337.463176 s, wait time: 0.360011 sT~?)r rAdjusting time to match Gazebo time: 1743038337.483165 s.y_xJ~,^)AA\@AGg@AHV~? AA&"AAGhNA"AZAbAjArAzAAAj  A6L%krAYrp@AZAN=APAvҿÁAŚ*A9?2AX׽:A+ =BA9?JAX׽RA+ =٘i)I9rp@YWG JJJJJE&K YT~?y+PAE7#89)BE[[@[U~?[ [[[[BZYY i) )Ii@2= ?))? @ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038337.523165 s, next control iter: 1743038337.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11836, header.stamp.nsec: 00 temperature: 13.386971* salinity: 33.391422, density: 1025.000000* values[0]: 0.699812F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038337.903165 s.xJ~,y)AJ"J*J2J:J&3?BJ&3?nJ;5vJAQ@AH@AK>V~? A!A4G&"AAShNA"AZAbAjArAzAAAc A rAo@A%iAЛ=A1A@ҿA Aƣ*AK9?2Aֽ:At=BAK9?JAֽRAt=٘i)I9o@YG JB=JJJJE&K YwT~?yOOAE77799)B[[NM@[U~?[[[[[BZYY i) ;NIi@+3= }))}Io@F֪YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038337.923165 s, next control iter: 1743038338.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038338.323165 s.u$xJ~,!)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077185< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038338.323292F (some fields omitted in printout)AGzT@A`nG@A4V~? A A&"AA}hNA"AZAbAjArAzAAA=[* ARHk†sA`o@A7<AΝ=AӳA`/ѿA`AMҬ*A9?2As}ֽ:Ap=BA9?JAs}ֽRAp=٘i)I9`o@YG JC=JJJJE&K YWwT~?yaOAE77{7;9)B[[ڐ@[U~?[4[[[[BZYY iR) f㐼Ii@55= ՞x))՞x@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038338.343165 s, next control iter: 1743038338.723176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11837&, header.stamp.nsec: 0&0 temperature: 13.387162&* salinity: 33.391434&, density: 1025.000000&* values[0]: 0.698888&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038338.743165 s.W+xJ~,)AJ"J*J2J:JBJnJvJAףp=@Aq5}@A8+V~? A,A"&"AAnhNA"AZAbAjArAzAAAcAd" sAFn@AZi~<Ar+=A+AwMпA`AZ-*A"9?2AOֽ:Ag=BA"9?JAOֽRAg=٘i)I9n@YVG J꯼B=JJJJE&K Y5oT~?y+ NAE7=9'B)BE[[Sf@[U~?[[[[[BZYY i) yIi̎@6= e YiT~?yNAgEŧ77N?9)BE[[2@[sU~?[$[[[[BZYY i) m퟼Ii@17= mo))mo-@ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038339.183165 s, next control iter: 1743038339.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038339.583165 s.8xJ~,R)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743038339.583259F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A+@A!V~? Ap!A &"AAShNA"AZAbAjArAzAAA6*AL5 tsAm@A;A+=A޿A`̿AWA؝*A9?2Asֽ:A=BA9?JAsֽRA=٘i)I9m@YG J|B=JJJJE&K YdT~?yt%NAEj7j7A9)B[[@[\U~?[>+[[[[BZYY i) MaIi@7= ok))okꡫ@yR5ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038339.603165 s, next control iter: 1743038339.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11838, header.stamp.nsec: 00 temperature: 13.387415* salinity: 33.391418, density: 1025.000000* values[0]: 0.697908F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038340.003165 s.v @xJ~,D4)AAR+@A{@AXV~? A&)Ac &"AAGhNA"AZAbAjArAzAAAAdi_A2(sA% m@ABAc=AܿA˿A`1|A<쯼*AW9?2AG׽:Ax=BAW9?JAG׽RAx=٘i)I9 m@YEG J԰C=JJJJE&K Y4_T~?y$MA!E)7ŧ7B9)B[[] @[U~?[1[[[[BZYY i) SծIiQ@-8=  g)) gX.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038340.043165 s, next control iter: 1743038340.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038340.423165 s.uFxJ~,)AJ"J*J2J:JBJnJvJA{Ga@AnB Y RT~?y$>nLA^Կ)E{7j7CH9)ͯB[[6@[U~?[F[[[[BZYY i) żIie@ c;= MY))MY1ҭ@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038341.303165 s, next control iter: 1743038341.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 118402, header.stamp.nsec: 020 temperature: 13.3958272* salinity: 33.3943632, density: 1025.0000002* values[0]: 0.6908962F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038341.683165 s.lZxJ~,ck)AA(\ @A/@A]U~? AmHA &"AAhNA"AZAbAjArAzAAA!`oA:+n@*sA.j@A29;AUد=AѿA@ÿA A]Ǽ*A#9?2Adyֽ:Ap=BA#9?JAdyֽRAp=٘i)I9j@YG J¼JJJJE&K YOT~?yFKA,E777J9&B)ѯB E[[><@[|U~?[L[[[[BZYY i) M̼Ii@;=  U)) U9^@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038341.683165 s, next control iter: 1743038342.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038342.103165 s.axJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038342.103306F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8 @AJG+ @A&U~? AVPAh &"AAIhNA"AZAbAjArAzAAAnOA /sAi@AOS<A=AMϿAA @ Aм*A49?2AE"ֽ:A9=BA49?JAE"ֽRA9=٘i)I9i@YeG J̼JJJJE&K YMT~?yOKA.EK9)ׯB[[ȕ@[U~?[S[[[[BZYY i) |ӼIi>@x<= .Q)).Q@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038342.123165 s, next control iter: 1743038342.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038342.523165 s.gxJ~,{)AAHzn @A} a @ArU~? AGXA &"AAhNA"AZAbAjArAzAAAq~AAS3sAEi@Aτ<A?ȳ=A̿AAA:Hּ*A¨9?2A ֽ:A& =BA¨9?JA ֽRA& =٘i)I9Ei@Y G JӼJJJJE&K YJT~?ymXKA1EZ7SI7M9'B)ܯBE[[S@[U~?[6Z[[[[BZYY i) ڼIi@3]== ]L))]Lu@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038342.563165 s, next control iter: 1743038342.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11841, header.stamp.nsec: 00 temperature: 13.571668* salinity: 33.374962, density: 1025.000000* values[0]: 0.570993F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038342.943165 s.WdnxJ~,>])AJ"J*J2J:JBJnJvJAq= ף @A!̖ @ACU~? A>`A2 &"AAhNA"AZAbAjArAzAAAYtgEA-_8sAh@Aӱ4<A=AʿA`0A 2A׼*A9?2Asֽ:A=BA9?JAsֽRA=٘i)I9h@Y G JT׼JJJJE&K YHT~?y1aJA4Eŧ77nO9)B[[=ȿ[U~?[`[[[[BZYY i) %Iiє@P}>= xH))xHxHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038342.983165 s, next control iter: 1743038343.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038343.363165 s.uxJ~,u>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086583< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743038343.363266F (some fields omitted in printout)A @AT @AU~? A YxHT~?yi#JATǿ6E779Q9)B[[=ƿ[7U~?[g[[[[ZZ¸BZYY i¸ȫ=) RּIiʔ@s>= D))DD4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038343.383165 s, next control iter: 1743038343.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11842&, header.stamp.nsec: 0&0 temperature: 13.572014&* salinity: 33.374977&, density: 1025.000000&* values[0]: 0.570123&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038343.783165 s.V{xJ~,)AJ"J*J2J:JBJnJvJA(\!@AO!@A}U~? A@pA&"AAgNA"AZAbAjArAzAAAH쐇AcQdBsA(g@A2A)=AFĿA }ARAԼ*AP9?2AF׽:A=BAP9?JAF׽RA=SI٘i)I9(g@Y G JռJJJJE&K YHT~?yrIA9E77S9)BE[[KhĿ[U~?[Sn[[[[ZZBZYY i) = ʼIi@>= ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038343.823165 s, next control iter: 1743038344.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038344.203165 s.xJ~,  )AAQE!@A8!@AU~? AGxA ^&"AA{gNA"AZAbAjArAzAAAAA vGsAscf@AdA=AA A`ZA*A19?2A P׽:Ak6<BA19?JA P׽RAk6<٘i)I9cf@Y7 G JB=JJJJE&K Y;IT~?y{.IA elevatorAngleAction: 0.083879< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038344.623284F (some fields omitted in printout)AGz!@ALm!@AU~? ARA1&"AAgNA"AZAbAjArAzAAAJ'A­!t^LsAe@A}8VAL=A]AA@cA*A޳9?2A׽:A<BA޳9?JA׽RA<٘i)I9e@Y G JC=JJJJE&K YIT~?y[HA>EZ7Z7V9)B[[ [U~?[{[[[[ZZBZYY i) 챼Ii̕@?=  7)) 7 7y=ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038344.643165 s, next control iter: 1743038345.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11843 , header.stamp.nsec: 0 0 temperature: 13.572369 * salinity: 33.374966 , density: 1025.000000 * values[0]: 0.569245 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038345.043165 s.xJ~,B)AA= ף!@A×!@APU~? A_A$&"AA,gNA"AZAbAjArAzAAAr9nA΋HQsAUd@A3\A y=A׼A@ AjA *A~9?2Aoֽ:AHg<BA~9?JAoֽRAHg<٘i)I9d@Y1 G J JJJJE&K YIT~?y&:HAAEb77cX9)B[[5⽿[U~?[_[[[[ZZBZYY i) ޥIi@Ӣ@= 2))22tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038345.063165 s, next control iter: 1743038345.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038345.463165 s.PxJ~,Ϥ])AJ"J*J2J:JBJnJvJAffff!@A"[!@ANU~? AnAʆ&"AA6gNA"AZAbAjArAzAAA9(雛A{n3VsA-c@A<A 4=ANA4AoAD׼*A9?2A.ֽ:A?;BA9?JA.ֽRA?;Y{@fCy4=:<ٓHୀ?@c?ebTq??禿``J? ?){@ I٘i)I9c@Y G JkB=J*ڽJJJE&Kx> YBMT~?y镩GACDE777.Z9)BE[[[U~?[[[[[ZZBZYY i=)  IiH@=]@= W.))W.W.}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038345.503165 s, next control iter: 1743038345.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11844, header.stamp.nsec: 00 temperature: 13.572766* salinity: 33.374973, density: 1025.000000* values[0]: 0.568276F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038345.883165 s.yxJ~,#x)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074049< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743038345.883302F (some fields omitted in printout)A("@A%"@AU~? AAU&"AAgNA"AZAbAjArAzAAAҖ`Ay[C [sAFc@AIn<A <AtAvA-sAeV*A9?2Aتֽ:A2~BA9?JAتֽRA2~٘i)I9Fc@YR G JɼC=JJJJE&K YPT~?yGA DFE7[9(B)BE[[[IU~?[[[[[ZZBZYY i) 9IiA@S@= /)))/)/)ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038345.903165 s, next control iter: 1743038346.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038346.303165 s.J "J *J 2J :J ]?cxJ~BJ]?nJl5,g)AvJAQ"@A~D"@AU~? AAK&"AAgNA"AZAbAjArAzAAAC( A" `sA6b@AxKY<A1 <AA`?AtA*Ac9?2Aֽ:Ao BAc9?JAֽRAo ٘i)I9b@Y G J1JJJJE&K YST~?ynGAIE77]9)B[[W[U~?[c[[[[ZZBZYY i) fIih@@= C%))C%C%tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038346.323165 s, next control iter: 1743038346.703185 s, wait time: 0.380020 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11845., header.stamp.nsec: 0.0 temperature: 13.573105.* salinity: 33.374969., density: 1025.000000.* values[0]: 0.567446.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038346.723165 s.xJ~,H)AAz"@AXz"@AvU~? AA0&"AA$gNA"AZAbAjArAzAAA`l ApdsA4^b@A@;A]A育A B?A+sA1*A.9?2Aֽ:A:oBA.9?JAֽRA:o٘i)I9^b@Y G JfJJJJE&K Y WT~?y0GGALE7_9)B)BE[[;)[:U~?[[[[[ZZBZYY ij=) \'uIi@]@= B!))B!B!yS_=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038346.763165 s, next control iter: 1743038347.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038347.143165 s.V/xJ~,*)AJ"J*J2J:J4?BJ4?nJA5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083339< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038347.143309F (some fields omitted in printout)A ףp"@A i"@AU~? AA&"AAagNA"AZAbAjArAzAAAxLAԘBisA#b@AڻAAA?A`nAbﯻ*A9?2AGֽ:ABA9?JAGֽRA٘i)I9#b@Y G J B=JJJJE&K YOZT~?y GANE7777Ya9)B[[[U~?[[[[[ZZBZYY i) _IiC@A= ))y=I)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038347.163165 s, next control iter: 1743038347.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038347.563165 s.xJ~,[ )AA3333"@A4*"@A1U~? AA2s&"AAigNA"AZAbAjArAzAAA~=AWnsA b@A qAuAaA Ye`T~?y7GAQQE7)7$c9)[[Cΰ[U~?[<[[[[BZYY i?Vk=) "NIi@ A= ))y=0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038347.583165 s, next control iter: 1743038347.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11846, header.stamp.nsec: 00 temperature: 13.573277* salinity: 33.374969, density: 1025.000000* values[0]: 0.567055F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038347.983165 s.xJ~,)AJ"J*J2J:JBJnJvJA\(#@A"#@AXU~? AA&"AA elevatorAngleAction: 0.067638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743038348.403281F (some fields omitted in printout)AQ^#@Aq8Q#@AU~? AȪA8&"AAgNA"AZAbAjArAzAAAۆAhcxsA:b@AAdXA!%A@`Z?AsPAW@;*AZ9?2Ajֽ:ABAZ9?JAjֽRA٘i)I9:b@Y G Jij;JJJJE&K YlT~?yҩGAVEj7f9-B)BE[[q[pU~?[`[[[[BZYY i) B9+Ii@@= ))y.d=*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038348.423165 s, next control iter: 1743038348.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11847", header.stamp.nsec: 0"0 temperature: 13.573249"* salinity: 33.374962", density: 1025.000000"* values[0]: 0.567060"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038348.823165 s.xJ~,!4)AJ"J*J2J:J*?BJ*?nJ85vJAGz#@Ao#@A;U~? AЪAS&"AAKgNA"AZAbAjArAzAAA cjAjH}sAyb@A=[;AjuAuA`0?AAA/,<*A9?2Aֽ:ABA9?JAֽRA٘i)I9yb@Y G J<JJJJE&K YrT~?yk۩GAYEj7Z7h9.B)BE[[C[dU~?[齩[[[[BZYY i) QIiӖ@A= cw ))cw cw y] =-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038348.863165 s, next control iter: 1743038349.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038349.243165 s.xJ~,qO)AAףp=#@Ai2#@AU~? AتA&"AAhNA"AZAbAjArAzAAA <A0esAb@AlQ<A†AƢA@?A N/A,nV<*AI9?2A׽:A{BAI9?JA׽RA{٘i)I9b@Y G Ji@<JJJJE&K YxT~?y GA\E777Nj9)B[[[U~?[iĩ[[[[BZYY i) \Ii,@A= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038349.283165 s, next control iter: 1743038349.643178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038349.663165 s.xJ~,qj)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J< rudderAngleAction: -0.261799*J> elevatorAngleAction: 0.0676382J< massPositionAction: 0.000000:J4 buoyancyAction: 0.000500BJ dt: 0.420002nJvJ2 time: 1743038349.663283F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11848, header.stamp.nsec: 00 temperature: 13.573133* salinity: 33.374973, density: 1025.000000* values[0]: 0.567369F (some fields omitted in printout)A$@A<#@A>U~? AAJd%"AAhNA"AZAbAjArAzAAALvA"BsA+c@A/{<AAA$A@f?A@A}<*A9?2Ax׽:AL BA9?JAx׽RAL Y@fHy=|<ٓH`'?`?Ǣ{P &?@? ??@?)@ I٘i)I9+c@YB G Jh<J'JJJE&KAx> YT~?yfJHAH_E77l9)B[[饿[WU~?[ʩ[[[[BZYY il=) ` Ii@\@= +))++*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038349.683165 s, next control iter: 1743038350.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038350.083165 s.DxJ~, S)AA)\5$@AR($@AU~? AA%"AAghNA"AZAbAjArAzAAA$kAsAНc@AM <A|xAbAD?AbAZI<*AУ9?2Aֽ:ABAУ9?JAֽRA٘i)I9c@Y G J<JJJJE&K YnT~?yHAaE77m9)BE[[o[XV~?[Lѩ[[[[BZYY i) \ӻIi;@K@= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038350.123165 s, next control iter: 1743038350.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038350.503165 s.xJ~,&4)AJ"J*J2J:JM?BJM?nJ\5vJARk$@A!y^$@AVU~? AAZ.%"AAhNA"AZAbAjArAzAAAEXfA>isA d@A0}A AA`?AAM<*AҪ9?2AZֽ:ABAҪ9?JAZֽRA٘i)I9 d@Y G J<JJJJE&K YGT~?y IAdE7o9/B)BE[[ӎ[ V~?[ש[[[[BZYY i) TIi@ @= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038350.523165 s, next control iter: 1743038350.903174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11849, header.stamp.nsec: 00 temperature: 13.572910* salinity: 33.374985, density: 1025.000000* values[0]: 0.567872F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038350.923165 s.6xJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057752< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038350.923288F (some fields omitted in printout)A{G$@A~!<$@A'U~? AAO%"AAfhNA"AZAbAjArAzAAA*GAe)sAdd@Aс8AAA/?A`IAٳ<*A39?2A,ֽ:ABA39?JA,ֽRA٘i)I9d@Y0 G JK<JJJJ E&K Y T~?y|mIAgEyq9) B[[`[jV~?[ީ[[[[BZYY i) 3Ii@@= c))c뾩cy{l=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038350.943165 s, next control iter: 1743038351.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038351.343165 s.JJJE&Kw> YT~?y5JADlE{7j7u91B)B!E[[[ V~?[[[[[BZYY i) .^2Iiq@I?= پ))پپG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038351.783165 s, next control iter: 1743038352.163177 s, wait time: 0.380012 sT~?) rAdjusting time to match Gazebo time: 1743038352.183165 s.yJ~, )AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057752< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038352.183311F (some fields omitted in printout)A(\B%@A= DѾ))DѾDѾB*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038352.203165 s, next control iter: 1743038352.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038352.603165 s.E4 yJ~,&)AAQx%@A4Fk%@AV~? AA3%"AAHhNA"AZAbAjArAzAAA8A[\sA!g@An<ACAAX?AMA6<*A"9?2A׽:ABA"9?JA׽RA٘i)I9g@Y G JQ<JJJJE&K YT~?y%KAqEŧ7b7x9)B[[[0V~?[/[[[[BZYY i) JgIi@>= ΊȾ))ΊȾΊȾ}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038352.623165 s, next control iter: 1743038353.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11851 , header.stamp.nsec: 0 0 temperature: 13.572288 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.569330 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038353.023165 s.ZyJ~,{A)AJ"J*J2J:J?BJ?nJ5vJAHz%@A %@A#V~? A9A՝%"AAThNA"AZAbAjArAzAAA$wAν\sAg@AP/}<A=bAOA`i,?AV&Aթ<*A9?2A@3׽:ABA9?JA@3׽RA񼙘٘i)I9g@Y G J&<JJJJE&K Y T~?y-lKAtE7{7nz92B)B$E[[{["9V~?[^[[[[BZYY i) 0(8IiP@'== ο))οο$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038353.043165 s, next control iter: 1743038353.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038353.443165 s.3yJ~,-]\)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038353.443285F (some fields omitted in printout)Aq= %@A%@A,V~? A&A%"AAbhNA"AZAbAjArAzAAA?N[=A‡sA!h@AP]<A1cAA |?AA&I<*A9?2A ׽:AJ BA9?JA ׽RAJ 𼙘٘i)I9!h@YG G J̛<JJJJE&K YT~?y6KAwE779|9)B%E[[[L[AV~?[[[[[BZYY i) {:IiN@== ))yx=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038353.463165 s, next control iter: 1743038353.843175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11852, header.stamp.nsec: 00 temperature: 13.572003* salinity: 33.374981, density: 1025.000000* values[0]: 0.570016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038353.863165 s.+yJ~,>w)AJ"J*J2J:JBJnJvJA&@A - &@A"6V~? AZ.A*u%"AAohNA"AZAbAjArAzAAAuZ Ac;sAh@A;A,Aj2AT_?A Au<*Au9?2Aoֽ:A(BAu9?JAoֽRA(Y}@B YT~?y=0LA<yE)7ŧ7~9)B[[[KV~?[ [[[[BZYY i) Z:Iic@<= fZ))fZfZ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038353.883165 s, next control iter: 1743038354.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038354.283165 s.5R$yJ~,)AA(\O&@A1"QB&@A?V~? A5A%"AAX~hNA"AZAbAjArAzAAAqj A&)sA i@AF6A톽AA??A`lA<*A9?2Ahgֽ:A'BA9?JAhgֽRA'٘i)I9 i@Y G J<JJJJE&K YT~?yMELA|E77{793B)B(E[[I[uTV~?[[[[[BZYY i) ;;Ii@;= n))nnܷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038354.303165 s, next control iter: 1743038354.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11853., header.stamp.nsec: 0.0 temperature: 13.571712.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.570631.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038354.703165 s.Ժ*yJ~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066638< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743038354.703278F (some fields omitted in printout)AQ&@AM2rx&@ATJV~? A>=A Q%"AAhNA"AZAbAjArAzAAA=0p A jsAi@AoAA%A|?ArsA6<*A9?2ADֽ:A{BA9?JADֽRA{٘i)I9i@Y/G Jh<B=JJJJ"E&K YU~?yLLAE779)B[[[C^V~?[[[[[BZYY i) )y;Ii@&;= ڜ))ڜڜQ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038354.723165 s, next control iter: 1743038355.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038355.123165 s.<1yJ~,q)AAG&@Ak^խ&@A&UV~? ADA%"AAhNA"AZAbAjArAzAAA]=i A6L,sAj@AoAmAs}A`?A @AW<*A9?2Aeֽ:A^BA9?JAeֽRA^٘i)I9j@Y{G J<C=JJJJ%E&K YU~?yTCMAEj7Z7d95B)B,E[[[ghV~?[[[[[BZYY i) *;Ii@:= ~))~~*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038355.143165 s, next control iter: 1743038355.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038355.543165 s.J "J *J 2J :J )?I8yJ~BJ)?nJC5vJ,)AA= ף&@A&@As`V~? AKA1%"AAXhNA"AZAbAjArAzAAAh]W A%sAŒj@AsAA_wA?A Aw<*Az9?2Aֽ:A`BAz9?JAֽRA`٘i)I9j@YG J_<B=JJJJ'E&K Y%U~?y5\MAEj7/9)B[[y[[rV~?[![[[[BZYY i#&=) P;Ii@K:= .N)).N.N+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038355.563165 s, next control iter: 1743038355.943183 s, wait time: 0.380018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11854, header.stamp.nsec: 00 temperature: 13.571412* salinity: 33.374992, density: 1025.000000* values[0]: 0.571267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038355.963165 s.w>yJ~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198962 time: 1743038355.963282F (some fields omitted in printout)Affff&'@A5['@A:lV~? ASA%"AAοhNA"AZAbAjArAzAAAs9AK{sAdk@AV;A;A TrA ?A AE<*A9?2A.׽:AxBA9?JA.׽RAxY@ Y5U~?y[cMAfrEŧ7b796B)ޯB/E[[+[}V~?[\'[[[[BZYY i) 4;Iir@8= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038355.983165 s, next control iter: 1743038356.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038356.383165 s.EyJ~,)AJ"J*J2J:JBJnJvJA(\'@ATO'@A|xV~? A4ZA}%"AAhNA"AZAbAjArAzAAAD!1A!V]sAkok@Ah[<AwA\lA@ܐ?A-Aőw<*A9?2A;H׽:A^BA9?JA;H׽RA^𼙘٘i)I9ok@YJG J~<JJJJ-E&K YFU~?yjMNAEj7Z7Ĉ9)گB[[[ÈV~?[(-[[[[BZYY i) ϭ;Ii@r7=  s)) s s7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038356.403165 s, next control iter: 1743038356.783174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11855", header.stamp.nsec: 0"0 temperature: 13.571135"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.571848"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038356.803165 s.rALyJ~,fg3)AA'@AO='@A6V~? AAaA%"AAhNA"AZAbAjArAzAAAxAsA[k@A{<AAgAg?A\ACu<*A9?2A9׽:APBA9?JA9׽RAP٘i)I9k@YG Ju<JJJJ/E&K YVU~?yqNAE777798B)ٯB3E[[ǀ[9V~?[2[[[[BZYY i)  elevatorAngleAction: 0.076245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038357.223296F (some fields omitted in printout)J"J*J2J:JBJnJvJAz'@AUס'@AeV~? A8hA%"AAhNA"AZAbAjArAzAAA'QA(sA[>l@A<A=AƟbA8?AA9}<*A9?2Aֽ:AjBA9?JAֽRAj٘i)I9>l@YG Jw<JJJJ2E&K Y gU~?yxNAE{7Y9)֯B[['}[V~?[8[[[[BZYY i) S[[[[BZYY i) J,))`>`>*YFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11856, header.stamp.nsec: 00 temperature: 13.570910* salinity: 33.375023, density: 1025.000000F* values[0]: 0.572339F (some fields omitted in printout)F]:Waiting for Gazebo time sync: latest Gz time: 1743038357.663165 s, next control iter: 1743038358.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038358.063165 s.`yJ~,g )AJ"J*J2J:JBJnJvJA33333(@Ab('&(@AV~? AuA9%"AA!iNA"AZAbAjArAzAAAA3#DsAm@ABAXAXA@?A:A{ۍ<*A9?2AAֽ:AlBA9?JAAֽRAlY.@\Xy.V\CٓH@/?A? 6??`Ug? \w?).@ I٘i)I9m@YQG J<Jt@JJJ7E&Kw> YMU~?yOA\XE779)ϯB[[{Yt[V~?[C[[[[BZYY i) ; elevatorAngleAction: 0.076245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038358.483291F (some fields omitted in printout)A\h(@Atb[(@AV~? A|ATt%"AAa7iNA"AZAbAjArAzAAA8G AU[sA m@AAAmSAי?AoxAĸ_sAn@A;AWAHA)?AAAq<*A 9?2Aֽ:Az BA 9?JAֽRAz ٘i)I9n@Y3G JO<JJJJ@E&K YU~?yPPAE77O9;B)ƯB=E[[cg[V~?[#T[[[[BZYY i) i elevatorAngleAction: 0.076245< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743038359.743343F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= )@ACr2(@AV~? A$A%"AA<|iNA"AZAbAjArAzAAA-8zAf܇~IsA2o@Au!<AAOCAy?A}A:<*A9?2A9׽:A. BA9?JA9׽RA. RI٘i)I9o@YG J<JJJJBE&K YIU~?y株%QAEb779ydwJ~<ٓH~?+?S@ڔ?b??²??)C@ I٘i)I9o@YG J<B=JeJJJEE&KCx> YU~?yܦQAI>E777䘝9)B[[<^[iV~?[^[[[[BZYY i) I elevatorAngleAction: 0.085481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038361.003284F (some fields omitted in printout)AR)@A*z)@AW~? AâA%"AAiNA"AZAbAjArAzAAA9 ACsAvp@A?l;AIA3A?AA<*A9?2Aݦֽ:AsBA9?JAݦֽRAs٘i)I9p@YjG J<JJJJJE&K YV~?yƲVRAE77z9>B)BGE[[{\U[OW~?[h[[[[BZYY i) n@?A A?<*A9?2A ֽ:ABA9?JA ֽRA٘i)I9q@YG Jk<JJJJPE&K Y:=V~?y!SAEb79?B)BJE[[mL[6W~?[r[[[[BZYY i) c elevatorAngleAction: 0.085481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743038362.263289F (some fields omitted in printout)AL*@AC?*@ARW~? AhA(%"AAjNA"AZAbAjArAzAAAu3SӿAiltAKr@AkAA$A ?A qA؊<*AZ9?2A3ֽ:AaBAZ9?JA3ֽRAaY@>$ylٓH`N?-?묿@^?ծ?.д?y?)@ I٘i)I9Kr@YwG J)<JJJJRE&Kw> YSV~?yêSA>$E77ڡ9@B)BME[[OG[EW~?[w[[[[BZYY i)  elevatorAngleAction: 0.085481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201282 time: 1743038363.523422F (some fields omitted in printout)AHz*@A *@AW~? AūA%"AA ljNA"AZAbAjArAzAAA#x?A-}tAR$t@Aa<AA:MA C?A߿AlR<*A79?2A>׽:ABA79?JA>׽RA٘i)I9$t@YG JO<JJJJZE&K YV~?yӪTAE{7Z7:9BB)BUE[[':[BvW~?[[[[[BZYY i)  )AAY+@AVGL+@AW~? AqϫAL%"AAjNA"AZAbAjArAzAAAuvT r?A%_]tAju@A) <AꢲA A@D1?AܙݿA<*A9?2Aֽ:AқBA9?JAֽRAқYxư@}2 y6 <ٓH WX?@-m?7D bu? ?L?,??)xư@ I٘i)I9ju@Y^G JV<JpcJJJ`E&Kx> YwV~?yݪUA2 EZ7Z7Ϫ9CB)BXE[[?1[ٗW~?[[[[[BZYY i)  elevatorAngleAction: 0.085481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038364.783285F (some fields omitted in printout)A(\+@A)P+@AW~? AyԫA%"AAjNA"AZAbAjArAzAAA[y @:?AzytAv@Aۣ"AsA A{?AܿA<*AЈ9?2A?Hֽ:AcBAЈ9?JA?HֽRAc٘i)I9v@YG J<B=JJJ2FJbE&K YV~?yAVAE77{79)B[E[[-[ W~?[h[[[[BZYY i) ))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038365.223165 s, next control iter: 1743038365.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038365.623165 s.[yJ~,mg)AJ"J*J2J:J?BJ?nJ05vJAG+@AIZ+@AhW~? A'ޫA%"AAkNA"AZAbAjArAzAAA3.M?Aڤ!tAw@A/AkAA ?AsYۿAlN<*A^9?2A8ս:A%4 BA^9?JA8սRA%4 ٘i)I9w@YG J<JJJJhE&K YW~?y0WAEŧ7b7/9)B[[$[eW~?[[[[[ZZZZ¸>BZYY i¸>J) ))P$>P$>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038365.643165 s, next control iter: 1743038366.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11864 , header.stamp.nsec: 0 0 temperature: 13.568132 * salinity: 33.375107 , density: 1025.000000 * values[0]: 0.578124 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038366.043165 s.yJ~,Â)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038366.043300F (some fields omitted in printout)A= ף0,@Al#,@AX~? AA%"AA$kNA"AZAbAjArAzAAAQ@"?A`$tA?x@A0AkA5A R?A ڿA0<*A9?2A\Eֽ:AޗBA9?JA\EֽRAޗ٘i)I9?x@YG J<JJJJkE&K YA'W~?yWAE{7{79)BaE[[ y[W~?[[[[[ZZZZBZYY i) ))@[&>@[&>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038366.063165 s, next control iter: 1743038366.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038366.463165 s.SyJ~,ۤ)AJ"J*J2J:JBJnJvJAfffff,@A<\Y,@A5X~? ALA9%"AADkNA"AZAbAjArAzAAA1Ǜ@A5{'tAv y@A5܆AʭANA@L?AٿAW=*A9?2A0ֽ:AiBA9?JA0ֽRAiY@LyʭXٓH?@q&?@ ۿU?@D??0`?)@ I٘i)I9 y@YG J<JH;JJJmE&Kx> Y@W~?yYXALE777ij9FB)~BeE[[[W~?[[[[[ZZZZBZYY i) ))`g8>`g8>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038366.483165 s, next control iter: 1743038366.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11865, header.stamp.nsec: 00 temperature: 13.567667* salinity: 33.375095, density: 1025.000000* values[0]: 0.579069F (some fields omitted in printout).@W~?).Y rAdjusting time to match Gazebo time: 1743038366.883165 s.yyJ~,I)AA(,@AH,@A 1X~? AA%"AAekNA"AZAbAjArAzAAA`@A#̀%*tAy@Aa-<AAFyվA?A`ؿAK<*A9?2Aֽ:A^>BA9?JAֽRA^>٘i)I9y@YG J=JJJJpE&K YWZW~?yXAE77{79GB)xBhE[['l[IX~?[[[[[ZZZZBZYY i) "))ЎJ>ЎJ>yʪ*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743038366.903165 s, next control iter: 1743038367.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038367.303165 s.J "J *J 2J :J _?BJ _?nJ 5vJ SyJ~,jg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743038367.303269F (some fields omitted in printout)A,@A'",@A(GX~? AA%"AA kNA"AZAbAjArAzAAAe@A"샹,tAz@A<A$QqAʾA?A 7 ؿA_V<*A9?2Aֽ:A3OBA9?JAֽRA3O٘i)I9z@YG J<JJJJsE&K YsW~?yYAEj7Z7Z9)qBkE[[['X~?[׫[[[[ZZZZBZYY i) 0))p\>p\>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038367.323165 s, next control iter: 1743038367.703174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 118662, header.stamp.nsec: 020 temperature: 13.5671682* salinity: 33.3751142, density: 1025.0000002* values[0]: 0.5801502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038367.723165 s.yJ~,H)AAz-@Af3,@A]X~? AA=%"AAèkNA"AZAbAjArAzAAA+R@AF7/tA7s{@A\<An-A~AU?A`M׿A6M<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9s{@Y G J<JJJJuE&K YqW~?y{YAE7)7$9)lB[[wE [T)X~?[[[[[ZZZZBZYY i) f>)))o>)o>p*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038367.743165 s, next control iter: 1743038368.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038368.143165 s.S/zJ~,) )AJ"J*J2J:J?BJ?nJ5vJA ףp=-@A\4d0-@A7tX~? AA-%"AAkNA"AZAbAjArAzAAA˯ @AWR1tAJ|@Ao;AZ4мAeA@?A 1yֿAr٨<*A9?2Aֽ:Aa*;BA9?JAֽRAa*;٘i)I9|@YkG Ji<JJJJxE&K YW~?yFYAE{7j7ﺝ9HB)gBnE[[[))ɀ>ɀ>*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038368.163165 s, next control iter: 1743038368.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038368.563165 s.zJ~,c $)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038368.563296F (some fields omitted in printout)A3333s-@An,(f-@A"X~? AA%"AAkkNA"AZAbAjArAzAAAL6 @AGjХ3tA6|@ADA+A}A (?A տA8@<*AЩ9?2Aֽ̫:A4<BAЩ9?JAֽ̫RA4JJJ{E&Kx> YW~?y/YA Eŧ779)cBqE[[+[YPX~?[ʶ[[[[ZZZZBZYY ipĄ) ~))`>`>eN)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038368.603165 s, next control iter: 1743038368.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11867, header.stamp.nsec: 00 temperature: 13.566745* salinity: 33.375118, density: 1025.000000* values[0]: 0.581042F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038368.983165 s.zJ~,>)AJ"J*J2J:JBJnJvJA\-@Aɐc-@AMX~? A[AZ%"AAUlNA"AZAbAjArAzAAA󑍖h @A[4+6tA|@AiA;A󠡾AH?AԿA=<*A(9?2Aֽ:Aibz<BA(9?JAֽRAibz<٘i)I9|@YG J1k<JJJJ}E&K YrW~?yZAE{7{79)aBtE[[=[;dX~?[;[[[[ZZZZBZYY iə) L6k))y'>y'>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038369.003165 s, next control iter: 1743038369.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038369.403165 s.&zJ~,Y)AAQ-@AM)-@AX~? AA%"AA3lNA"AZAbAjArAzAAAXbX@AN8tA6}@Ao^A.<A4A C;?A@ӿAo;*A9?2Aֽ:A<BA9?JAֽRA<٘i)I96}@YG J-<B=JJJJE&K Y1W~?y ZAE777O9IB)_BwE[[[pxX~?[[[[[ZZZZBZYY i) W))m>m>`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038369.443165 s, next control iter: 1743038369.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11868", header.stamp.nsec: 0"0 temperature: 13.566436"* salinity: 33.375156", density: 1025.000000"* values[0]: 0.581633"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038369.823165 s.zJ~,)t)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: -0.075091< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743038369.823308F (some fields omitted in printout)AGz.@Aar.@AXX~? A8A%"AA@WlNA"AZAbAjArAzAAAHQ@AGck[:tAP}@AA9 =A쌾A@n?A`ӿAw:*A9?2A|mֽ:Ao<BA9?JA|mֽRAo<٘i)I9P}@Y-G J{;C=JJJJE&K YX~?y  ZAE)7ŧ79)^BzE[[b[X~?[[[[[BZYY i) C))鼥>鼥>yy]=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038369.843165 s, next control iter: 1743038370.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038370.243165 s.#zJ~,i)AAףp=J.@AL3=.@A2X~? Am A<%"AA8{lNA"AZAbAjArAzAAAc\X @AP))9>9>zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038370.263165 s, next control iter: 1743038370.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038370.663165 s.*zJ~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11869, header.stamp.nsec: 00 temperature: 13.566283* salinity: 33.375156, density: 1025.000000* values[0]: 0.581829F (some fields omitted in printout)A.@Ar.@A?Y~? A} AS%"AAlNA"AZAbAjArAzAAAq63@A />tA }@A Xg<Az\=A=qA` ?ATѿAG*A 9?2ADս:A=BA 9?JADսRA=Y@upyײ\=5g<ٓH?@? J!?&Ϳ?隿 𒫿 ? K?)@ I٘i)I9 }@YG JʽJ>JJJE&Kv> Y#HX~?yYAupEŝ9)bB~E[[پ[jX~?[ƪ[[[[BZYY ig) ))f~)X>)X>4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038370.683165 s, next control iter: 1743038371.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038371.083165 s.D1zJ~,S)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248979@ elevatorAngleAction: -0.056586< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038371.083290F (some fields omitted in printout)A)\µ.@A g.@AY~? AfAq%"AAlNA"AZAbAjArAzAAAHokY@A7Eh?tA|@AZy<A{=A0\A?AqпA"=*A 9?2Awս:A =BA 9?JAwսRA =٘i)I9|@YG JJJJJE&K YcX~?yYAE7{7zǝ9)dBE[[wо[qX~?[ɪ[[[[BZYY i) )) >>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038371.123165 s, next control iter: 1743038371.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038371.503165 s.7zJ~,j4)AJ"J*J2J:JBJnJvJAR.@A0~.@A1Y~? A&A %"AAlNA"AZAbAjArAzAAAX-@AʣAtAD|@A <A=AGA$?Ad ϿA q*A 9?2Aj"ս:A=BA 9?JAj"սRA=٘i)I9|@YG JXWB=JJJJE&K Y#X~?yMYAEZ7Z7Eɝ9)gBE[[ Ǿ[X~?[̪[[[[BZYY i6) ;IiC@_< >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038371.523165 s, next control iter: 1743038371.903185 s, wait time: 0.380020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11870, header.stamp.nsec: 00 temperature: 13.566269* salinity: 33.375168, density: 1025.000000* values[0]: 0.581644F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038371.923165 s.A>zJ~,)AA{G!/@AVp;/@AJY~? AA%"AA$mNA"AZAbAjArAzAAA@A9CtAw|@AR0A3=Ac2ARK?A@BCͿAo*A9?2Aս:A =BA9?JAսRA =٘i)I9|@YnG JC=JJJJE&K YX~?yYAE777˝9)kBE[[ժ[cX~?[]Ϫ[[[[BZYY i) ?;Ii@@h< t>))t>t>yhǪY(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038371.943165 s, next control iter: 1743038372.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038372.343165 s.))>>yΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038372.383165 s, next control iter: 1743038372.743180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11871&, header.stamp.nsec: 0&0 temperature: 13.566360&* salinity: 33.375195&, density: 1025.000000&* values[0]: 0.581244&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038372.763165 s.7KzJ~,0)AǍ/@At]/@AG|Y~? AzAM%"AA y,=a9}ٓH?j? y? Iն?@ru?@描?)½@ I٘i)I9{@YG JJP=JJJE&Ku> YX~?yBQXA> E{7Ν9)sBE[[Ԫ[ "Y~?[]Ԫ[[[[BZYY i) ;Ii[9@[A< J>))M{J>J> ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038372.783165 s, next control iter: 1743038373.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038373.183165 s.RzJ~,K)AJ"J*J2J:JBJnJvJA(\/@AT/@A\Y~? AA"%"AA"mNA"AZAbAjArAzAAA7@AlJ_iGtAz@A`)A=r=AJA ?A`ǿAʤ*A9?2A-:ֽ:A+[ =BA9?JA-:ֽRA+[ =٘i)I9z@YG JaJJJJE&K YX~?yoWAE77oН9)wB[[eg[8Y~?[֪[[[[BZYY i) 0v;IiL5@< Q>)) Q>Q>:תYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038373.223165 s, next control iter: 1743038373.583180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038373.603165 s.14YzJ~,f)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038373.603299F (some fields omitted in printout)AQ/@As۾G/@AY~? AA%"AA@mNA"AZAbAjArAzAAAI0i@AP%HtAz@AM8A$N=A!A`?AſAi**A9?2AԽ:Av =BA9?JAԽRAv =٘i)I9z@Y-G J4JJJJE&K Y Y~?yWAE7:ҝ9)|BE[[藾[rNY~?[ت[[[[BZYY i) tF;Ii1@]< 7>))7>7>تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038373.643165 s, next control iter: 1743038374.003173 s, wait time: 0.360008 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11872 , header.stamp.nsec: 0 0 temperature: 13.566469 * salinity: 33.375210 , density: 1025.000000 * values[0]: 0.580725 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038374.023165 s.Z`zJ~,{)AJ"J*J2J:J?BJ?nJ5vJAHz.0@A^ !0@AY~? AdAs%"AAmNA"AZAbAjArAzAAAY8O@ARItAKqy@Aa,<Asߜ=A92A`?A@(ĿA*A9?2AhԽ:Ay =BA9?JAhԽRAy =٘i)I9qy@YG JJJJJE&K Y &Y~?yWAE77ԝ9)BE[[![[eY~?[ڪ[[[[BZYY i) bO ;IiZ.@+< J?))J?J?תY$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038374.043165 s, next control iter: 1743038374.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038374.443165 s./fzJ~,])AAq= c0@AdϞV0@AeY~? A !AT%"AAmNA"AZAbAjArAzAAAyBX@AʥWJtAx@A)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038374.863276F (some fields omitted in printout)J"J*J2J:JBJnJvJA0@A60@AY~? A"AF%"AAnNA"AZAbAjArAzAAA~q#@ARg䷦KtA{ Y>^Y~?yB!MVA E777ם9)BE[[v[Y~?[ު[[[[BZYY i) 9Ii&@7< n ?))Wxn ?n ?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038374.883165 s, next control iter: 1743038375.263175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038375.283165 s.7RtzJ~,)AA(\0@AqGR0@AZ~? A#AXx%"AA?nNA"AZAbAjArAzAAATW\ @AhoxLtAw@A&;APA=AF]A=2?At:A)ﭼ*A9?2Aս:Alo=BA9?JAսRAlo=٘i)I9w@YG JMJJJJE&K YwzY~?y!UAE77eٝ9SB)BE[[_c[Y~?[l[[[[BZYY i) )+Ii"@3< 7?)) 7?7?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038375.303165 s, next control iter: 1743038375.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11874., header.stamp.nsec: 0.0 temperature: 13.566797.* salinity: 33.375233., density: 1025.000000.* values[0]: 0.579476.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038375.703165 s.ӺzzJ~,)AJ"J*J2J:JX?BJX?nJ5vJAQ1@ALu0@A`.Z~? A%A_%"AAfnNA"AZAbAjArAzAAAKѻ @AI(0MtApw@A AQ=AZ;A@vG?ALA*Ad9?2AtԽ:A<BAd9?JAtԽRA<QI٘i)I9w@YcG JwB=JJJJE&K YY~?y!UAE770۝9)BE[[P[Y~?[[[[[BZYY i) 0κIi@aP< z ?))z ?z ?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038375.723165 s, next control iter: 1743038376.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038376.123165 s.4zJ~,P)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066022< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038376.123280F (some fields omitted in printout)AG:1@Aa-1@A4HZ~? A&A"J%"AAnNA"AZAbAjArAzAAA;IsX!@Ae_{MtAv@A wA1=A Y<AV?AUAَ*A[9?2A0ս:A<BA[9?JA0սRA<٘i)I9v@YG JC=JJJJE&K YY~?y&"UAE7ܝ9)BE[[<[hY~?[m[[[[BZYY i) /#Iik@< :?)):?:?ȪY2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038376.143165 s, next control iter: 1743038376.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038376.543165 s.IzJ~,")AJ"J*J2J:JBJnJvJA= ףp1@Ac1@AbZ~? A&A7%"AAǴnNA"AZAbAjArAzAAA< 5&t!@Ae9SNtA v@A$aA=AA=A@c?AJ豿A*A9?2Ahս:A<BA9?JAhսRA<٘i)I9 v@YG JJJJJE&K YY~?yr"TA E7ޝ9)B[[+)[ Y~?[[[[[BZYY i) `Iih@< ?))??(ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038376.583165 s, next control iter: 1743038376.943176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11875, header.stamp.nsec: 00 temperature: 13.566948* salinity: 33.375233, density: 1025.000000* values[0]: 0.578924F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038376.963165 s.wzJ~,=)AAffff1@A^1@A |Z~? A'Am(%"AAnNA"AZAbAjArAzAAAňÒ"@AZXNtAu@AA:=A9=A` n?A _A}*A9?2Aoս:A<BA9?JAoսRAu`k?).@ I٘i)I9u@YoG J5Jp_JJJE&Kt> YOY~?y!STA}= E77{79)BE[[#[Z~?[[[[[BZYY i) ގIi@< #?))u#?#?ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038377.003165 s, next control iter: 1743038377.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038377.383165 s.ؕzJ~,X)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240188@ elevatorAngleAction: -0.075069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743038377.383277F (some fields omitted in printout)A(1@Aq61@AZ~? A+(AB%"AAfoNA"AZAbAjArAzAAA)Q0#@AOhOtAu@AA;A a=AK=A@v?A`oꤿAa*A9?2Ahս:A<BA9?JAhսRA<٘i)I9u@YG JלJJJJE&K Y|Z~?yF!SAE77Z9RB)BE[[h[uZ~?[[[[[BZYY i) DzIiW@y< u(?))\u(?u(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038377.423165 s, next control iter: 1743038377.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11876", header.stamp.nsec: 0"0 temperature: 13.567077"* salinity: 33.375259", density: 1025.000000"* values[0]: 0.578406"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038377.803165 s.tAzJ~,ogs)AA2@A)X2@A Z~? A(AN%"AA*oNA"AZAbAjArAzAAA=#@AdMOtAt@Af<A=AB=A8~?A`|9A*A:?2Aӽ:AA=BA:?JAӽRAA=٘i)I9t@YG J B=JJJJE&K Y#Z~?y SAE99%9)BE[[ݽ[7Z~?[[[[[BZYY i) *̻Iig @p< \-?)) \-?\-?@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038377.843165 s, next control iter: 1743038378.203175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038378.223165 s.gzJ~,H)AJ"J*J2J:J?BJ?nJ15vJAzG2@A8+:2@AZ~? A(A %"AADRoNA"AZAbAjArAzAAA[sl$@A4fmOtAHs@AOxp<AqL=AJ|>A?A@6Ao*A:?2Aӽ:Ad=BA:?JAӽRAd=٘i)I9s@YG JC=JJJJE&K Y?Z~?y 7SAEŧ7b79)BE[[[OZ~?[[[[[BZYY i) EbIi@>< L2?))L2?L2?y|YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038378.263165 s, next control iter: 1743038378.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038378.643165 s.zЩzJ~,*)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038378.643290F (some fields omitted in printout)A ףp}2@A0ep2@A$Z~? A(A %"AAyoNA"AZAbAjArAzAAAs= %@AלzuOtAZs@A;A S=An>A@^?A6j?AGޑ*AQ:?2AԽ:A =BAQ:?JAԽRA =٘i)I9s@Y4G JJJJJE&K Y \Z~?yRAE{7j79QB)BE[[Fe[/hZ~?[%[[[[BZYY i) Ii@R< 2C7?))2C7?2C7?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038378.663165 s, next control iter: 1743038379.043178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11877, header.stamp.nsec: 00 temperature: 13.567180* salinity: 33.375263, density: 1025.000000* values[0]: 0.577869F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038379.063165 s.zJ~,[ )AJ"J*J2J:J?BJ?nJ5vJA33332@A77'2@A1Z~? A(A= %"AA:oNA"AZAbAjArAzAAA|.Z%@AcOtA s@AIfA=A*>A?A`m?A*A :?2A>aս:A=BA :?JA>aսRA=Ya@*>y=fٓH)|?`Bſ۰?/?$???`1lV?)a@ I٘i)I9 s@YG JgJpJJJE&Ks> YwZ~?y {RA*>E7ŧ79)BE[[>N[aZ~?[[[[[BZYY i) Ii?£< +A#|?Aؠ?A뉼*AK:?2Aֽ:A=BAK:?JAֽRA=٘i)I9r@YG JJJJJE&K Y“Z~?yRAE77P9PB)BE[[W[͘Z~?[[[[[BZYY i) $Ii ?`< XA?))BXA?XA?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038379.503165 s, next control iter: 1743038379.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11878, header.stamp.nsec: 00 temperature: 13.567300* salinity: 33.375282, density: 1025.000000* values[0]: 0.577385F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038379.903165 s.ȽzJ~,)AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258323@ elevatorAngleAction: -0.075069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038379.903287F (some fields omitted in printout)AQ3@AQd3@A?2[~? A'A%"AA&oNA"AZAbAjArAzAAA; &@A1K}BNtA r@A@yA㏍=AZT>Apw?A˨?A}*A":?2A?Խ:A-=BA":?JA?ԽRA-=٘i)I9 r@Y]G J4JJJJE&K YZ~?y!QA E7)79)B[[/<[nZ~?[[[[[BZYY i) 3Ii?< F?)) F?F? êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038379.943165 s, next control iter: 1743038380.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038380.323165 s.{zJ~,:)AAGzT3@AsG3@A=L[~? A['A%"AApNA"AZAbAjArAzAAA"3'@AMNtAq@A5Ap؏=A@jh>An?A$ ?AȐ*A#:?2AEԽ:A=BA#:?JAEԽRA=٘i)I9q@YG JfJJJJE&K Y{Z~?yeQA"E779)ïBE[[Q<[?Z~?[[[[[BZYY i) !CIi?_< #K?))#K?#K?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038380.363165 s, next control iter: 1743038380.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11879*, header.stamp.nsec: 0*0 temperature: 13.567386** salinity: 33.375286*, density: 1025.000000** values[0]: 0.576963*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038380.743165 s.WzJ~,d/)AJ"J*J2J:J?BJ?nJ5vJAףp=3@A+C3}3@A/f[~? A&A-%"AA>pNA"AZAbAjArAzAAA2-(@AlNtA-q@Aq4p:AU=A|>Avc?A?Akl*A|:?2AT8Խ:A =BA|:?JAT8ԽRA =٘i)I9-q@YG JJJJJE&K YUZ~?y5QA%E77{79OB)ƯBE[[*<[3Z~?[[[[[BZYY i) RIiz?pN< 21P?))21P?21P?ȪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038380.763165 s, next control iter: 1743038381.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038381.163165 s.|}zJ~,qJ)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075069< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038381.163281F (some fields omitted in printout)A3@Aan3@A[~? A%AS=%"AA7fpNA"AZAbAjArAzAAAn`(@A7MtA p@A<6<A= =A>A@U?A -P?As*A=:?2AlgԽ:AL =BA=:?JAlgԽRAL =YwA=1`>y =ƶ6<ٓHy?пi?W?@\??<}tdž?@?)wA= I٘i)I9p@YzG JJ=<JJJE&K s> Y[~?yPA`>(Ej7Z7{9)ʯBE[[ B=[Z~?[[[[[BZYY i) YaIi?K< 0U?))s0U?0U?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038381.183165 s, next control iter: 1743038381.563176 s, wait time: 0.380011 s[~?) rAdjusting time to match Gazebo time: 1743038381.583165 s.zJ~,Se)AJ"J*J2J:JBJnJvJA)\3@As3@A[~? A$AP%"AAjpNA"AZAbAjArAzAAA7]&X)@AaLtA"p@A<~<Aő=A4>A`E?A[?A9*A:?2AԽ:Ac=BA:?JAԽRAc=٘i)I9"p@Y'G JJJJJE&K Y[~?yAPA*E777E9NB)ͯBùE[[ T=[[~?[6[[[[BZYY i\٫) qIi?a< \:Z?)) \:Z?\:Z?ͪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038381.603165 s, next control iter: 1743038381.983178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11880, header.stamp.nsec: 00 temperature: 13.567467* salinity: 33.375328, density: 1025.000000* values[0]: 0.576442F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038382.003165 s.{ zJ~,Y4)AAR+4@Az4@A[~? AZ#A.g%"AApNA"AZAbAjArAzAAAKS)@Aٷ"LtA^o@AR?<A̺=A|>A4?A ?A2*AQ3:?2ALӽ:A =BAQ3:?JALӽRA =٘i)I9o@YG JJJJJE&K Y9[~?yAOA-E779)ѯBƹE[[=[-[~?[[[[[BZYY i) ,Ii?l~< 8O_?)) 8O_?8O_?ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038382.043165 s, next control iter: 1743038382.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038382.423165 s.uzJ~,n)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083911< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743038382.423245F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga4@Ao%;T4@AV[~? A!A%"AApNA"AZAbAjArAzAAA$d*@ATFKtA o@A:A-=A(ߦ>A ?A`J?AP*A1:?2Aӽ:A =BA1:?JAӽRA =٘i)I9o@YG JJJJJE&K YNT[~?y{OA0E)7ŧ79KB)үBȹE[[j=[F[~?[[[[[BZYY i) ɇIi?]*u< md?))md?md?KѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038382.443165 s, next control iter: 1743038382.823174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11881, header.stamp.nsec: 00 temperature: 13.567634* salinity: 33.375328, density: 1025.000000* values[0]: 0.575861F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038382.843165 s.zJ~,)AAp= 4@AΩd4@A[~? Ac A%"AAXqNA"AZAbAjArAzAAA+."++@AQNRJtArn@AA{=ANz>A?A?Ah*A):?2A}Խ:AN =BA):?JA}ԽRAN =٘i)I9n@Y-G J1JJJJE&K Yo[~?y OA2Eb779)ׯB[[u>[`[~?[[[[[BZYY i) hIi%?Ol< i?))i?i?yYԪYD YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038382.863165 s, next control iter: 1743038383.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038383.263165 s.zJ~,)AJ"J*J2J:JBJnJvJA4@A1v¿4@Ad\~? AA%"AA )qNA"AZAbAjArAzAAA `+@Aު6FItASn@AvAf=A >A@?A*?A䠼*A!:?2A<^ս:A0=BA!:?JA<^սRA0=Y>r>ybb=wٓH ?Yֿ?@?@?K?W ގ?)> I٘i)I9n@YG JJ1<JJJE&K9s> Y[~?yx NAr>5E{7j7p9JB)گB˹E[[5l>[y[~?[[[[[BZYY i) 於Iih?`< n?))Jsn?n?LتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038383.283165 s, next control iter: 1743038383.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 118822, header.stamp.nsec: 020 temperature: 13.5677442* salinity: 33.3753472, density: 1025.0000002* values[0]: 0.5753432F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038383.683165 s.lzJ~,Z)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237889@ elevatorAngleAction: -0.083911< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038383.683278F (some fields omitted in printout)A(\5@AC:<4@A\~? AA{%"AAOqNA"AZAbAjArAzAAAU_,@A{y HtAWym@AWVA=A_>Ar?A?A𻦼*A0:?2Aqս:A<=BA0:?JAqսRA<=٘i)I9ym@YG JJJJJE&K YE[~?yQDNA8E;9)ޯBιE[[=*>[[~?[[[[[BZYY i) dIi? U< js?))js?js?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038383.683165 s, next control iter: 1743038384.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038384.103165 s.{J~,)AJ"J*J2J:JBJnJvJAQ85@AMG+5@A2\~? AA%"AAuqNA"AZAbAjArAzAAA L,@A=FtAl@AAx=A$>A?A@?A**A$0:?2Aӽ:A2=BA$0:?JAӽRA2=٘i)I9l@Y0G JJJJJE&K Y[~?y+MA:E779IB)BѹE[[?>[9[~?[6[[[[BZYY i) 㥼Iiq? J< x?)) x?x?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038384.123165 s, next control iter: 1743038384.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038384.523165 s.{J~,{!)AAHzn5@Aq a5@AL\~? AA/%"AA qNA"AZAbAjArAzAAA&w-@A iEtAPRl@As;A=At>A?Aj?A"*A-:?2AYӽ:AY=BA-:?JAYӽRAY=٘i)I9Rl@YG JJJJJE&K  9Y[~? 9yqMA=E9HB)BԹE[[}T>[y[~?[[[[[BZYY i) naIi>?+A< :2~?)):2~?:2~?gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038384.543165 s, next control iter: 1743038384.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11883, header.stamp.nsec: 00 temperature: 13.567862* salinity: 33.375347, density: 1025.000000* values[0]: 0.574763F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038384.943165 s.`d{J~,d]<)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083911< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743038384.943302F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף5@Aj̖5@Ae\~? A7A[%"AAqNA"AZAbAjArAzAAA"W'.@AyKDtAӲk@A@k<Ak=A>Aq?A<'?A¼*A&:?2A{ӽ:A}=BA&:?JA{ӽRA}=٘i)I9k@YsG JڽJJJJE&K YZ[~?yMA@E779GB)B׹E[[݉i>[[~?[ߪ[[[[BZYY i) ߴIi?z9< )?)))?)?Y`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038384.963165 s, next control iter: 1743038385.343182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038385.363165 s.{J~,y>W)AA5@AC5@A}\~? AA֊%"AAqNA"AZAbAjArAzAAA )#.@A@~BtA k@AUl<Ab=A>AL?A ?AtƼ*A:?2AUԽ:AV[=BA:?JAUԽRAV[=Y۳|>(>yg^=*m<ٓH @}?ܿ<Ǵ?v??h3?@ge o?{?)۳|> I٘i)I9 k@YG JvļJ6<JJJE&K]s> Y \~?yLA> DBEZ7SI7e9)B[[eI~>[[~?[ު[[[[BZYY i) ,Ii;?-< Q?))OtQ?Q?YFFF]t:Waiting for Gazebo time sync: latest Gz time: 1743038385.383165 s, next control iter: 1743038385.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11884&, header.stamp.nsec: 0&0 temperature: 13.568050&* salinity: 33.375374&, density: 1025.000000&* values[0]: 0.574126&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038385.783165 s.U{J~,r)AJ"J*J2J:JBJnJvJA(\6@ArCQ6@As\~? AAټ%"AA, rNA"AZAbAjArAzAAAgP ~S/@A"80@tA|fj@A;A=As>A`B$?A?AKǼ*A:?2A4ս:A =BA:?JA4սRA =٘i)I9fj@YG J0ǼJJJJE&K Y%\~?y!LAEE7709FB)BڹE[[>[\~?[۪[[[[BZYY i) {üIi|?!< ]?))'p]?]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038385.803165 s, next control iter: 1743038386.183175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038386.203165 s.#{J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.258668@ elevatorAngleAction: -0.083911< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038386.203288F (some fields omitted in printout)AQE6@A886@A\~? AEA%"AA`2rNA"AZAbAjArAzAAA^/@AxC?tAi@A޿AVs=A2?A?A`?AQƼ*A#1:?2Aӽ:A=BA#1:?JAӽRA=٘i)I9i@YCG JIǼJJJJE&K Y>\~?yKAHE77779)BݹE[[,>[(\~?[٪[[[[BZYY i) [ʼIil?ʜ< ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038386.223165 s, next control iter: 1743038386.603177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038386.623165 s.Y){J~,e)AJ"J*J2J:JBJnJvJAGz6@A}^m6@A+\~? AO A'*%"AAOWrNA"AZAbAjArAzAAAQ&r=0@A\[G:u=tA i@AWA=A;?A`!?A`?A Ƽ*A/:?2AvԽ:A+=BA/:?JAvԽRA+=٘i)I9i@Y G JƼJJJJE&K Y-X\~?y;KAJEb77 9BB)B߹E[[wΞ>[A\~?[Jת[[[[BZYY i) 3ҼIi^?< ;?));?;?YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743038386.643165 s, next control iter: 1743038387.023179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11885, header.stamp.nsec: 00 temperature: 13.568250* salinity: 33.375359, density: 1025.000000* values[0]: 0.573423F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038387.043165 s.0{J~,)AA= ף6@As6@A=\~? A4A9e%"AA{rNA"AZAbAjArAzAAA Al0@ASH֌;tA/ph@A;wA~=A ?A`?A?Apɼ*A ):?2AԽ:A=BA ):?JAԽRA=٘i)I9ph@Yw G JǼJJJJE&K Ycq\~?yJAME77 9AB)BE[[;>[Z\~?[Ԫ[[[[BZYY i:) eټIiOR?< ?))??YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038387.083165 s, next control iter: 1743038387.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038387.463165 s.W7{J~,)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092885< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743038387.463311F (some fields omitted in printout)Affff6@Am]6@A\~? AA+%"AAKrNA"AZAbAjArAzAAA~0@A_9tAg@A}bAh=Ah?A`Yo?A]?A]ϼ*A(":?2A!ս:A=BA(":?JA!սRA=Y성>?y=ٓH? K-?5?_? ?U>@l?)성> I٘i)I9g@Y G J̼B=Jl<JJJE&Ks> Y4\~?ydPJA?PEZ7Z7[ 9)B[[>[s\~?[Ѫ[[[[ZZ¸BZYY i¸N=) 9bͼIi;??; ]?))+u]?]?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038387.483165 s, next control iter: 1743038387.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11886, header.stamp.nsec: 00 temperature: 13.568445* salinity: 33.375389, density: 1025.000000* values[0]: 0.572734F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038387.883165 s.y={J~,')AA(7@Ap7@A]~? AA%"AARrNA"AZAbAjArAzAAA|1@A7߽7tAg@Ad:Au=A?AR[-\~?[ Ϫ[[[[ZZBZYY i) ^Ii-?; :?))RC:?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038387.923165 s, next control iter: 1743038388.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038388.303165 s.VD{J~,wg)AJ"J*J2J:J?BJ?nJ5vJAQ7@AYjD7@A-&]~? AA'%"AArNA"AZAbAjArAzAAA`7}]1@AN[Ӥ\~?[˪[[[[ZZBZYY i) \IiV?Ϋ; ?)) ??yi=3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038388.323165 s, next control iter: 1743038388.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11887*, header.stamp.nsec: 0*0 temperature: 13.568657** salinity: 33.375401*, density: 1025.000000** values[0]: 0.571977*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038388.723165 s.K{J~,H.)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084471< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038388.723288F (some fields omitted in printout)Az7@AÚʢz7@A\=]~? APA&n%"AAU sNA"AZAbAjArAzAAAZ[:ǣ1@A^3tAle@Ady<Abҗ=A?A?A9?AI*AbG:?2A~ӽ:AK<BAbG:?JA~ӽRAK<٘i)I9le@Y G JGJJJJE&K Y\~?y?֪HAXE9:B)BE[[e>[s\~?[Ȫ[[[[ZZBZYY i) WYIi?; S?))S?S?yGk=gҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038388.763165 s, next control iter: 1743038389.123175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038389.143165 s.X/R{J~,*I)AJ"J*J2J:JN?BJN?nJi5vJA ףp7@A܄{e7@ANT]~? A{A`%"AAO.sNA"AZAbAjArAzAAA*}X1@A;l0tAd@A6.<Ar=A%?A?AG?A>3*AL:?2ASԽ:Ap<BAL:?JASԽRAp<٘i)I9d@Y G J JJJJE&K Yp\~?yѪpHA[E{7j79)B[[P>[\~?[3Ū[[[[ZZBZYY i) TIi?˭; (\?))(\?(\?)YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038389.183165 s, next control iter: 1743038389.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038389.563165 s.X{J~,[ d)AA33337@A'7@Ak]~? AA\%"AAPsNA"AZAbAjArAzAAA/*.2@Ar!R.tAlc@AB9AE-=A[*?A\?A`?Aͼ*AM:?2AԽ:A.;BAM:?JAԽRA.;Y>z[*?yE-=9ٓHO&??Z?",?⯚?@ "??)> I٘i)I9c@Y G J)J&۽JJJE&Kr> Y\~?y̪5HA[*?]EZ7SI7P96B)BE[['>[#\~?[[[[[ZZBZYY i ֘=) 0Ii>Α; ?))OQx??tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038389.603165 s, next control iter: 1743038389.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11888, header.stamp.nsec: 00 temperature: 13.568949* salinity: 33.375412, density: 1025.000000* values[0]: 0.571008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038389.983165 s._{J~,~)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242498> elevatorAngleAction: 0.074627< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743038389.983278F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(8@A Y8@As]~? AgAR%"AA(ssNA"AZAbAjArAzAAAEU6r2@A|K+tA4c@A?90A<A/?A ?AQ?A!U*AJ:?2A[ս:A]7BAJ:?JA[սRA]7٘i)I94c@YG G JJJJJE&K Y]~?yƪGA`E77{795B)BE[[>[:]~?[ͽ[[[[ZZBZYY i) ȇIi>ux; ͡?)) ͡?͡?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038390.023165 s, next control iter: 1743038390.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038390.403165 s.&f{J~,͙)AAQ^8@A_ѭQ8@A]~? A&A%"AAsNA"AZAbAjArAzAAA܈.q2@A/+7)tAb@A…A <A4?A ?A@X+?A)n*A*a:?2Aӽ:Ak#BA*a:?JAӽRAk#٘i)I9b@Y G J琼JJJJE&K Y2+]~?y2GAcE779)B[[?[@]~?[Ϲ[[[[ZZBZYY i) zIi>Q; +0; U?))U?U?yK=(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038390.863165 s, next control iter: 1743038391.223181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038391.243165 s.s{J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038391.243289F (some fields omitted in printout)Aףp=8@AR18@A']~? A;AN%"AAosNA"AZAbAjArAzAAA~4Mi93@AE8Q#tA.b@AQAťAp>?A_?A`?AC*AQ:?2A ս:As㨼BAQ:?JA սRAs㨼٘i)I9.b@Y G JhJJJJ E&K YW]~?yNLGAhE{7Z7{93B)"BE[[72 ?[M]~?[C[[[[ZZBZYY i) NIie>;  !?)) !? !?yܧ=Z)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038391.263165 s, next control iter: 1743038391.643188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743038391.663165 s.z{J~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11890, header.stamp.nsec: 00 temperature: 13.569191* salinity: 33.375423, density: 1025.000000* values[0]: 0.570000F (some fields omitted in printout)A9@A,-#8@A{]~? AܫA~%"AAsNA"AZAbAjArAzAAA[)z3@A=p tAb@A[\;AA3D?A?As?A*AKA:?2AOս:AF˼BAKA:?JAOսRAF˼PI٘i)I9b@Y G JJJJJE&K Ym]~?yܰGAkEŧ7b7F9)#B[[i?[e]~?[[[[[BZYY i) ]9Ii?>+_: "?))"?"?yl=a2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038391.683165 s, next control iter: 1743038392.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038392.083165 s.D{J~,S)AA)\59@AM(9@A]~? A׫A%"AAtNA"AZAbAjArAzAAA$6#Jɹ3@AtA-b@A}+q<A4AiI?A@8?AD?A:E ;*AQ1:?2A<ֽ:ABAQ1:?JA<ֽRA輙٘i)I9Y G JJJJJE&K Y5]~?yjFAmE!9/B)BE[[t?[|]~?[[[[[BZYY i) U#Ii9!>]: J¯?))J¯?J¯?r*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038392.123165 s, next control iter: 1743038392.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038392.503165 s.{J~,]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: 0.083924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038392.503303F (some fields omitted in printout)ARk9@A1z^9@A2^~? AҫApc%"AA7tNA"AZAbAjArAzAAA[T3@ADttAU.b@A؏e<A^APN?A@}?A@?A.;*A!:?2Alֽ:A(VBA!:?JAlֽRA(V٘i)I9.b@Y G JP;JJJJE&K Yu]~?yFApEj7Z7"9.B)BE[[?[]~?[[[[[BZYY i) TDIiQ > : 薲?))薲?薲?H*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038392.523165 s, next control iter: 1743038392.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11891, header.stamp.nsec: 00 temperature: 13.569104* salinity: 33.375435, density: 1025.000000* values[0]: 0.570016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038392.923165 s.;{J~,;)AA{G9@A<9@A^~? AͫA%"AAVtNA"AZAbAjArAzAAAkcJ64@Aߡ tAfb@AT';AVAS?AG9?A`?A,<*A:?2A'Mֽ:Ax(BA:?JA'MֽRAx(٘i)I9fb@Y G J<JJJJE&K Y]~?ybFAsEb7b7$9-B)BE[[!?[]~?[[[[[BZYY i) nIi=s: \m?))\m?\m?*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038392.943165 s, next control iter: 1743038393.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038393.343165 s.<{J~,U)AJ"J*J2J:J?BJ?nJ 5vJAp= 9@A9@A*^~? AȫAn(%"AAutNA"AZAbAjArAzAAAÏ s4@A( 6tAb@A˺A5AX?A`o?Av?An<*A:?2A ֽ:A BA:?JA ֽRA ٘i)I9b@Y G JsJ<JJJJE&K Y]~?y(FAuE77p&9)B[[y'?[0]~?[[[[[BZYY i) UƻIi=: D?))D?D?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038393.363165 s, next control iter: 1743038393.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11892*, header.stamp.nsec: 0*0 temperature: 13.568902** salinity: 33.375454*, density: 1025.000000** values[0]: 0.570339*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038393.763165 s.G{J~,bp)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083924< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743038393.763336F (some fields omitted in printout)A :@A9@AL>^~? ASëA%"AAtNA"AZAbAjArAzAAA4@A׌HtA*c@AiAםA]?Ay?Ax+?Af<*A9?2Aս:Aw!BA9?JAսRAw!YZ&?1^?yӝjٓH@?d`y@W??`Uv?9?)Z&? I٘i)I9*c@YA G J<JJJJE&K> Y7]~?y\FA1^?xE;(9,B)BE[[[ -?[]~?[o[[[[BZYY iY=G=) aIi8=z9 ?))wr??I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038393.783165 s, next control iter: 1743038394.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038394.183165 s.ˢ{J~,^)AJ"J*J2J:JBJnJvJA(\B:@AKs+5:@AQ^~? A轫A%"AADtNA"AZAbAjArAzAAAe4@A#q z5tAѯc@A}AҧAtc?AH?A?Aހ<*Ag9?2A ֽ:A%BAg9?JA ֽRA%٘i)I9c@Y G JK<JJJJE&K Yu]~?yFA{E777*9)B) BE[[n2?[H]~?[[[[[BZYY i͜=) pII?ixTW ؽ?)) ؽ?ؽ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038394.203165 s, next control iter: 1743038394.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038394.603165 s.:4{J~,)AAQx:@AFaEk:@Ad^~? A]Ab%"AARtNA"AZAbAjArAzAAAJ0"5@A[:j tAHd@A A,ϭA elevatorAngleAction: 0.063776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038395.023277F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz:@AK:@A:w^~? AAk%"AAtNA"AZAbAjArAzAAA#Y[5@Aa]tAd@A:[9;AAm?AО?A`ã?AR}<*A:?2A2ս:AԬBA:?JA2սRAԬ٘i)I9d@YT G Ju<JJJJ$E&K Y^~?y7GAE777-9)B[[>?[r^~?[k[[[[BZYY i) I$ I?iO齉aQ d?))d?d?yp=I*YA YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038395.043165 s, next control iter: 1743038395.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038395.443165 s.4ö{J~,1])AAq= :@AY:@Ay^~? A묫A?%"AAuNA"AZAbAjArAzAAA}V5@AtAe@AvO<AAr?AH?Aq?A1<*A:?2Adս:A1BA:?JAdսRA1٘i)I9e@Y G J<JJJJ'E&K Y4"^~?yy:HAE77f/9&B)BE[[C?[+^~?[b|[[[[BZYY i) `ºI I?izǺ 4?))4?4?y=D*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038395.463165 s, next control iter: 1743038395.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11894, header.stamp.nsec: 00 temperature: 13.568175* salinity: 33.375507, density: 1025.000000* values[0]: 0.571769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038395.863165 s.+{J~,>)AJ"J*J2J:JBJnJvJA;@A: ;@AV^~? AAް%"AA-"uNA"AZAbAjArAzAAAPqa5@ATd8>tACf@Aു<AҭA9+x?A?AK?A5<*As#:?2A ֽ:A)BAs#:?JA ֽRA)YS??w?yz̭-<ٓH@N?a 塿`1D?W?-㲵?6?@}?)S?? I٘i)I9Cf@Y$ G J<B=JJJJ)E&Ks> Y42^~?y?rHAw?E)7ŧ7119%B)B E[[pI?[?^~?[Bv[[[[BZYY i) II?id] 8?)){28?8?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038395.883165 s, next control iter: 1743038396.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038396.283165 s.4R{J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.252338> elevatorAngleAction: 0.063776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743038396.283277F (some fields omitted in printout)A(\O;@A80QB;@AҬ^~? AA$%"AAf^~?[ui[[[[BZYY i) Ĵ:IH?i夾S ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038396.723165 s, next control iter: 1743038397.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038397.123165 s.4{J~,PG)AAG;@Aխ;@A^~? AAU%"AApuNA"AZAbAjArAzAAAJdA>d6@AD#J sAZLh@A.A%=A͎?A?A`[9?A/<*A9:?2Ayս:A BA9:?JAyսRA ٘i)I9Lh@Ya G JZ<JJJJ1E&K Y-b^~?y\ JAEb7769)ޯB[[:Z?[Ly^~?[b[[[[BZYY i) ;IH?iC{kn Xc?))Xc?Xc?m*Yl*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038397.143165 s, next control iter: 1743038397.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038397.543165 s.I{J~,b)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063776< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743038397.543326F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף;@AU;@A^~? AaA%"AAuNA"AZAbAjArAzAAAqyZ6@A 2sAh@AxAA?A?Au?Ae<*A;:?2Aeս:AJBA;:?JAeսRAJ٘i)I9h@Y G JD<JJJJ4E&K Y+r^~?yEUJAE[89B)دBE[[/`?[^~?[[[[[[BZYY i) A;IgH?i˾h ??))????I*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038397.583165 s, next control iter: 1743038397.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11896, header.stamp.nsec: 00 temperature: 13.567345* salinity: 33.375484, density: 1025.000000* values[0]: 0.573554F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038397.963165 s.y{J~,})AAffff&<@A`=[<@A^~? AA %"AAPuNA"AZAbAjArAzAAAEpe6@ADGsAEi@A_KAQA?A`F?A?Ar<*A@=:?2Aս:ABA@=:?JAսRAYƤY?ވ?yRKٓH@?@ ɧ??!? k?)ƤY? I٘i)I9i@Y.G J<J<JJJ7E&Kv> Y^~?yMJAވ?E777&:9B)ϯBE[[Yf?[^~?[U[[[[BZYY iVk=) G~;IH?i꾉o( U?))U?U?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038398.003165 s, next control iter: 1743038398.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038398.383165 s.{J~,)AJ"J*J2J:JBJnJvJA(\<@AlO<@AA^~? ArA%"AAuNA"AZAbAjArAzAAA;6@A;MMsA9j@A(A`iAu?A ?A?A<*A >:?2Aֽ:AnBA >:?JAֽRAn٘i)I99j@YG Ju<JJJJ9E&K YR^~?yEMKAE77j7;9)ʯB[[ 0l?[^~?[M[[[[BZYY i) k;IH?iVr ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038398.423165 s, next control iter: 1743038398.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11897", header.stamp.nsec: 0"0 temperature: 13.566972"* salinity: 33.375492", density: 1025.000000"* values[0]: 0.574387"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038398.803165 s.zA{J~,g)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073935< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743038398.803299F (some fields omitted in printout)A<@AO=<@AJ _~? AzA:%"AA=uNA"AZAbAjArAzAAA}*H"7@A\PuCsAj@A <AiA-?A ?Ax_?AȢ<*A9:?2A ׽:AhBA9:?JA ׽RAh٘i)I9j@YG J<JJJJKAEŧ7b7=9B)ůBE[[+r?[^~?[F[[[[BZYY i) ;IhH?ia?  ?)) ? ?=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038398.843165 s, next control iter: 1743038399.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038399.223165 s.g{J~,H)AJ"J*J2J:J#?BJ#?nJI5vJAz<@Ae<@A_~? AtA@%"AAuNA"AZAbAjArAzAAA04N7@AT7+sAMk@AT{<A<Aِ?Ab?A`x?A<*A5:?2AG׽:ABA5:?JAG׽RA񼙘٘i)I9Mk@Y5G Jɝ<JJJJ?E&K Yw^~?yd6LAE{7j7?9)B[[w?[^~?[9?[[[[BZYY i) ;I=H?if» ?))??yo=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038399.263165 s, next control iter: 1743038399.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038399.643165 s.y{J~,*)AA ףp<@Ad<@A*_~? ARmA%"AAuNA"AZAbAjArAzAAAN$ey7@A}sAbk@A$he<AAQs?A }?A?A><*A0:?2A7׽:A"BA0:?JA7׽RA"٘i)I9k@YG JR<JJJJBE&K Y ^~?y.~LAESI7SI7QA9B)BE[[x}?[^~?[7[[[[BZYY i)  C;IH?iyN̻ ?))??~*YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11898, header.stamp.nsec: 0]:0 temperature: 13.566632* salinity: 33.375546, density: 1025.000000* values[0]: 0.575115F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743038399.663165 s, next control iter: 1743038400.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038400.063165 s.|J~,R )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073935< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199502 time: 1743038400.063278F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333=@A_(&=@A7_~? AofA%"AAvNA"AZAbAjArAzAAA C7@Ap{MsAHl@A ;AAW?AI?A&?A_<*A+:?2ALֽ:A+BA+:?JALֽRA+Ys??yJz;ٓH c?N|zi??@\?zu??)s? I٘i)I9Hl@YG JY<Jo<JJJDE&Kx> Y^~?y&LA?E77C9)B[[:?[^~?[/[[[[BZYY i) } elevatorAngleAction: 0.073935< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743038401.323265F (some fields omitted in printout)AGz=@An=@A^_~? AHQA.%"AAMvNA"AZAbAjArAzAAAa48@ALsAm@AwAꌽAť?A ?A l?Af<*AW:?2Aֽ:ABAW:?JAֽRA٘i)I9m@YG J9<JJJJLE&K Y^~?y7MAESI7SI7{H9B)BE[[u݊?[_~?[ [[[[BZYY i)  :@Am2=@Ai_~? AJA%"AAC`vNA"AZAbAjArAzAAA$;8@A~܀sA(Kn@AA*ԍAS?A`?A2?A<*A:?2AZֽ:AhBA:?JAZֽRAh٘i)I9Kn@YG J<B=JJJJOE&K Y^~?yQNAE77j7FJ9)B[[?[O+_~?[[[[[BZYY i) 9I@A\2>@ANu_~? ABAdG%"AAqvNA"AZAbAjArAzAAAE`]8@AdLsA n@Aei;AA ?A@?A E?A*<*A.:?2A e׽:ABA.:?JA e׽RAY7??yz[j;ٓH?7um ?L?X`ܱ?(9m??)7? I٘i)I9n@YUG J<C=JJJJRE&Kx> Y=^~?yNA?E77L9B)BE[[ ?[38_~?[z[[[[BZYY i=)  X elevatorAngleAction: 0.082814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038402.583286F (some fields omitted in printout)A)\u>@AOZh>@A1_~? Ar;A0%"AAȂvNA"AZAbAjArAzAAAE~8@AEsAFo@AIU<AVA?A.?Ax?A`<*A:?2A4׽:ABA:?JA4׽RA٘i)I9Fo@YG J,<JJJJTE&K Y^~?yBOAE77M9)B[[r?[D_~?[[[[[BZYY i) jIh@A[z>@A_~? A4AUf%"AAvNA"AZAbAjArAzAAAS#8@A} sAo@A <A\̒A"_?A J?A@?A<*A{:?2A׽:ABBA{:?JA׽RAB٘i)I9o@YG J<JJJJWE&K Y_~?yqOAEj7Z7O9 B)BE[[?[NP_~?[o[[[[BZYY i) \w@Ac>>@A}_~? A,A%"AAYvNA"AZAbAjArAzAAA1eNv)8@AzszsA>p@A:#<A敽A!?A Fh?Av?A<*A9?2AB׽:Am BA9?JAB׽RAm ٘i)I9>p@Y8G J͔<B=JJJJZE&K Y_~?yjOAE77qQ9)B[[?[w[_~?[[[[[BZYY i)  elevatorAngleAction: 0.082814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038403.843325F (some fields omitted in printout)Ap= ?@A ?@A_~? A%AZ%"AAvNA"AZAbAjArAzAAA5f8@A sAp@AwAJAm?A ݅?A@?AB<*A9?2Aֽ:AIBA9?JAֽRAI٘i)I9p@YG J<C=JJJJ\E&K YV_~?y۩1PAE)7ŧ7 Y_~?y]өPA ?Ej7j7U9)B[[?[o_~?[ ܩ[[[[BZYY i)  elevatorAngleAction: 0.082814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038405.103300F (some fields omitted in printout)AQ?@A2F?@A-_~? AAH%"AAvNA"AZAbAjArAzAAAW;P%9@AB$lޢsAmtr@AEA6A &?A?A`t?A&<*A9?2Aֽ̬:A~BA9?JAֽ̬RA~٘i)I9tr@YG J<JJJJdE&K Y&_~?y©lQAE)77X9)vB[[^5?[s_~?[ɩ[[[[BZYY i) GRAE771\9B)kBE[[b?[n_~?[[[[[BZYY i) a)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038406.363312F (some fields omitted in printout)AY@@A_&L@@A_~? AA%"AA(vNA"AZAbAjArAzAAAyd9@AMm|sA*=t@A|}<AAC?A`?A@?A`<*A9?2A׽:ABA9?JA׽RAY< ??yi}<ٓHη?@? U?@^?~p@)???)< ? I٘i)I9=t@YG J<JvJJJmE&Kx> Ya4_~?yRA?E{7{7]9B)cBE[[v?[Ԗ_~?[I[[[[BZYY i)  elevatorAngleAction: 0.082814< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038407.623290F (some fields omitted in printout)AG@@A@@A_~? AުA%"AAwNA"AZAbAjArAzAAA9@Aed%sA$v@AzA}A@?A@p?A`?AbN<*A9?2A=kֽ:AFBA9?JA=kֽRAFOI٘i)I9$v@YG J<B=JJJJuE&K YH<_~?yɍTAE{7\c9B)RBE[[Ǹ?[Υ_~?[[[[[BZYY iڻ=) ' _~?ywTAE77&e9)LB[[?[W_~?[t[[[[BZYY i) \ Y>_~?y;|TA!?Ej7Z7f9)GB[[?[_~?[~[[[[BZYY i)  elevatorAngleAction: 0.091726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743038408.883295F (some fields omitted in printout)A(A@ArA@A>_~? AƪA &"AA:%wNA"AZAbAjArAzAAA=m+9@A O}wsAA9x@AAA?AB?AP?A<*AM9?2Anֽ:A/6BAM9?JAnֽRA/6٘i)I99x@YG J<C=JJJJ}E&K Yq>_~?yqseUAE77{7h9)AB[[\!?[*_~?[Tu[[[[ZZZZ¸>BZYY i¸>檽) \]?A<*A9?2A'׽:AQBA9?JA'׽RAQ٘i)I9x@YG J<B=JJJJE&K Y4>_~?yjUAE{7j9B):BE[[LC?[v_~?[k[[[[ZZZZBZYY i) d?AV<*A9?2A]׽:AgBA9?JA]׽RAg򼙘٘i)I9y@YG J<C=JJJJE&K Y=_~?yaSVAE7)7Ql9)4B[[f?[_~?[ b[[[[ZZZZBZYY i) ZcsAS{@A"<AuATI?A_ǘ?AGp?AL<*A9?2Am׽:A_BA9?JAm׽RA_Y})?5?yu#<ٓH'0Q? c? c5뭿j? X?`?)})? I٘i)I9S{@YG J<B=J=JJJE&K y> Y:_~?yLPWA5?Eb77o9)'B[[ ?[ͮ_~?[N[[[[ZZZZBZYY i) _A}S2A~?A`WAE|s9)B[[?[_~?[X;[[[[ZZZZBZYY i) fۊJJJE&Kv> Y1(_~?y$IXA-?E)7ŧ7x9)B[[gv?[d_~?[j[[[[ZZZZBZYY ir) ڣV"_~?y+XAE777z9)B[[?[И_~?[[[[[BZYY i[#) ʞDD@A_~? AbfA&"AA$'wNA"AZAbAjArAzAAA Na9@AԄ Y_~?yvWA5?Ej7с9B)BE[[J?[z_~?[[[[[BZYY irj) &;I@F?i{i '@))'@'@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038414.803165 s, next control iter: 1743038415.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038415.183165 s.|J~,^)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743038415.183316F (some fields omitted in printout)A(\D@A4YD@A_~? AyNA^ &"AAwNA"AZAbAjArAzAAA>u?̊9@A -sA2|@AjA͒=A?AA@b ?AE*AP9?2A׽:A =BAP9?JA׽RA =٘i)I9|@YG J rJJJJE&K Y^~?y^WAE)7ŧ79)B[[gs?[q_~?[[[[[BZYY i) ;IrF?i4{j k)@))k)@k)@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038415.223165 s, next control iter: 1743038415.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038415.603165 s.<4|J~,Ú)AAQD@AJGD@A}_~? AFA2~ &"AA:wNA"AZAbAjArAzAAAE{9@Aq^)sAH|@A/dA,y=A?A`yÿA?A*A9?2AYֽ:A, =BA9?JAYֽRA, =٘i)I9H|@YG J鋼JJJJE&K Y=^~?yVAE7777g9B)BE[[?[g_~?[{ܨ[[[[BZYY i) ;I^F?ii z*@))z*@z*@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038415.643165 s, next control iter: 1743038416.003185 s, wait time: 0.360020 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11914 , header.stamp.nsec: 0 0 temperature: 13.562682 * salinity: 33.375607 , density: 1025.000000 * values[0]: 0.584351 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038416.023165 s.Z}J~,|)AJ"J*J2J:JBJnJvJAHz.E@A8 !E@A_~? A>Ae &"AAwNA"AZAbAjArAzAAAʻi9@AL]iI$sA_{@AɻA=Ad?AՉſA?A$*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9{@Y;G JJJJJE&K Y^~?ybVAEŧ7b719B)$B E[[0?[\_~?[\Ө[[[[BZYY i) נ;IvKF?i촿Ԕg ,@)),@,@y&k تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038416.063165 s, next control iter: 1743038416.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038416.443165 s.4}J~,1])AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057313< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038416.443313F (some fields omitted in printout)Aq= cE@ACVE@A_~? A6A &"AAvNA"AZAbAjArAzAAAOh0V9@Aʄ5sA~1{@A3;A=A2?A^ǿA*?A;峼*A9?2ArFֽ:A =BA9?JArFֽRA =٘i)I91{@YG JǭJJJJE&K Y^~?y=بVA E7779)(B[[?[XQ_~?[Yʨ[[[[BZYY i@) ԁ;IR8F?i29d v.@))v.@v.@٪YFFF]i:Waiting for Gazebo time sync: latest Gz time: 1743038416.463165 s, next control iter: 1743038416.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11915, header.stamp.nsec: 00 temperature: 13.383804* salinity: 33.391602, density: 1025.000000* values[0]: 0.709156F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038416.863165 s.+ }J~,y>7)AJ"J*J2J:JBJnJvJAE@A-E@A_~? A /AJ &"AAFvNA"AZAbAjArAzAAAB9@A<7sAz@A?Z<A=A ?A1ɿA@h?Ad*A9?2A$ֽ:AO =BA9?JA$ֽRAO =Y6,?8?yc=Z<ٓHٿ@VJ 1?`ٿ 0H?(G?N?)6,? I٘i)I9z@YG JB=Jb<JJJE&Kw> Yi^~?y-ШUA8? ES77NJ9)-B[[?[)E_~?[i[[[[BZYY i) BG;I%F?iDzd /@))/@/@תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038416.903165 s, next control iter: 1743038417.263176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038417.283165 s.4R}J~,R)AA(\E@AO7PE@A_~? AH'A &"AAvNA"AZAbAjArAzAAA -,9@A4sAy@A q<A=AW@A˿Az?AZ*AF9?2A0ֽ:A =BAF9?JA0ֽRA =٘i)I9y@Y%G JhC=JJJJE&K Y^~?y Ȩ3UAE7{79B)4BE[[@[J8_~?[[[[[BZYY i)  ;IF?iL;9d <1@))<1@<1@AԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038417.303165 s, next control iter: 1743038417.683176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11916., header.stamp.nsec: 0.0 temperature: 13.384078.* salinity: 33.391613., density: 1025.000000.* values[0]: 0.707912.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038417.703165 s.Ժ}J~,m)AJ"J*J2J:J95?BJ95?nJ>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038417.703287F (some fields omitted in printout)AQF@A|\E@A_~? AAy &"AAuvNA"AZAbAjArAzAAAI9@A6KsAay@Ax <A&=A`@A̿A V?A*A9?2Aֽ:Aw=BA9?JAֽRAw=٘i)I9ay@YG JB=JJJJE&K Y^~?yTAE)77]9)8B[[/@[*_~?[ٯ[[[[BZYY i)  :IE?iðgBb C2@))C2@C2@BЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038417.743165 s, next control iter: 1743038418.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038418.123165 s.6!}J~,X)AAG:F@A-F@A_~? AA&"AAcvNA"AZAbAjArAzAAAvO8@Auў sAx@AA?-=A@AͱοA0?A]*AT9?2Aֽ:A}=BAT9?JAֽRA}=٘i)I9x@YnG JC=JJJJE&K Y?^~?y`TAEZ7SI7'9)=B[[@[_~?[B[[[[BZYY i) |9I/E?i.^ ]4@))]4@]4@yL2/̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038418.163165 s, next control iter: 1743038418.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038418.543165 s.I(}J~,â)AJ"J*J2J:JBJnJvJA= ףpF@AZcF@A_~? AMA&"AAvNA"AZAbAjArAzAAAP68@A?sACx@AߪCAq=A`@ABпA@?A3*A'9?2A.׽:A23<BA'9?JA.׽RA23<٘i)I9Cx@YG JJJJJE&K Y۫^~?ySAEj7j79B)CBE[[R@[ _~?[Ξ[[[[BZYY i) !IE?iRMZ C5@))C5@C5@}ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038418.583165 s, next control iter: 1743038418.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11917, header.stamp.nsec: 00 temperature: 13.384348* salinity: 33.391621, density: 1025.000000* values[0]: 0.706669F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038418.963165 s.v.}J~,褽)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066530< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038418.963282F (some fields omitted in printout)AffffF@AI[F@A_~? AA9&"AAvNA"AZAbAjArAzAAAZc8@AE^sAw@AyA?=A@A(ѿA&?Aa*A9?2A/׽:A<BA9?JA/׽RA Y^~?yOSA@E7{79)GB[[@[1^~?[p[[[[BZYY i) ˺IE?i:.Y {7@)){7@{7@^ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038419.003165 s, next control iter: 1743038419.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038419.383165 s.5}J~,)AJ"J*J2J:JBJnJvJA(F@ATF@A_~? ACA&"AAvNA"AZAbAjArAzAAAU'78@A hrAG JJ&JJJE&K)x> YU^~?yQA$ @&Eb7b79)`B[[2@[^~?[n[[[[BZYY i/) uͻIpE?iFWPI C?@))C?@C?@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038421.083165 s, next control iter: 1743038421.463181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038421.483165 s.u_W}J~,^)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038421.483320F (some fields omitted in printout)A\G@AG@A V_~? AܩA&"AAUvNA"AZAbAjArAzAAAHw7@AXh8rAt@A&=;A =Ao @AWֿA`i?A*A9?2A ֽ:AU<BA9?JA ֽRAU<٘i)I9t@YG JőJJJJE&K Y@E^~?yW{bQA)E77|9 B)eBE[[R?@[l^~?[Ag[[[[BZYY i) :LIY_E?i SuF @@))@@@@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038421.523165 s, next control iter: 1743038421.883176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11920, header.stamp.nsec: 00 temperature: 13.385107* salinity: 33.391659, density: 1025.000000* values[0]: 0.703406F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038421.903165 s.#]}J~,y)AJ"J*J2J:J4?BJ4?nJ<5vJAQH@AŠSH@AnI_~? AթAm"&"AACvNA"AZAbAjArAzAAAJ z7@AZ):rAIt@AA=AP@A@]0׿A9l?A**A9?2A>*׽:ALE<BA9?JA>*׽RALE<٘i)I9It@YG JJJJJE&K Y4^~?y*tQA,Eŧ7b7G9)iB[[5@[π^~?[_[[[[BZYY i) IOE?iƗEB ]B@))]B@]B@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038421.943165 s, next control iter: 1743038422.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038422.323165 s.td}J~,)AAGzTH@A.rGH@A]<_~? AΩA&"AA/vNA"AZAbAjArAzAAA@ڰ7@A'rAs@AoAP=A@AؿA -?A~*A9?2AF׽:A<BA9?JAF׽RA<٘i)I9s@YkG JJJJJE&K Yw$^~?ylPA.E77{79B)oBE[[`W@[l^~?[X[[[[BZYY i) ZI-?E?ix< hC@))hC@hC@yxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038422.343165 s, next control iter: 1743038422.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11921*, header.stamp.nsec: 0*0 temperature: 13.385326** salinity: 33.391659*, density: 1025.000000** values[0]: 0.702418*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038422.743165 s.Wk}J~,u)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038422.743287F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=H@A^2}H@A._~? AǩAd3&"AAvNA"AZAbAjArAzAAAׇ7@AetrA-qs@A=j^A#=Ai@A@ؿA?Af*Ab9?2A׽:A^<BAb9?JA׽RA^<٘i)I9qs@Y*G JJJJJE&K Y^~?yeSPA1Ej7Z7ܣ9)rB[[Q@[5X^~?[Q[[[[BZYY i) M$I/E?i%5 XvE@))XvE@XvE@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038422.763165 s, next control iter: 1743038423.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038423.163165 s.z}r}J~,q)AAH@A =bH@A _~? AAc&"AAvNA"AZAbAjArAzAAAFx]7@ArAs@AnAI=A=@AٿA"?A~c*A)9?2Aֽ:At=BA)9?JAֽRAt=Y$@I@yDZ=֯ٓH ` ' T`?`(8?Ru?)$@ I٘i)I9s@YG JJ;JJJE&Kx> Yp^~?y3_OA@4E7779B)wBE[[k@[C^~?[J[[[[BZYY i) p4I E?i#k`3 F@))F@F@ӾYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038423.183165 s, next control iter: 1743038423.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038423.583165 s.x}J~,R)AJ"J*J2J:J3?BJ3?nJo<5vJA)\H@AH@As_~? AOA=&"AADuNA"AZAbAjArAzAAA*?h17@AяY|rA0r@A;A=A@ATkڿA h?At*A99?2Afֽ:A |=BA99?JAfֽRA |=٘i)I9r@YG JJJJJE&K Y]~?yXOA6E77{7r9B)|BE[[@[t-^~?[SD[[[[BZYY i) 3CIE?i!}/ ɉH@))ɉH@ɉH@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038423.603165 s, next control iter: 1743038423.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11922, header.stamp.nsec: 00 temperature: 13.385522* salinity: 33.391666, density: 1025.000000* values[0]: 0.701513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038424.003165 s.x }J~,L4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038424.003294F (some fields omitted in printout)AR+I@AEJyI@A_~? AA2&"AA"uNA"AZAbAjArAzAAAr q7@Ars-prAr@Aa<A΁=A%2@Ab1ۿA#?A٧*A9?2A2ֽ:As =BA9?JA2ֽRAs =NI٘i)I9r@YUG JJJJJE&K Y(]~?yQۿA?A*A9?2AHֽ:A[=BA9?JAHֽRA[=٘i)I9q@YG JɘJJJJE&K Y]~?yXKNA Y.]~?y>NA+@AE779B)BE[[a @[]~?[+[[[[BZYY i) 9ĀID?i7nDu tC))tCN@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038425.283165 s, next control iter: 1743038425.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 119242, header.stamp.nsec: 020 temperature: 13.3860252* salinity: 33.3916972, density: 1025.0000002* values[0]: 0.6994452F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038425.683165 s.l}J~,sk)AA(\J@A~ƃI@A^~? AAj&"AA|uNA"AZAbAjArAzAAA<1C6@Aւ?׿rAs p@AJA=A@Ab;޿AF?A*A9?2AA׽:A? =BA9?JAA׽RA? =٘i)I9 p@YG JJJJJE&K Y}]~?y8MADE{7{7g9B)BE[[@[X]~?[%[[[[BZYY i) UID?ifi A))A0P@ӪYFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038425.683165 s, next control iter: 1743038426.083176 s, wait time: 0.400011 s}]~?)8 rAdjusting time to match Gazebo time: 1743038426.103165 s.}J~,)AJ"J*J2J:JBJnJvJAQ8J@AׇF+J@A ^~? AA00&"AAbuNA"AZAbAjArAzAAA#@F6@AbrAЄo@AwA`4=Az@A ޿A@Ť?A[ *A9?2A8׽:AG =BA9?JA8׽RAG =٘i)I9o@YG J坼JJJJE&K Yx]~?y2PMAGE7729)B[[!@[^]~?[Z [[[[BZYY i) F菼ID?i] $i@))$i@Q@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038426.123165 s, next control iter: 1743038426.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038426.523165 s.}J~,1|)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038426.523305F (some fields omitted in printout)AHznJ@AVc aJ@A^~? AAܦ&"AAHuNA"AZAbAjArAzAAAaf5@A,ozmrAn@AC!AX=A# @A߿A9S?AA*A9?2Aֽ:ALV=BA9?JAֽRALV=٘i)I9n@YsG J¢JJJJE&K Yd]~?y,LAIEj7Z79B)BE[[Z"@[ ]~?[ [[[[BZYY i) .zID?iQ S>))S>b;S@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038426.543165 s, next control iter: 1743038426.923186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11925, header.stamp.nsec: 00 temperature: 13.386288* salinity: 33.391705, density: 1025.000000* values[0]: 0.698374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038426.943165 s.Zd}J~,J])AJ"J*J2J:J2?BJ2?nJw;5vJAq= ףJ@A_̖J@A^~? AAg&"AAA.uNA"AZAbAjArAzAAAϲ*5@A^UҴrAmn@Ac :A=A`@A\-A ?AҮ*A9?2A}ֽ:AM=BA9?JA}ֽRAM=٘i)I9mn@YG J:JJJJE&K YhO]~?y&LALEb77ǵ9B)B޹E[[$@[r]~?[[[[[BZYY i) [ ID?iC `=))`=T@8ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038426.963165 s, next control iter: 1743038427.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038427.363165 s.}J~,l>)AAJ@AJ@A}^~? AEAɍ&"AA!uNA"AZAbAjArAzAAAuyEo5@AI(#HrAvm@AC.<AVڡ=AC@A`TA6?A˳*A9?2A)ֽ:AW=BA9?JA)ֽRAW=Y@@yס=jj/<ٓHu L 8?Յ?5 ۅ?@?)@ I٘i)I9m@YG JJB<JJJE&Kw> Y8]~?yz!LA@OEj7Z79)B[[А%@[Y]~?[[[[[BZYY i) {IۣD?i =} ;));@V@ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038427.383165 s, next control iter: 1743038427.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11926&, header.stamp.nsec: 0&0 temperature: 13.386548&* salinity: 33.391705&, density: 1025.000000&* values[0]: 0.697221&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038427.783165 s.[}J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743038427.783296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\K@AQۆQK@Adk^~? A|A&"AAptNA"AZAbAjArAzAAA0^A75@Ac1dЭrA?m@ABhy<A=A @A AU?A,*Ac9?2A1ֽ:A]j=BAc9?JA1ֽRA]j=٘i)I9?m@YeG JJJJJE&K YZ"]~?y-KAQE)77]9B)B۹E[["'@[j@]~?[: [[[[BZYY i) WꭼI*D?i@4g e]:))e]:PW@y˕HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038427.803165 s, next control iter: 1743038428.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038428.203165 s.}J~, )AAQEK@Ad8K@AX^~? AwAk&"AA1tNA"AZAbAjArAzAAA緩"4@AmwkrAzl@Ap9A<A=A8:"@A`,A`J?AR*A9?2AXֽ:A*;=BA9?JAXֽRA*;=٘i)I9l@YG J긼JJJJE&K Y ]~?y>KATE777'9B)BعE[[U(@[&]~?[[[[[BZYY i) XID?if)jػ 8))8.CY@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038428.223165 s, next control iter: 1743038428.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038428.623165 s.V}J~,X')AJ"J*J2J:JBJnJvJAGzK@ANmK@AYE^~? AqAd&"AActNA"AZAbAjArAzAAA2b,4@AҥWrAl@A;AN=A#@A`~AB?Ah*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9l@YG JJJJ3FJE&K YL\~?yJAWE77{79)B[[#*@[T ]~?[[[[[[BZYY i) ǼID?i mȻ \7))\7Z@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038428.643165 s, next control iter: 1743038429.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11927, header.stamp.nsec: 0 0 temperature: 13.386851 * salinity: 33.391724 , density: 1025.000000 * values[0]: 0.695996 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038429.043165 s.}J~,B)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038429.043286F (some fields omitted in printout)A= ףK@AXK@A1^~? ADlA@&"AA tNA"AZAbAjArAzAAAPOpO4@AwڣrAlk@A Aܪ=A0$@AQA?AƆ*A9?2A׽:A=BA9?JA׽RA=٘i)I9lk@YHG JnJJJJE&K Y\~?yE eJAYE779$B)ɯBԹE[[|+@[\~?[>[[[[BZYY i) {6ļID?i އ 5))5A\@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038429.063165 s, next control iter: 1743038429.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038429.463165 s.U}J~,])AJ"J*J2J:J2?BJ2?nJ:5vJAffffK@A^K@A^~? AgA6&"AA'tNA"AZAbAjArAzAAAԲۤEL4@A0nrAj@AmqA襭=A7G&@AKAf?A+*A9?2A09׽:A=BA9?JA09׽RA=Y,@2&@y=KrٓH`E ߅? b H?{ Y-@?),@ I٘i)I9j@YG JsB=Jm`<JJJE&K;x> Y\~?yIA2&@\E)7b79&B)ϯBѹE[[,@[Z\~?[I[[[[BZYY i) h~˼IyD?i7 a4))a4]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038429.503165 s, next control iter: 1743038429.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11928, header.stamp.nsec: 00 temperature: 13.387160* salinity: 33.391727, density: 1025.000000* values[0]: 0.694760F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038429.883165 s.y}J~,8x)AA(L@AkL@A ^~? AbAi &"AAdtNA"AZAbAjArAzAAA)[4@AFSqrA/j@AcWA=A7'@A@nkA ?AO\¼*A9?2A\׽:At==BA9?JA\׽RAt==٘i)I9/j@YG JC=JJJJE&K Y\~?y'|IA_E7)7Rž9'B)֯BιE[[m.@[\~?[[[[[BZYY i) TҼI+sD?i~e 2))2&;_@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038429.923165 s, next control iter: 1743038430.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038430.303165 s.S}J~,jg)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.087250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038430.303270F (some fields omitted in printout)J"J*J2J:JBJnJvJAQL@AHDL@A]~? A]Am&"AAEtNA"AZAbAjArAzAAA3@AlUPrAzi@A A*=A(@AA`H?AO˼*A}9?2Aaֽ:A-K=BA}9?JAaֽRA-K=٘i)I9i@Y"G J0ƼJJJJE&K Ya\~?yIAaE7777Ğ9)ۯB[[/@[|\~?[[[[[BZYY i)  ڼI)mD?i߾ h1))h1ڶ`@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038430.343165 s, next control iter: 1743038430.703177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11929*, header.stamp.nsec: 0*0 temperature: 13.387439** salinity: 33.391724*, density: 1025.000000** values[0]: 0.693484*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038430.723165 s.}J~,H)AAzL@A?ҢzL@A4]~? AGXAO&"AAz&tNA"AZAbAjArAzAAAs@3@AѡrAh@A;AXm=AQ*@A@A?A!Լ*A܂9?2A"ֽ:A=BA܂9?JA"ֽRA=٘i)I9h@Y G JϼJJJJE&K Y@~\~?y HAdE7Ş9)B)B˹E[[V1@[\~?[[[[[BZYY i) OIgD?iþz N/))N/g1b@FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038430.763165 s, next control iter: 1743038431.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038431.143165 s.\/}J~, *)AJ"J*J2J:J[1?BJ[1?nJ95vJA ףpL@ACgL@A]~? ASA(&"AAtNA"AZAbAjArAzAAA! ~Q3@Ah-̔rAd%h@A*e<A#=AgR+@AAAr?AJܼ*A9?2Avս:AU!=BA9?JAvսRAU!=٘i)I9%h@YI G JMؼJJJJ E&K Yf\~?yzHAgE{7{7Ǟ9*B)BȹE[[32@[Xo\~?[[[[[ZZ¸BZYY i¸vɨ=) A^ռI|cD?i94R 0u.))0u.c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038431.163165 s, next control iter: 1743038431.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038431.563165 s.}J~,[ )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038431.563288F (some fields omitted in printout)A3333L@A)L@A]~? AOA&"AATsNA"AZAbAjArAzAAA3@A+erAjg@AAj<AN=A,@A@ A?A ߼*A|9?2AWֽ:Am!=BA|9?JAWֽRAm!=Y@,@yI=k<ٓH@`fۿ3S?a?D@f\??)@ I٘i)I9jg@Y G J&޼J K<JJJE&Kw> YL\~?yGA,@iE777}ɞ9,B)BŹE[[!94@[VT\~?[[[[[ZZBZYY i) HɼI_D?i: o,))o,F"e@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038431.603165 s, next control iter: 1743038431.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11930, header.stamp.nsec: 00 temperature: 13.387791* salinity: 33.391720, density: 1025.000000* values[0]: 0.692101F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038431.983165 s.}J~,)AJ"J*J2J:J-1?BJ-1?nJ95vJA\(M@AM@Aǟ]~? AJAf&"AAsNA"AZAbAjArAzAAANEE2@A*6XrAf@A0;A==A-@AA&?A|*AN9?2Apdֽ:AǠ=BAN9?JApdֽRAǠ=٘i)I9f@YZ G JkJJJJE&K Y,3\~?y'GAlE7H˞9-B)BĹE[[5@[E9\~?[[[[[ZZBZYY i) z3I9\D?i(xS I+))I+lf@9YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038432.023165 s, next control iter: 1743038432.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038432.403165 s.&~J~,)AAQ^M@AZ$QM@A]~? AhFA /&"AAisNA"AZAbAjArAzAAA2@AȠrAOe@AUfA@̚=A.S/@AA&U?AX*A9?2A*ֽ:A<BA9?JA*ֽRA<٘i)I9e@Y G JB=JJJJE&K Y\~?y+FAoE͞9.B)BE[[7@[+\~?[S[[[[ZZBZYY i) IYD?iD) *))*h@y*=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038432.423165 s, next control iter: 1743038432.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11931", header.stamp.nsec: 0"0 temperature: 13.388156"* salinity: 33.391727", density: 1025.000000"* values[0]: 0.690540"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038432.823165 s. ~J~,-4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082416< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038432.823330F (some fields omitted in printout)J"J*J2J:JBJnJvJAGzM@AGqM@Ajs]~? AJBA&"AA΂sNA"AZAbAjArAzAAA\bjG2@A>u;rAd@A:XAy=A30@A@EAo?Ac*A9?2A#ֽ:A߅c<BA9?JA#ֽRA߅c<٘i)I9d@YQ G JGC=JJJJE&K Y5\~?yf0FAqEŧ7b7Ξ90B) BE[[8@[\~?[[[[[ZZBZYY i) IWD?i_ i֯ ۚ())ۚ(ڄi@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038432.863165 s, next control iter: 1743038433.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038433.243165 s.~J~,qO)AAףp=M@A2M@A\]~? AP>A &"AA`sNA"AZAbAjArAzAAA=>J2@AM͇rA*d@A߁A6=A1@A@iA]?Aͼ*A9?2ALֽ:A;BA9?JALֽRA;٘i)I9*d@Y G J+JJJJE&K Y[~?yEAtE7777О91B)BE[[9@[[~?[[[[[ZZBZYY i) IVD?i?5 ''))''j@6YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038433.263165 s, next control iter: 1743038433.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038433.663165 s.~J~,qj)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11932, header.stamp.nsec: 00 temperature: 13.388535* salinity: 33.391739, density: 1025.000000* values[0]: 0.688940F (some fields omitted in printout)AN@ArM@AE]~? Az:A&"AA^>sNA"AZAbAjArAzAAA< l1@AvrAc@A`+A<A?3@AA?AU*AC9?2A5ֽ:A#BAC9?JA5ֽRA#Y04%@S:3@y<p+ٓH@$dտLg??((C Yk`i?)04%@ I٘i)I9c@Y{ G JbJJJJE&Kcx> Y[~?yߧEA:3@wE{7rҞ93B)BE[[u[;@[[~?[ާ[[[[ZZBZYY i,=)  I^VD?i5[ڞ %))%ll@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038433.683165 s, next control iter: 1743038434.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038434.083165 s.D!~J~,S)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069371< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038434.083298F (some fields omitted in printout)A)\5N@Ai4(N@A.]~? A6Af&"AAsNA"AZAbAjArAzAAAHw1@A={t6rAc@A_8Adl5<A4@A`A?A*A&9?2Aֽ:Ai BA&9?JAֽRAi ٘i)I9c@Y* G J7JJJJE&K Yd[~?yܧhEAyEj7=Ԟ9)B[[<@[#[~?[#ݧ[[[[ZZBZYY i) }4IVD?i<K*'9 z@$))z@$;m@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038434.123165 s, next control iter: 1743038434.483183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743038434.503165 s.'~J~,@4)AJ"J*J2J:J40?BJ40?nJ85vJARkN@AuRz^N@A]~? A?3A̬&"AA^rNA"AZAbAjArAzAAA01@Aq rAb@Af(<A\A5@A-AW#?AR@*A9?2Aֽ:AcBA9?JAֽRAc٘i)I9b@Y G JnJJJJ!E&K Y[~?y٧BEA|E77֞94B)BE[[0>@[[~?[ۧ[[[[ZZBZYY ip=) īsIWD?ig=F6: R"))R"cQo@̘(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038434.523165 s, next control iter: 1743038434.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11933, header.stamp.nsec: 00 temperature: 13.388814* salinity: 33.391747, density: 1025.000000* values[0]: 0.687794F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038434.923165 s.8.~J~,)AA{GN@An;N@A\~? A/A&"AArNA"AZAbAjArAzAAAW-Q0@Aͪ~rA]b@Aq<AuA$7@A ^bA`F?A*Aè9?2Aֽ:AșBAè9?JAֽRAș٘i)I9]b@Y G J JJJJ#E&K Y|[~?y֧EAE77{7מ95B)"BE[[q?@[oz[~?[6ڧ[[[[ZZBZYY i) p^IVYD?i>: ]!))]!#p@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038434.943165 s, next control iter: 1743038435.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038435.343165 s.<5~J~,)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.079316< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743038435.343276F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= N@AN@A$\~? A,A1 &"AArNA"AZAbAjArAzAAAsa(0@A/k|rA;b@AI@7<A]Ap8@A@{Ayg?A*AX9?2Axֽ:A¼BAX9?JAxֽRA¼٘i)I9;b@Y G JwB=JJJJ&E&K Y_a[~?yӧDAE7ٞ97B)%BE[[@@[D_[~?[ ٧[[[[BZYY i) /JI\D?i5K> ; 8))8}1r@yݾ=(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038435.383165 s, next control iter: 1743038435.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11934&, header.stamp.nsec: 0&0 temperature: 13.388948&* salinity: 33.391762&, density: 1025.000000&* values[0]: 0.687196&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038435.763165 s.9;~J~,')AA O@AN@A"\~? A)Ao &"AArNA"AZAbAjArAzAAAV8e^X0@AeP{rA9b@AY:AW-AW9@AA x?A4;*Au9?2ANֽ:ADBAu9?JANֽRADY-+@P9@yK-:ٓH]eοX@?`? A?? 7X??)-+@ I٘i)I99b@Y G JC=J*JJJ)E&Kw> YE[~?yѧ0EA9@E{7j7h۞98B)&BE[[o`B@[C[~?[ ا[[[[BZYY ii=) O9I__D?iu>pZ; ))s@h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038435.783165 s, next control iter: 1743038436.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038436.183165 s.B~J~,Z )AJ"J*J2J:JBJnJvJA(\BO@Af5O@A\~? A&A &"AA1hrNA"AZAbAjArAzAAA40@AF<m=; ))4 u@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038436.203165 s, next control iter: 1743038436.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038436.603165 s.44I~J~,&)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038436.603277F (some fields omitted in printout)AQxO@A4FkO@A\~? A#A &"AAcCrNA"AZAbAjArAzAAA䛂/@A&A՛wrAb@Ad0yAFuAmA<@A zA?A;<*A 9?2Aս:A2 BA 9?JAսRA2 ٘i)I9b@Y G J<C=JJJJ.E&K Y[~?yͧEAE7777ޞ9;B)E[[&E@[, [~?[֧[[[[BZYY i) IhD?i>2b; 1))1yv@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038436.643165 s, next control iter: 1743038437.003175 s, wait time: 0.360010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11935 , header.stamp.nsec: 0 0 temperature: 13.388982 * salinity: 33.391762 , density: 1025.000000 * values[0]: 0.687199 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038437.023165 s.ZP~J~,{A)AJ"J*J2J:J/?BJ/?nJw85vJAHzO@A΍ O@A\~? A#!A!&"AAMrNA"AZAbAjArAzAAAi  .@AخpurAb@AFZAIA=@Ap?A`?A$0i<*A9?2Aֽ:A@BA9?JAֽRA@٘i)I9b@Y G JQ<JJJJ1E&K YvZ~?y}˧EAE79)$B[[GF@[Z~?[6֧[[[[BZYY i) ImD?i>х; ;));w@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038437.043165 s, next control iter: 1743038437.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038437.443165 s.5V~J~,5]\)AAq= O@AJO@A>n\~? AA=J!&"AAqNA"AZAbAjArAzAAAvU)$_.@Aut{trAWc@AcAA>@A@eA?Am<*A19?2A֜; ))My@y. =8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038437.483165 s, next control iter: 1743038437.843176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11936, header.stamp.nsec: 00 temperature: 13.388913* salinity: 33.391731, density: 1025.000000* values[0]: 0.687738F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038437.863165 s.+]~J~,>w)AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038437.863327F (some fields omitted in printout)AP@A F P@AYU\~? ATALy!&"AAZqNA"AZAbAjArAzAAA/-@AÖ:srAJc@A-;AAwAA@@A LA ?A<*A9?2ABֽ:A@ BA9?JABֽRA@ Y32@9@@ypvr;ٓHqA?ۑ? h"m`?z??)32@ I٘i)I9c@Y G J؊<J-JJJ6E&Kx> YZ~?y.ȧ}FA9@@E77{7]9>B)BE[[AI@[&Z~?[է[[[[BZYY i) %ͻI{D?i?n; i))i2z@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038437.883165 s, next control iter: 1743038438.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038438.283165 s.7Rd~J~,)AA(\OP@AXPBP@AM<\~? A*A@!&"AAqNA"AZAbAjArAzAAAwQ0-@AqrAId@Aag<AAZA@A A1?A@ <*Aҗ9?2A ׽:Ao BAҗ9?JA ׽RAo ٘i)I9Id@Y G JN<JJJJ9E&K Y Z~?yƧFAEŧ7b7(9?B)BE[[ɞJ@[9Z~?[֧[[[[BZYY i) IaD?i?۷; 8))8}|@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038438.323165 s, next control iter: 1743038438.683179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11937., header.stamp.nsec: 0.0 temperature: 13.388741.* salinity: 33.391762., density: 1025.000000.* values[0]: 0.688595.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038438.703165 s.Ӻj~J~,)AJ"J*J2J:JBJnJvJAQP@A xP@A#\~? A)A!&"AAvqNA"AZAbAjArAzAAA,@A._prAd@Ai<AAB@A AV?A翣<*A_9?2A$ֽ:AS BA_9?JA$ֽRAS ٘i)I9d@YA G J<B=JJJJ elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038439.123287F (some fields omitted in printout)AGP@Ab'֭P@A \~? APA!&"AA5aqNA"AZAbAjArAzAAAv%+@A{FdorAo\e@A77;AA)D@A`A`~?A}<*AZ9?2A ֽ:A> BAZ9?JA ֽRA> ٘i)I9\e@Y G Js<C=JJJJ>E&K YhZ~?yħGAEj7j79AB)BE[[tQM@[kZ~?[֧[[[[BZYY i) cID?i1?; 6))6~@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038439.143165 s, next control iter: 1743038439.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038439.543165 s.Ix~J~,)AJ"J*J2J:JBJnJvJA= ףP@AP@Ab[~? AA|"&"AA:qNA"AZAbAjArAzAAA+.c+@Af\nrAe@AlA_랽AhE@AAJ?Aҵ<*A9?2AE:ֽ:A BA9?JAE:ֽRA MI٘i)I9e@Y G J<JJJJAE&K Y"LZ~?yVçHAE77779BB)BE[[qN@[QZ~?[gק[[[[BZYY i) 'I.D?iED?:; )) &@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038439.583165 s, next control iter: 1743038439.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11938, header.stamp.nsec: 00 temperature: 13.388515* salinity: 33.391747, density: 1025.000000* values[0]: 0.689535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038439.963165 s.y~~J~,)AAffff&Q@A֪]Q@A[~? AA 6"&"AA+qNA"AZAbAjArAzAAA$-*@A Y/Z~?yçyHAF@E{7j7S9CB)BE[[O@[P7Z~?[6ا[[[[BZYY i) FrֺIZD?iO?;< p))pg׀@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038439.983165 s, next control iter: 1743038440.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038440.383165 s.؅~J~,4)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038440.383273F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Q@A7S!OQ@A;[~? AAR"&"AAipNA"AZAbAjArAzAAA&7-*@AuqۗlrA)g@ANuA᛽AgG@A *A ݽ?A9?<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9)g@Y G J<JJJJFE&K/Z~?)ç YZ~?y§HAE7779) B[[TUQ@[Z~?[0٧[[[[BZYY i) kk=I:D?i]?q < !))!J@{*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038440.403165 s, next control iter: 1743038440.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11939", header.stamp.nsec: 0"0 temperature: 13.388328"* salinity: 33.391731", density: 1025.000000"* values[0]: 0.690650"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038440.803165 s.vA~J~,wg3)AAQ@A4Q@A[~? AAk"&"AApNA"AZAbAjArAzAAA f)@A!V@krAg@AVA\8A*HA`<A R?A><*Ap9?2A(lֽ:ABAp9?JA(lֽRA٘i)I9g@Y G Jp<JJJJIE&K Y~Y~?y`§MIAE{7j79DB)BE[[uR@[Z~?[Sڧ[[[[BZYY i) XI9ID?il?< 5 ))5 8@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038440.843165 s, next control iter: 1743038441.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038441.223165 s.g~J~,HN)AJ"J*J2J:JBJnJvJAzQ@Ab֋Q@A[~? AzA"&"AA}pNA"AZAbAjArAzAAA6z(@AwS?8krAYh@A#:A_A|yGA`iMA>?Ad<*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I9Yh@Yi G Jޱ<JJJJLE&K YKY~?y§IAE9EB)BE[[S@[lY~?[ۧ[[[[BZYY i) א:ID?i|?!< N ))N n@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038441.263165 s, next control iter: 1743038441.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038441.643165 s.}Й~J~,$*i)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743038441.643334F (some fields omitted in printout)A ףpQ@A'eQ@Ao[~? AAǔ"&"AA\xpNA"AZAbAjArAzAAA޻zX(@Az| jrAdh@AJ;<AұAN FAJ[A@>f?A-<*AA9?2A$׽:ABAA9?JA$׽RA٘i)I9h@Y G J<JJJJNE&K YY~?y!JAEŧ7b7}9FB)BE[[>IU@[Y~?[ݧ[[[[BZYY i) S;ID?i?2-<  )) p@tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11940V*, header.stamp.nsec: 00 temperature: 13.388090* salinity: 33.391731, density: 1025.000000* values[0]: 0.691784F (some fields omitted in printout)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038441.663165 s, next control iter: 1743038442.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038442.063165 s.~J~,_ )AJ"J*J2J:JBJnJvJA33333R@A'&R@AU[~? A Ao"&"AA#QpNA"AZAbAjArAzAAAtKN祻'@AG=?jrApi@Az<A8VADA@vfA*!?A;<*A{9?2A ׽:A{BA{9?JA ׽RA{٘i)I9pi@YG J<JJJJQE&K YߢY~?yjJAE777H9)BE[[V@[Y~?[ާ[[[[BZYY i) 2@;ID?i?م:<  )) E@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038442.103165 s, next control iter: 1743038442.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038442.483165 s.q_~J~,)AA\hR@A%[R@A<[~? AW A"&"AA)pNA"AZAbAjArAzAAA[%3KI'@AirAi@A`6<ACANCAnAv?AaΝ<*AR9?2A4ֽ:ABAR9?JA4ֽRA٘i)I9i@YdG J<JJJJTE&K YY~?yJAE{7{79CB)BE[[W@[LY~?[d[[[[BZYY i)  |;IE?i?wH< q:))q:@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038442.503165 s, next control iter: 1743038442.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11941, header.stamp.nsec: 00 temperature: 13.387888* salinity: 33.391720, density: 1025.000000* values[0]: 0.692813F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038442.903165 s.ȭ~J~,͹)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: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200552 time: 1743038442.903327F (some fields omitted in printout)AQR@AN`:R@A "[~? A A'"&"AA|pNA"AZAbAjArAzAAAܻ&@A/?حirAzj@A̒:A VADBAtA`Q?A}5<*A9?2Aֽ:AVSBA9?JAֽRAVS٘i)I9zj@YG J<JJJJVE&K YrjY~?y_KAEŧ779)B}E[[!Y@[Y~?[A[[[[BZYY i) ;IE?if?W< c))c@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038442.943165 s, next control iter: 1743038443.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038443.323165 s.y~J~,2)AAGzR@A-\oR@A[~? A A@"&"AAoNA"AZAbAjArAzAAAȤN%@A"irAj@AAkAAA@ixA@?Ap<*A=9?2AJCֽ:ANkBA=9?JAJCֽRANk٘i)I9j@YG Ja<JJJJYE&K Y[[[[BZYY i) -;I+&E?i?%g< Ɍ))ɌvI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038443.363165 s, next control iter: 1743038443.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11942*, header.stamp.nsec: 0*0 temperature: 13.387702** salinity: 33.391724*, density: 1025.000000** values[0]: 0.693771*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038443.743165 s.W~J~,`)AJ"J*J2J:JBJnJvJAףp= S@A ~1R@AZ~? A A-"&"AAoNA"AZAbAjArAzAAAPE%@A[irA^k@AsvAtAf?A@yA bAԜ<*Au9?2A3ֽ:APBAu9?JA3ֽRAP٘i)I9k@YWG J<JJJJ\E&K Y2Y~?y"3LAE7777s9)B[[[@[VY~?[Z[[[[BZYY i) .;I;E?iO?x< ==))==<@J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038443.763165 s, next control iter: 1743038444.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038444.163165 s.{}~J~,q )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066392< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038444.163285F (some fields omitted in printout)A@S@At2S@AZ~? A A"&"AA?oNA"AZAbAjArAzAAA?$@A{BӳirAil@APAAj>AXxA A0ɗ<*Az9?2Afֽ:A BAz9?JAfֽRA YjE@*]>yׂuPٓH$|I0?-;?`?ſODSY1?i?)jE@ I٘i)I9l@YG J˚<J<JJJ^E&K> Y*Y~?yLA]>EZ7SI7>9DB)BwE[[\@[W>Y~?[[[[[BZYY i{=) r;IPE?i?<  )) ֕@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038444.183165 s, next control iter: 1743038444.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038444.583165 s.~J~,S%)AJ"J*J2J:JBJnJvJA)\uS@A?;hS@AZ~? A Am"&"AAdoNA"AZAbAjArAzAAA ; $@A4irABl@AoAԅA_=A tA`쁠AMd<*A;9?2Aֽ:ACBA;9?JAֽRAC٘i)I9l@YG J<JJJJaE&K  9YKX~? 9yçLAEb779)BtE[['/^@[\&Y~?[+[[[[BZYY i) r elevatorAngleAction: 0.079564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038445.423276F (some fields omitted in printout)A{GS@A`;S@AZ~? AA"&"AAoNA"AZAbAjArAzAAA|;&"@AV']jrA[fm@ASl<ArAd:A3dA@>ﯿA/<*A|9?2A6׽:ABA|9?JA6׽RA٘i)I9fm@Y|G J<JJJJgE&K YX~?yŧMAE{7j79)ٯBnE[[`@[kX~?[[[[[BZYY i) ;*<*A9?2A׽:Au)BA9?JA׽RAu)٘i)I9m@YG J<JJJJiE&K YX~?yvǧMAE77h9)֯BkE[[a@[xX~?[\[[[[BZYY i) c9L@7y0p;ٓH@=`? bp?`п`b?i{?x??)>L@ I٘i)I9An@YG JP<B=JJJJlE&Kw> Y~X~?yɧXNA7E77{739)үBhE[[:c@[uX~?[c[[[[BZYY i) CI elevatorAngleAction: 0.079564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038446.683273F (some fields omitted in printout)A(\T@AdUuT@A8Z~? AA}"&"AAwnNA"AZAbAjArAzAAA| @AlrA?n@Ah{A\AW6A8AFAߐ<*A9?2AYֽ:A BA9?JAYֽRA ٘i)I9n@YIG J׋<C=JJJJoE&K YEpX~?y$̧NAE777 9)ίB[[|d@[DzX~?[[[[[BZYY i) X))>*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038447.123165 s, next control iter: 1743038447.503180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038447.523165 s.~J~,{)AAHzT@A T@A@Z~? AA&M"&"AARnNA"AZAbAjArAzAAAAUʃ@AFbmrAyo@AsANA4AA`_A[<*A09?2A1ֽ:ABA09?JA1ֽRA٘i)I9o@YG Ji<JJJJtE&K Y9X~?yЧrOAE 9)ƯBcE[[f@[vX~?[,[[[[BZYY i) w elevatorAngleAction: 0.079564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038447.943273F (some fields omitted in printout)Aq= #U@A U@AY~? AA00"&"AA+nNA"AZAbAjArAzAAA)V(kN@A6sKnrAR)AAYU@A(\LU@AWY~? AA "&"AA>nNA"AZAbAjArAzAAAx`Wc@A0mQorA?p@A;AAS1AA $ſA<*A#9?2Aֽ:ADZBA#9?JAֽRADZY R@tV1y9;ٓH1?@Ա?C׿ A? =\?`]b??) R@ I٘i)I9p@YG J<JxJJJyE&K=x> Y@X~?yY֧8PAV1E77{7(9)B]E[[csi@[E[X~?[L[[[[BZYY i)  elevatorAngleAction: 0.079564< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038449.203297F (some fields omitted in printout)AQU@AsU@AY~? AAD!&"AAmNA"AZAbAjArAzAAA@AMUrrAq@A^x<AKAq.AA6ȿA<*A$9?2A_,׽:A)BA$9?JA_,׽RA)٘i)I9q@Y.G J<JJJJE&K YW~?yܧQAE77{79)BWE[[k@["1X~?[[[[[BZYY i) R elevatorAngleAction: 0.088991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038450.463282F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffffV@A'_[YV@A]UY~? A!Ag@!&"AACGmNA"AZAbAjArAzAAA&T.@AV3tvrAs@AO%A@AE*A3AKοA9<*A9?2A\ֽ:ABA9?JA\ֽRAYDY@*y=wD&ٓH f?^?ݿ@? ?򶄿 ?)DY@ I٘i)I9s@Y>G Jg<JUJJJE&Kw> Y܁W~?yHRA*E77{79)BQE[[o@[rW~?[![[[[BZYY i)  elevatorAngleAction: 0.088991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038451.723296F (some fields omitted in printout)AzW@ALV@A= Y~? Ap*A1 &"AAlNA"AZAbAjArAzAAA~YY@A25{rAxu@A0A2+A(AtAѿAij<*Ao:?2AjŽ:A BAo:?JAjŽRA ٘i)I9xu@YfG Js<JJJJE&K Yx6W~?ySAE777~9)BLE[[!5s@[{W~?[O([[[[BZYY i) e0W@A!X~? A-Ac &"AAIlNA"AZAbAjArAzAAAcn@A@gj}rANv@A;AҮA$&AYAbSҿA<*A:j:?2AȽ:A>UBA:j:?JAȽRA>U٘i)I9v@YG J<JJJJE&K YWW~?yTAEb77I!9BB)BIE[[gt@[W~?[,[[[[BZYY i) k YSW~?y}TA%Ej7SI7#9)BFE[[(u@[W~?[1[[[[BZYY i) ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038452.583165 s, next control iter: 1743038452.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11951, header.stamp.nsec: 00 temperature: 13.385887* salinity: 33.391624, density: 1025.000000* values[0]: 0.702973F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038452.983165 s.OJ~,>)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.088991< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038452.983321F (some fields omitted in printout)J"J*J2J:JBJnJvJA\W@AW@AsX~? A4A&"AAjlNA"AZAbAjArAzAAAi hQ@A:בrA iw@AfH<AWӴAV$A TA ӿA<*AJU:?2A ͽ:AxBAJU:?JA ͽRAx٘i)I9iw@YG JK<C=JJJJE&K YRV~?yZTAE777$9)BCE[[ov@[W~?[W6[[[[BZYY i) wBZYY i¸> ) xA&"AAlNA"AZAbAjArAzAAAS' @Ař}a4rAy@ALSA<ϳAp A 9AIֿAk=*A\B:?2AKiҽ:A,BA\B:?JAKiҽRA,٘i)I9y@YG J<JJJJE&K YKV~?y3ZVAE77{7>*9)tB=E[[xXz@[PW~?[E[[[[ZZZZBZYY i) z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038454.283165 s, next control iter: 1743038454.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038454.663165 s.jJ~,q)AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11953, header.stamp.nsec: 00 temperature: 13.385333* salinity: 33.391602, density: 1025.000000* values[0]: 0.705716F (some fields omitted in printout)AX@Ac@rX@AgX~? ABAv&"AARkNA"AZAbAjArAzAAA9@A'ߕrAez@AmWAܝA_0AvyA׿Aߛ=*AJ:?2Azӽ:AǼBAJ:?JAzӽRAǼYd@ynٝXٓHKy?P?`z> YV~?yVAEb77 ,9)lB;E[[J{@[X?W~?[9J[[[[ZZZZBZYY i) 7rA|@AS<AkAx&AA঍ٿAW<*AKK:?2A ս:A@;BAKK:?JA սRA@;٘i)I9|@YG J<C=JJJJE&K YKV~?y#XAE{7j7i190B)IB5E[[ @[W~?[Z[[[[ZZZZBZYY i) JJJE&K{> Y V~?y/fXA E7749/B)BB1E[[@[V~?[d[[[[ZZZZBZYY i6~) h5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.073056< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038458.023309F (some fields omitted in printout)AHz.Z@AS !Z@A'W~? AgA&"AAjNA"AZAbAjArAzAAA]Y?AXrA;~@AԸhA/=AAA`QVA@tݿA*A:?2A?׽:A{<BA:?JA?׽RA{<٘i)I9~@YG J>9C=JJJJE&K Y%U~?yMASXAEb7b7^:9/B)>B,E[[p@[IV~?[u[[[[BZYY i) /<BA0:?JA׽RA ><٘i)I9~@YG JqzJJJJE&K YU~?y_GLXAE7)<9)?B)E[[@[V~?[{[[[[BZYY i) )AJ"J*J2J:JBJnJvJAZ@A4`Z@A+W~? AqqAM&"AAjNA"AZAbAjArAzAAA:ki?AJIrA}@AaAv=AA`^A)޿A'*A:?2Aֽ:A: =BA:?JAֽRA: =Yr@yzv=ȐٓHSB?py6GծR ?)r@ I٘i)I9}@YxG J0B=J|>JJJE&Kx> Y)U~?y NWAEb7=9)@B[[G@[V~?[k[[[[BZYY iXgi)  YJbU~?yoFVAy %E)7b7F9.B)RB!E[[s@[OqV~?[X[[[[BZYY i) 9y;Iik@%= 西))西@yԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038461.003165 s, next control iter: 1743038461.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038461.383165 s.J~,X)AJ"J*J2J:JBJnJvJA([@A"[@A#W~? AwA)&"AA+iNA"AZAbAjArAzAAAnuD0YAAʻrAz@A`A͚=A A/f߿A@A*Af:?2A<׽:A=BAf:?JA<׽RA=٘i)I9z@YG JJJJJE&K Y&RU~?y7wUA(E77H9/B)XB"E[[@[zfV~?[[[[[BZYY i) <;Ii;n@x= 3))3'@ ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038461.403165 s, next control iter: 1743038461.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11960&, header.stamp.nsec: 0&0 temperature: 13.385070&* salinity: 33.391510&, density: 1025.000000&* values[0]: 0.707629&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038461.803165 s.wAJ~,{gs)AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743038461.803323F (some fields omitted in printout)A\@AՎ\@AW~? AAF&"AAiNA"AZAbAjArAzAAA:5\ArJqrAez@A ]AE=A8A޿AAo*A :?2Ak׽:AoS=BA :?JAk׽RAoS=٘i)I9ez@YfG JJJJJE&K YBU~?yp~vUA*Eŧ7b7J9)[BE[[@[ \V~?[[[[[BZYY i) ;Iip@+= [))[۸@[ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038461.843165 s, next control iter: 1743038462.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038462.223165 s.J "J *J 2J :J 5?BJ 5?nJ =5vJ gJ~,H)AAzG\@AD/:\@AW~? AA,&"AAiNA"AZAbAjArAzAAA𸸹AErAiy@AX̻A*+=A`AݿA@ A͋*A :?2A׽:AS=BA :?JA׽RAS=٘i)I9y@YG J੼JJJJE&K Y1U~?yUA-Eb77IL9)`B[[x'@[RV~?[汨[[[[BZYY i) @:Iis@6= ))sI@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038462.263165 s, next control iter: 1743038462.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038462.643165 s.wJ~, *)AA ףp}\@A/dp\@AfV~? AAU&"AAĠiNA"AZAbAjArAzAAAN.:A-rAEy@A;Aဗ=ASFA@5ݿA0lAf*A :?2Anֽ:Ao=BA :?JAnֽRAo=٘i)I9Ey@YG JJJJJE&K Y!U~?y⌨TA0E77{7N9.B)dBE[[J@[bHV~?["[[[[BZYY i) 9IiVw@K= Wڜ))WڜE١@ЪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038462.663165 s, next control iter: 1743038463.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11961, header.stamp.nsec: 00 temperature: 13.385320* salinity: 33.391483, density: 1025.000000* values[0]: 0.706631F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038463.063165 s.J~,V )AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038463.063285F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333\@A~k'\@AhV~? AdA&"AA1iNA"AZAbAjArAzAAAnňAA*MnrAx@A@N<AjO=AA]vܿA A'*A :?2Aֽ:A=BA :?JAֽRA=Y&@ yaL=N<ٓH޿?ѽ@MF߿x Qlj??)&@ I٘i)I9x@Y]G JJͻJJJE&K}x> Y U~?yBTA2EZ7Z7O9/B)jBE[[QH@[?V~?[x[[[[BZYY i) nRIix@VT= ;));Lj@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038463.083165 s, next control iter: 1743038463.463179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038463.483165 s.y_J~,)AA\\@A\@AV~? A಩A^\&"AA>piNA"AZAbAjArAzAAA#5A rAx@Ah<A=AA@ۿAAQ *Ag :?2Aֽ:A=BAg :?JAֽRA=٘i)I9x@YG JB=JJJJE&K YTU~?yISA5E{7{7Q9)nBE[[؉@[6V~?[Ĩ[[[[BZYY i) /Iiz@ = S))S@&ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038463.523165 s, next control iter: 1743038463.883178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11962, header.stamp.nsec: 00 temperature: 13.385591* salinity: 33.391476, density: 1025.000000* values[0]: 0.705612F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038463.903165 s.J~,)AJ"J*J2J:J4?BJ4?nJi=5vJAQ]@A"]@AV~? AuA&"AAXiNA"AZAbAjArAzAAAG"r AXrAyw@A<A=Af`A@FڿA 9GASJ*A :?2Aֽ:Ag=BA :?JAֽRAg=٘i)I9w@YG JcC=JJJJE&K YT~?yzSA8E)7ŧ7tS9)rB[[i@[-V~?[<˨[[[[BZYY i) &.IiP}@"= ))@qƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038463.943165 s, next control iter: 1743038464.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038464.323165 s.oJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066509< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038464.323290F (some fields omitted in printout)AGzT]@AGpG]@AV~? A"Ay[&"AALBiNA"AZAbAjArAzAAAl|nA rA w@AA{|=AmAڿAEAœ*AV :?2AD׽:A'<BAV :?JAD׽RA'<٘i)I9 w@YZG JJJJJE&K YT~?ySA D;E7777?U9.B)vBE[[m@[R%V~?[Ѩ[[[[BZYY i) &jIi@R#= Փ))Փh@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038464.343165 s, next control iter: 1743038464.723174 s, wait time: 0.380009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 11963*, header.stamp.nsec: 0*0 temperature: 13.385799** salinity: 33.391464*, density: 1025.000000** values[0]: 0.704668*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038464.743165 s.W J~,y/*AJ"J*J2J:Je4?BJe4?nJ(=5vJAףp=]@Ae2}]@AV~? AƩA<&"AAS,iNA"AZAbAjArAzAAAvLA 0rAv@A7Ag=A\A MٿA3Av*AL :?2A׽:AA<BAL :?JA׽RAA<٘i)I9v@Y G J;JJJJE&K Y YT~?yyURA@E77X9)B[[@[V~?[ި[[[[BZYY iҜ) 費Ii=@&= s[))s[8@⽪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038465.203165 s, next control iter: 1743038465.563180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038465.583165 s.J "J *J 2J :J G4?BJ G4?nJ =5vJ J~,Se*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199272 time: 1743038465.583272F (some fields omitted in printout)A)\]@A |E]@AV~? AԩA|&"AAmiNA"AZAbAjArAzAAAmZAjs;LrAu@ATM)A*=A:'A׿A QAu*A^ :?2AB׽:A<BA^ :?JAB׽RA<٘i)I9u@YwG JʏJJJJE&K YT~?yèQACEŧ7b7Z9.B)BE[[w@[V~?[ [[[[BZYY i) JѻIi@$'= ))rȥ@=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038465.603165 s, next control iter: 1743038465.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11964, header.stamp.nsec: 00 temperature: 13.386022* salinity: 33.391457, density: 1025.000000* values[0]: 0.703783F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038466.003165 s.z J~,U4*AAR+^@A2z^@A}V~? A۩AD&"AAhNA"AZAbAjArAzAAApA.VrA u@Ar%A=A AֿAA*A;:?2Aֽ:A<BA;:?JAֽRA<٘i)I9u@Y/G JJJJJE&K YT~?y˨QAEE7777i\9)B[[5@[JV~?[[[[[BZYY i) sIi@)= w኿))w኿}W@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038466.043165 s, next control iter: 1743038466.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038466.423165 s. u&J~,f*AJ"J*J2J:J4?BJ4?nJ<5vJA{Ga^@AjJ>T^@A>qV~? AA0&"AAGhNA"AZAbAjArAzAAAMHA#X?rAŤt@A<A=ALAֿA AJ*AK:?2Aֽ:AZ=BAK:?JAֽRAZ=٘i)I9t@YG J-JJJJE&K YT~?yӨ?QAHEZ7Z74^90B)BE[[č@[V~?[@[[[[BZYY i) 3IiU@Ū*= s))s@y񺜽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038466.443165 s, next control iter: 1743038466.823173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11965, header.stamp.nsec: 00 temperature: 13.386224* salinity: 33.391438, density: 1025.000000* values[0]: 0.703008F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038466.843165 s.,J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200512 time: 1743038466.843320F (some fields omitted in printout)Ap= ^@A^@AFeV~? AA.&"AAhNA"AZAbAjArAzAAAAsrA+t@AChm<A넉=AnA6(տAA)*A@9?2Aֽ:A{X=BA@9?JAֽRA{X=٘i)I9+t@YG JJJJJE&K YT~?yۨPAKEb77_9/B)BE[[Q@[U~?[[[[[BZYY i) Ii@ v,= o))os@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038466.863165 s, next control iter: 1743038467.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038467.263165 s.4J~,#*AJ"J*J2J:J3?BJ3?nJ<5vJA^@A[*¿^@AYV~? AIAס&"AAhNA"AZAbAjArAzAAAD^v A8IrAs@A D<AB֊=AAKԿA`@3A됼*Aa9?2Aֽ:A=BAa9?JAֽRA=YQ@yӊ=qD<ٓH`nӿ?C3y@ ӿ/EW ??)Q@ I٘i)I9s@YQG J[J:JJJE&Kyx> Y7T~?yDPAMEj7Z7a9)B[[@[}U~?[w[[[[BZYY i) ~&Ii;@o-= 4))4@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038467.283165 s, next control iter: 1743038467.663178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11966., header.stamp.nsec: 0.0 temperature: 13.386415.* salinity: 33.391422., density: 1025.000000.* values[0]: 0.702157.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038467.683165 s.l:J~,c*AA(\_@A#J{^@ANV~? AA&"AAإhNA"AZAbAjArAzAAA. Ao:rA7s@AgO;Aㆌ=Aw8AMkӿA*gAŎ*A9?2A׽:AH=BA9?JA׽RAH=٘i)I97s@YG JJJJJE&K Y̔T~?y(PAPEb77c9)B[[o@[JU~?[ [[[[BZYY i) w6Ii@-= ))@cYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038467.683165 s, next control iter: 1743038468.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038468.103165 s.AJ~,*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: -0.076572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038468.103302F (some fields omitted in printout)AQ8_@AzF+_@A;DV~? AAу&"AA~hNA"AZAbAjArAzAAA An rAr@A#Au=AAҿAA\ *A9?2Aa׽:A=BA9?JAa׽RA=٘i)I9r@YG J獼JJJJE&K Y`T~?yOASE777_e90B)BE[[5@[yU~?[ [[[[BZYY i) EIiʈ@J/= U))U0@?ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038468.123165 s, next control iter: 1743038468.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038468.523165 s.GJ~,{!*AAHzn_@Abg a_@A2:V~? AwA&"AAhNA"AZAbAjArAzAAA]]L AұsAJr@A cAC =AAѿA A*A9?2A3~׽:A.=BA9?JA3~׽RA.=٘i)I9Jr@YvG J@JJJJE&K YT~?y}nOAUE7{7)g9)B[[劐@[ U~?[x[[[[BZYY i) pUIi؉@[q0= {)){଩@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038468.563165 s, next control iter: 1743038468.923178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11967, header.stamp.nsec: 00 temperature: 13.386616* salinity: 33.391430, density: 1025.000000* values[0]: 0.701374F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038468.943165 s.ZdNJ~,J]<*AJ"J*J2J:J3?BJ3?nJF<5vJAq= ף_@Al˖_@A0V~? AA`&"AAwhNA"AZAbAjArAzAAAK3y A}+1sAPq@A2WA͓=A,@AǽпAA*AY9?2AU׽:A=BAY9?JAU׽RA=٘i)I9q@Y-G JƏB=JJJJE&K Y{T~?yOAXEŧ7b7h9)B[[@[U~?[$[[[[BZYY i) ;dIi@2= Uv))Uv:@G˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038468.983165 s, next control iter: 1743038469.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038469.363165 s.UJ~,}>W*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076572< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038469.363312F (some fields omitted in printout)A_@A^_@A'V~? AA*&"AAhhNA"AZAbAjArAzAAAhߺA:U sAkSq@A A h=AA@ϿA 'A\*A9?2Aֽ:AS =BA9?JAֽRAS =Y[@ywg=RٓHwɿ[?AE{ɿ`Ȳ@zsv?)[@ I٘i)I9Sq@YG J敼C=J\<JJJE&K[x> YuT~?yNA[Ej7Z7j9-B)B[[ե@[NU~?[ [[[[BZYY i) tIik@u2= U@r))U@rǪ@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038469.403165 s, next control iter: 1743038469.763176 s, wait time: 0.360011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11968&, header.stamp.nsec: 0&0 temperature: 13.386806&* salinity: 33.391399&, density: 1025.000000&* values[0]: 0.700557&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038469.783165 s.V[J~,r*AJ"J*J2J:JBJnJvJA(\`@A&P`@AV~? A4A8&"AA[hNA"AZAbAjArAzAAAB(A寳zsAp@A>>;A=A/6A@ ͿA GEAࢼ*A9?2Amֽ:A;=BA9?JAmֽRA;=٘i)I9p@YG J&JJJJE&K YDpT~?y&GNA]E77l9)BE[[c3@[U~?['[[[[BZYY i) ;Ii@P 3= m))m^U@ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038469.823165 s, next control iter: 1743038470.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038470.203165 s.cJ~, *AAQE`@A88`@AV~? A%A# &"AANhNA"AZAbAjArAzAAA(YyS&A?+sACp@AT<A0t=AIݿA@̿A@ Y\T~?y9LAտhE77s9)B[[)g@[U~?[B[[[[BZYY i) }ݟIiƎ@D6= 5\))5\$@yRڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038471.503165 s, next control iter: 1743038471.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11970, header.stamp.nsec: 00 temperature: 13.387237* salinity: 33.391384, density: 1025.000000* values[0]: 0.698669F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038471.883165 s.y}J~,<*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038471.883296F (some fields omitted in printout)A(a@AS"a@AU~? AEAC &"AA,$hNA"AZAbAjArAzAAAooA26(sAnn@A0=Au=ADӿA@ĿA>A*A9?2A a׽:Ak=BA9?JA a׽RAk=٘i)I9n@YG JHB=JJJJE&K YYT~?yBBLAkEb7b7u9)B[[.@[U~?[QI[[[[BZYY i) WIi @]47= W))W)@8ުYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038471.923165 s, next control iter: 1743038472.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038472.303165 s.\J~,g*AJ"J*J2J:JBJnJvJAQa@AGDa@AoU~? ALA &"AArhNA"AZAbAjArAzAAA;lױA66-sAwm@AJlA^=A]пA@¿A^AF*Ax9?2AYW׽:A=BAx9?JAYW׽RA=٘i)I9wm@YG JC=JJJJE&K YWT~?yNKKAmE7Jw9)B[[@[U~?[P[[[[BZYY i) ήIi@7= iS))iS@QYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038472.343165 s, next control iter: 1743038472.703179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11971., header.stamp.nsec: 0.0 temperature: 13.570887.* salinity: 33.374973., density: 1025.000000.* values[0]: 0.572902.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038472.723165 s.J~,H.*AAza@A9ߡza@AzU~? ATAx &"AAhNA"AZAbAjArAzAAA ؗA^:1sAl@AAA%٧=AkͿAA A*A9?2A ׽:A7=BA9?JA ׽RA7=٘i)I9l@Y-G JAJJJJE&K Y7TT~?yTmKApEZ7Z7y9)ůBE[[" @[SU~?[V[[[[BZYY i) EIia@8= O))O/@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038472.743165 s, next control iter: 1743038473.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038473.143165 s.U/J~,*I*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038473.143276F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףpa@AKea@A U~? A\Act &"AAZ hNA"AZAbAjArAzAAAHؾ#A J6sA%Jl@Ab)9AK֪=AO˿AAp+A4*A9?2Aֽ͗:A=BA9?JAֽ͗RA=٘i)I9Jl@YG JJJJJE&K YmQT~?y\KAsEŧ7b7z9)ʯB[[3@[U~?[][[[[BZYY i) IiH@[9= eJ))eJ.@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038473.163165 s, next control iter: 1743038473.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038473.563165 s.J~,c d*AA3333a@AME*a@AU~? AdA&"AAhNA"AZAbAjArAzAAAпMSA(;sAk@A#<Ak=AȿAg[A <A^Ƽ*A 9?2A^>ֽ:A =BA 9?JA^>ֽRA =Yߏ@.ȿyi=#<ٓH`!f?@?@_?` `?`>?)ߏ@ I٘i)I9k@YlG J\J}<JJJE&Kw> YQT~?yeJAȿvEj7j7|9)ϯB[[ǿ[U~?[Pd[[[[BZYY i) żIiG@9= _BF))_BF_BFOYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038473.583165 s, next control iter: 1743038473.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11972, header.stamp.nsec: 00 temperature: 13.571167* salinity: 33.374985, density: 1025.000000* values[0]: 0.572199F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038473.983165 s.J~,~*AJ"J*J2J:JBJnJvJA\(b@Ab@AU~? AlA<&"AAchNA"AZAbAjArAzAAAd|A͇x}@sAcj@An<AZ{=A`AƿAAKAR̼*A9?2AS*ֽ:A =BA9?JAS*ֽRA =٘i)I9j@YG JɼJJJJE&K YQT~?yjnJAxE777t~9)ԯB[[wſ[{U~?[k[[[[BZYY i) L̼Iiu@/:= A))AA%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038474.003165 s, next control iter: 1743038474.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038474.403165 s.&J~,͙*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038474.403268F (some fields omitted in printout)AQ^b@AĬQb@AU~? AtA?&"AAgNA"AZAbAjArAzAAAWcAP=cEsAQj@Ad<<A=AÿA˲AXA}ϼ*A9?2Areֽ:AF=BA9?JAreֽRAF=٘i)I9Qj@YG JpμJJJJ E&K YQT~?y6wIA{E77j7?9)ٯBE[[Gÿ[EU~?[q[[[[BZYY i) eӼIiё@O:= O~=))O~=O~=ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038474.423165 s, next control iter: 1743038474.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11973", header.stamp.nsec: 0"0 temperature: 13.571507"* salinity: 33.374981", density: 1025.000000"* values[0]: 0.571400"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038474.823165 s.J~,:*AJ"J*J2J:JBJnJvJAGzb@A6Kob@A{U~? A|Am&"AAgNA"AZAbAjArAzAAA8BA?{SKJsA|i@A: ;AIg=AfA孿AcA3Xϼ*A9?2Aֽ:Aa=BA9?JAֽRAa=٘i)I9i@Y1G JϼJJJJ#E&K YQT~?y0IA~E7{7 9)߯B[[[nU~?[x[[[[BZYY i) PڼIi]@ Y;= c9))c9c91YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038474.843165 s, next control iter: 1743038475.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038475.243165 s.J~,*AAףp=b@A"T3b@AU~? AARf&"AAggNA"AZAbAjArAzAAA#] ARf5OsAh@AA3=A8.Am'A`kAμ*A_9?2AJ(׽:A+=BA_9?JAJ(׽RA+=٘i)I9h@Y G JϼJJJJ%E&K YQT~?y͈HAEŧ7b7ԃ9)B[[-辿[U~?[;[[[[BZYY i) !Ii@G<= 4))44YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038475.283165 s, next control iter: 1743038475.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038475.663165 s.J~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038475.663287F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11974, header.stamp.nsec: 00 temperature: 13.571859* salinity: 33.374977, density: 1025.000000* values[0]: 0.570588F (some fields omitted in printout)Ac@ATVb@AbU~? A A&"AAgNA"AZAbAjArAzAAA4)AwE~!TsAFh@AeAJ=AUAݜA\qAϼ*A 9?2A"D׽:AJ=BA 9?JA"D׽RAJ=YD"@y=fٓHD?`K?'˗?]c?5옶A`6?)D"@ I٘i)I9Fh@Y^ G JμJ<JJJ(E&K\x> YTT~?yBHAE{7{79)BE[[[U~?[[[[[BZYY i) NIi@ <= +a0))+a0+a0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038475.683165 s, next control iter: 1743038476.063175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038476.083165 s.DJ~,R*AA)\5c@AM(c@AU~? AA+&"AAugNA"AZAbAjArAzAAA=UlAYsAg@AWQAZ=AP긿A 0!A elevatorAngleAction: 0.082353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038476.923302F (some fields omitted in printout)A{Gc@A-HAzbsAf@Aո;AG=A*볿A`?AoAoo*A9?2AHֽ:AD<BA9?JAHֽRAD<٘i)I9f@Y G JJJJJ0E&K Y]T~?yȫFAE{79)B[[)[U~?[[[[[ZZBZYY i) 9/żIix@<= D#))D#D#%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038476.963165 s, next control iter: 1743038477.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038477.343165 s.<ՀJ~,U*AJ"J*J2J:J?BJ?nJ5vJAp= c@AH.c@AU~? ALAS&"AAgNA"AZAbAjArAzAAAEHAgsAd5e@ApU<A5̙=AcA(?AkA1*A9?2A+ֽ:Aq<BA9?JA+ֽRAq<٘i)I95e@Y G JJJJJ3E&K Y`T~?y\FAEj7ʌ9)BE[[[U~?[[[[[ZZBZYY i) $Ii@.x== o))ooy =-ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038477.363165 s, next control iter: 1743038477.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11976&, header.stamp.nsec: 0&0 temperature: 13.572554&* salinity: 33.374958&, density: 1025.000000&* values[0]: 0.568824&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038477.763165 s.3ۀJ~,p*AA d@Abc@AU~? AZA&"AA!gNA"AZAbAjArAzAAA童GA7dflsA_Yd@A-Z<A0v=AȮA:p?A eAZ*A9?2AEֽ:Au<BA9?JAEֽRAu YWfT~?y' FAEZ7Z79) B[[˱[U~?[=[[[[ZZBZYY i) ୼Ii@== ))᫪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038477.803165 s, next control iter: 1743038478.163174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743038478.183165 s.J~,o*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038478.183288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\Bd@AdU5d@AU~? AeA&"AAgNA"AZAbAjArAzAAAF&AJUqsAc@A&{;A.1=Ac"A g ?A]]A+,Ӽ*A%9?2Aeֽ:A;BA%9?JAeֽRA;٘i)I9c@Y G J+JJJJ8E&K Y lT~?yũEAE777_9)B[[[U~?[ۭ[[[[ZZBZYY i) Ii@<= ''))''''yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038478.223165 s, next control iter: 1743038478.583177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038478.603165 s.;4J~,*AAQxd@AjGkd@A(U~? AmŪA{&"AAgNA"AZAbAjArAzAAA&8qAԖsvsA{b@AA <A.A`eP?AtSA^B*A!9?2Aeֽ:A&BA!9?JAeֽRA&٘i)I9b@Y G JL¼JJJJ;E&K YqT~?ygΩdEAE{7{7*9-B)BE[[ k[XU~?[s[[[[ZZBZYY i) WIi@|<= ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038478.623165 s, next control iter: 1743038479.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11977 , header.stamp.nsec: 0 0 temperature: 13.572965 * salinity: 33.374958 , density: 1025.000000 * values[0]: 0.567822 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038479.023165 s.ZJ~,{*AJ"J*J2J:JBJnJvJAHzd@AEd@AU~? ArͪA&"AAgNA"AZAbAjArAzAAA܂.wAwE&K YwT~?yשEAE77779.B)BE[[:[(U~?[[[[[ZZBZYY i) Ii@/== e ))e e jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038479.043165 s, next control iter: 1743038479.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038479.443165 s.4J~,1]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082353< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038479.443286F (some fields omitted in printout)Aq= d@Aytd@AU~? AqժAYB&"AAhNA"AZAbAjArAzAAAI\$NA<TsAb@A/yAͻANA?A7A(*A9?2A?ֽ:A|eBA9?JA?ֽRA|e٘i)I9b@Y G JWJJJJ@E&K Yz}T~?yߩDAEb779)B[[ [RU~?[[[[[ZZBZYY i) πIi@==  ))  (YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038479.483165 s, next control iter: 1743038479.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11978, header.stamp.nsec: 00 temperature: 13.573219* salinity: 33.374977, density: 1025.000000* values[0]: 0.567181F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038479.863165 s.+J~,>*AJ"J*J2J:JBJnJvJAe@Aٕ e@AU~? AkݪAW%"AAhNA"AZAbAjArAzAAA) A%>~2sAla@AADAA೪?AP%AA*AN9?2A^ֽ:ABAN9?JA^ֽRAY;@:yB%ٓH`?t?@g?}[^?B? ? ?);@ I٘i)I9a@Yx G J~B=JDJJJCE&K}w> YT~?yDAE7779)B[[_ڦ[U~?[ȩ[[[[ZZBZYY i)m=) ЇoIi@<= ))U)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038479.903165 s, next control iter: 1743038480.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038480.283165 s.2RJ~,*AA(\Oe@AIQBe@AU~? A^A %"AA hNA"AZAbAjArAzAAA6hA3 sAa@AS:AgA>A;?A`#Aۺ*A9?2Azֽ:AFӼBA9?JAzֽRAFӼ٘i)I9a@Yg G JC=JJJJFE&K YT~?yzDAEj7j7U9) BE[[[V~?[Ω[[[[BZYY i셌=) u]Ii9@fr<= 3C))3C3C#6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038480.303165 s, next control iter: 1743038480.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 11979., header.stamp.nsec: 0.0 temperature: 13.573296.* salinity: 33.374985., density: 1025.000000.* values[0]: 0.566920.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038480.703165 s.Ӻ J~,-*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038480.703284F (some fields omitted in printout)J"J*J2J:JBJnJvJAQe@Axe@AU~? AJAo%"AAhNA"AZAbAjArAzAAA K{ALsAa@Av,<A-5AiA?AAC;*A9?2AWֽ:ApBA9?JAWֽRAp漙٘i)I9a@Yi G J(9B=JJJJHE&K Y3T~?yEAE777 9/B)!BE[[w[ V~?[ թ[[[[BZYY i) 7]KIi@><= ))s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038480.743165 s, next control iter: 1743038481.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038481.123165 s.AJ~,G*AAGe@A)$խe@AU~? A-Ax%"AAhNA"AZAbAjArAzAAA B`8gA@>sAa@AGm<AZAƙA@?A]A;*Az9?2ABֽ:AFBAz9?JABֽRAF٘i)I9a@Y| G JQ;C=JJJJKE&K YğT~?yM/EAEꜟ9) B[[3F[V~?[w۩[[[[BZYY i) I9Ii@ G<= ))yg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038481.163165 s, next control iter: 1743038481.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038481.543165 s.IJ~,b*AJ"J*J2J:JBJnJvJA= ףe@Ai7e@AV~? AA;%"AAm$hNA"AZAbAjArAzAAAAXAC}sA| b@A/<AxA83A ?AA *<*A9?2AŹֽ:ABA9?JAŹֽRA٘i)I9 b@Y G J* <JJJJNE&K YWT~?y KEAE79)B[[[V~?[[[[[BZYY i) (3'IiM@<= 2))2澩2$*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038481.583165 s, next control iter: 1743038481.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11980, header.stamp.nsec: 00 temperature: 13.573256* salinity: 33.374981, density: 1025.000000* values[0]: 0.567016F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038481.963165 s.|J~,}*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068615< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038481.963297F (some fields omitted in printout)Affff&f@A[f@A3 V~? AAآ%"AA-hNA"AZAbAjArAzAAAk$)AMAsA-sb@ASI:AoAZA ?A_Ac<*A`9?2A[ֽ:Aa BA`9?JA[ֽRAa Y@ʯyo:ٓHh?z[?@+@ Kw? ?` ? *IR??)@ I٘i)I9sb@Y G JD<JJJJPE&K{w> YT~?yEAEb7791B)B!E[[囿[V~?[2[[[[BZYY i|d=) Ii@;= tݾ))tݾtݾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038482.003165 s, next control iter: 1743038482.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038482.383165 s.J "J *J 2J :J 2?BJ 2?nJ ?5vJ %J~,]*AA(\f@AOf@AFV~? A A %"AAC8hNA"AZAbAjArAzAAAMA4xA|sAb@AgAfA*AC{?A@wA^<*A9?2Aֽ:A4BA9?JAֽRA4٘i)I9b@Y G Jz<JJJJSE&K YҾT~?yFAE7777J9)B[[_[%V~?[[[[[BZYY i) yIi@8;= ƱԾ))ƱԾƱԾ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038482.423165 s, next control iter: 1743038482.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 11981", header.stamp.nsec: 0"0 temperature: 13.573084"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.567400"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038482.803165 s.|A,J~,g*AAf@Af@AV~? ASAis%"AASChNA"AZAbAjArAzAAAPcTA!sAYc@A pAAAJ?AN_AR<*A͢9?2Aս:ABA͢9?JAսRA٘i)I9Yc@Y^ G J<JJJJVE&K YT~?y!^FAEb7b79)B[[[-V~?[[[[[BZYY i) Iiđ@:= ˾))˾˾9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038482.843165 s, next control iter: 1743038483.203177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038483.223165 s.g3J~,H*AJ"J*J2J:JS?BJS?nJb5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038483.223291F (some fields omitted in printout)Azf@Aqf@AV~? AA %"AA&OhNA"AZAbAjArAzAAA=tAs,esAc@A{LAU<AA?A 9A<*A9?2A*ֽ:AaBA9?JA*ֽRAa٘i)I9c@Y G J<JJJJXE&K YLT~?y *FAE77ߥ92B)B$E[[]Q[5V~?[[[[[BZYY i) ѻIi@e:= %þ))%þ%þye=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038483.263165 s, next control iter: 1743038483.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038483.643165 s.y9J~,**AA ףpf@Aմif@A(V~? A#AG%"AA[hNA"AZAbAjArAzAAAlkӐA sAvd@AXyAMAMA?AAr<*Ax9?2Aֽ:A BAx9?JAֽRA ٘i)I9vd@Y G J1<B=JJJJ[E&K YT~?y2GAE7779)B%E[[C[>V~?[3[[[[BZYY ign=) N粻Ii@q:= V]))V]V]3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038483.663165 s, next control iter: 1743038484.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11982, header.stamp.nsec: 00 temperature: 13.572809* salinity: 33.374989, density: 1025.000000* values[0]: 0.568001F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038484.063165 s.@J~,N *AJ"J*J2J:Jh?BJh?nJx5vJA33333g@A &(&g@A1V~? A0+AP%"AAihNA"AZAbAjArAzAAA8?N+ AOsAe@A;AAA?AAe1<*A9?2Aֽ:ArBA9?JAֽRArY"@gyȝ;ٓH5?`h?ﺥSS?@U?@4? $B|??)"@ I٘i)I9e@Yd G J<C=J JJJ^E&K5x> YYT~?y9|GAE{7u9) B[[A[GV~?[S[[[[BZYY i) !Iiʐ@U9= N))NN*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038484.103165 s, next control iter: 1743038484.463174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743038484.483165 s.z_GJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038484.483288F (some fields omitted in printout)A\hg@AYE[g@A.;V~? A2A %"AA:whNA"AZAbAjArAzAAAi? AXҚR?sAe@A> elevatorAngleAction: 0.065152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038485.743282F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= h@A42g@AZV~? AHAm%"AAhNA"AZAbAjArAzAAA(ʢ AosA^5g@A aAA%zAa?A>&A<*A9?2Aeֽ:ABA9?JAeֽRA٘i)I95g@Y G J<C=JJJJiE&K Y%U~?yXIAEj7j79)B[[;$[oV~?[l[[[[BZYY i) 1^Ii(@=7= 6q))6q6q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038485.763165 s, next control iter: 1743038486.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038486.163165 s.t}bJ~,q*AA@h@A2h@AdfV~? APA%"AA hNA"AZAbAjArAzAAAlTkrAd".sAg@AQAcAN|uA:?AAo<*A 9?2A9ֽ:Ak4BA 9?JA9ֽRAk4Yvd@Buyn}lRٓHI\?91?a? >?`'? =?)vd@ I٘i)I9g@Y G J<Jf<JJJkE&Kx> Y5U~?y_tIABuE77j96B)B/E[[E[yV~?[M%[[[[BZYY i) 8Ii@&5= ^))^^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038486.183165 s, next control iter: 1743038486.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038486.583165 s.hJ~,S*AJ"J*J2J:JBJnJvJA)\uh@A3hh@AarV~? A>WAR%"AAhNA"AZAbAjArAzAAAgYUAzgsAFh@AVlAωAKpA@Q?A'Ad<*A9?2ANֽ:AVBA9?JANֽRAV٘i)I9Fh@Y] G J<JJJJnE&K YFU~?yfIAEj7SI759)B[[[ׄV~?[#+[[[[BZYY i) 8:IiC@4= |y))|y|yӻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038486.603165 s, next control iter: 1743038486.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11985, header.stamp.nsec: 00 temperature: 13.571880* salinity: 33.375004, density: 1025.000000* values[0]: 0.570069F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038487.003165 s.| pJ~,]4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065152< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743038487.003290F (some fields omitted in printout)ARh@A9zh@A~V~? AU^Al%"AAdhNA"AZAbAjArAzAAAqkvAJձsA~h@A A<AjA@`?A ~A<*A19?2Aֽ:A0,BA19?JAֽRA0,٘i)I9h@Y G JP<JJJJqE&K YPVU~?y n1JAE7797B)B2E[[ʼn[{?;Ii@U3= @^V))@^V@^VG*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038487.443165 s, next control iter: 1743038487.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11986, header.stamp.nsec: 00 temperature: 13.571571* salinity: 33.375019, density: 1025.000000* values[0]: 0.570727F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038487.843165 s.|J~,*AAp= i@AZ i@A#V~? AFlAr%"AAiNA"AZAbAjArAzAAAT` AiesAi@Ay#;<AiA7`A@?A`AuÆ<*A9?2AA1׽:A3BA9?JAA1׽RA3JI٘i)I9i@Y?G J<JJJJvE&K YvU~?y|JAEZ7SI79)B6E[[3:z[V~?[Z<[[[[BZYY i7=) ):};Ii΋@42= `D))`D`D*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038487.863165 s, next control iter: 1743038488.243177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038488.263165 s.J~,0*AJ"J*J2J:J.?BJ.?nJH5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038488.263305F (some fields omitted in printout)ALi@A?i@AV~? AsA.%"AAiNA"AZAbAjArAzAAAf{g*ҨAI6=sA'j@A[r<A\AZA`g?AAĭ<*A49?2A1׽:AkMBA49?JA1׽RAkMY@1[yWXzNs<ٓH`E?K&?r`d?? :H?Y?@?)@ I٘i)I9'j@YG J<B=J-A<JJJyE&K*x> YSU~?y1EKA1[Eb77`9)B[[Ou[]V~?[A[[[[BZYY i) H ;Ii@g1= 3))33*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038488.303165 s, next control iter: 1743038488.663181 s, wait time: 0.360016 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 119872, header.stamp.nsec: 020 temperature: 13.5713022* salinity: 33.3750342, density: 1025.0000002* values[0]: 0.5713142F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038488.683165 s.lJ~,c+*AA(\i@ADui@ADV~? AyA%"AAe,iNA"AZAbAjArAzAAA#f4?NA&psAWj@A*<A+ACUA3?A l}A(c<*A{9?2Aֽ:ABA{9?JAֽRA𼙘٘i)I9j@YG J<C=JJJJ{E&K Y֛U~?y؉KAE777*99B)B9E[[eq[ V~?[~G[[[[BZYY i) w;Ii@=0= T!))T!T!7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038488.683165 s, next control iter: 1743038489.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038489.103165 s.J~,F*AJ"J*J2J:JS?BJS?nJn5vJAQi@ANGi@AV~? AA '%"AAYBiNA"AZAbAjArAzAAA<,AY=\sAk@A:AAPA` ?A 8A<*A9?2Aáֽ:A*3BA9?JAáֽRA*3٘i)I9k@YG J<JJJJ~E&K Y[U~?yKAE{7Z79:B)B:E[[l[V~?[L[[[[BZYY i) ;Ii@/= ))y t=K*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038489.123165 s, next control iter: 1743038489.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038489.523165 s.J~,{a*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038489.523296F (some fields omitted in printout)AHzi@A' i@A%V~? AAɥ%"AAXiNA"AZAbAjArAzAAAhlUIA>lsAok@AݲAtPAܺKAI?A A͆<*A9?2ARYֽ:ABA9?JARYֽRA٘i)I9ok@YJG JS<JJJJE&K YU~?y(LLAE779;B)߯B=E[[h[lV~?[lR[[[[BZYY i) @T;Ii@1.= ))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038489.563165 s, next control iter: 1743038489.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11988, header.stamp.nsec: 00 temperature: 13.571032* salinity: 33.375031, density: 1025.000000* values[0]: 0.571866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038489.943165 s.[dJ~,O]|*AJ"J*J2J:Je?BJe?nJ5vJAq= #j@ASj@AV~? AA_&%"AA5piNA"AZAbAjArAzAAA1A >JsAk@AqAeۅAEFA`n?A =A<*A9?2AGֽ:A~BA9?JAGֽRA~٘i)I9k@YG J<JJJJE&K YdU~?yϝLAE77{7Ÿ9*AAYj@A%Lj@AV~? AA%"AAiNA"AZAbAjArAzAAA%vA޵⪛sAUl@A׳FAAWAALB?A ]A<*A!9?2Ahyֽ:A BA!9?JAhyֽRA Ye@#Ay.a#GٓHD?? fG.L?.? ?Sֈ`y?)e@ I٘i)I9Ul@YG J<JGĻJJJE&K2x> YU~?yףLA#AEŧ7b7Uğ9)ٯB[[W_[V~?[][[[[BZYY i) kr elevatorAngleAction: 0.073981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743038490.783321F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\j@A2Pj@AW~? A7A[-%"AAiNA"AZAbAjArAzAAA_<1Aw?A@mA<*A9?2AE׽:ABA9?JAE׽RA٘i)I9m@YG JK<B=JJJJE&K Y%V~?yNAE{7ɟ9>B)ѯBGE[[;;R["W~?[l[[[[BZYY i^=) ],L elevatorAngleAction: 0.083188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038492.043278F (some fields omitted in printout)A= ף0k@AW#k@A6W~? A`AM%"AAiNA"AZAbAjArAzAAA}!AztA n@AXZ<AA ,A`?ATA֗<*A9?2A׽:A?BA9?JA׽RA?٘i)I9 n@YG Jԉ<C=JJJJE&K YR:V~?yjNAEb77˟9?B)ίBJE[[M[2W~?[q[[[[BZYY i) [ YPV~?yRNA'Eŧ7b7K͟9@B)˯BME[[II[jAW~?[lv[[[[BZYY i) k elevatorAngleAction: 0.083188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743038493.303315F (some fields omitted in printout)Ak@Aw*k@AmW~? AAt%"AA@jNA"AZAbAjArAzAAATdQ?A  tA֙o@AuYANAA`?AA|<*A԰9?2A(ֽ:AgBA԰9?JA(ֽRAg٘i)I9o@YG Jo<JJJJE&K Y}V~?y̪OAE77П9)įBPE[[P@[AaW~?[[[[[BZYY i) <Ƅg?A }߿A<*A9?2AM;ֽ:AwBA9?JAM;ֽRAw٘i)I9#p@Y'G JH<JJJJE&K YV~?y]ѪOAE77{7ҟ9BB)BUE[[;[qW~?[[[[[BZYY i) Kh elevatorAngleAction: 0.083188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038494.563292F (some fields omitted in printout)A3333sl@Ad,fl@AGW~? AͫA7%"AA!jNA"AZAbAjArAzAAAk~?A#ȅtA?q@A=,;A顽A A@v?A@޿A!?<*A~9?2A.ֽ:ABA~9?JA.ֽRAY YV~?yR۪PA Eb77@֟9CB)BXE[[2[=W~?[Ӎ[[[[BZYY i) z[[[[BZYY i) j elevatorAngleAction: 0.083188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038495.823311F (some fields omitted in printout)AGzm@Aipm@AW~? AܫA%"AAgjNA"AZAbAjArAzAAAl?A1 tAr@Ab!<A)AaA\?AۿA7<*A 9?2A|ֽ:ABA 9?JA|ֽRA٘i)I9r@YG J<B=JJJJE&K Y W~?y# RAEb7ŧ7۟9)B[[3%[W~?[ؚ[[[[BZYY i) Zű))pp>pp>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038495.843165 s, next control iter: 1743038496.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038496.243165 s.J~,`*AAףp=Jm@A.;1=m@AW~? A:A.%"AA#kNA"AZAbAjArAzAAA8?Ab#tAԖs@A /AgA?gA`F0?A]ڿA`<*AI9?2Amֽ:ABAI9?JAmֽRA٘i)I9s@YAG JL<C=JJJJE&K Y"W~?ywRAE77kݟ9)BaE[[g [W~?[[[[[BZYY i) x3))б!>б!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038496.263165 s, next control iter: 1743038496.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038496.663165 s. J~,q**AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11995, header.stamp.nsec: 00 temperature: 13.568754* salinity: 33.375092, density: 1025.000000* values[0]: 0.576517F (some fields omitted in printout)Am@A&rm@A6X~? AAWW%"AAS4kNA"AZAbAjArAzAAAmB"?AՒ&tA Y,))`3>`3>**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038496.683165 s, next control iter: 1743038497.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038497.083165 s.DJ~,SE*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083188< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743038497.083264F (some fields omitted in printout)A)\µm@AYکm@A%X~? A@A%"AATkNA"AZAbAjArAzAAAs^@Ap=I)tA0t@ApqA/A3ܾAn?AjٿA<*A9?2A'ֽ:A'"BA9?JA'ֽRA'"٘i)I9t@YG J`<C=JJJJE&K YUW~?ya`SA Eb779GB)BhE[[[W~?[[[[[BZYY i) ))pE>pE>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038497.103165 s, next control iter: 1743038497.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038497.503165 s.J~,]4`*AJ"J*J2J:JBJnJvJARm@Aym@A;X~? AA%"AA vkNA"AZAbAjArAzAAAO@A*+tAu@AK?AɯA(ѾA u?AڛؿA<*AU9?2A]Bֽ:ABAU9?JA]BֽRA٘i)I9u@YyG J<JJJJE&K YnW~?y3SAE779)B[[o[tX~?[檪[[[[BZYY i) ))IX>IX>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038497.543165 s, next control iter: 1743038497.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11996, header.stamp.nsec: 00 temperature: 13.568327* salinity: 33.375111, density: 1025.000000* values[0]: 0.577397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038497.923165 s.<J~,{*AA{G!n@A[<n@A&RX~? AAV%"AAkNA"AZAbAjArAzAAAkdd@ADEyu.tAEv@AVZ A%AƾA7?A "׿A-<*AЎ9?2Aֽ:ABAЎ9?JAֽRA٘i)I9Ev@YG J<JJJJE&K YhW~?yJTAE77j79)BkE[[Ce[$X~?[[[[[BZYY iļ=) F))`j>`j> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038497.963165 s, next control iter: 1743038498.323181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038498.343165 s.<%J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092172< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038498.343287F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= Wn@AΩdJn@AhX~? AA%"AAxkNA"AZAbAjArAzAAA'C@A~0tAsv@A<AA黾A@t?AֿAq<*A[9?2A ׽:A$BA[9?JA ׽RA$٘i)I9v@YLG J$<B=JJJJE&K YӡW~?yTAE{777`9HB)BnE[[g [8X~?[a[[[[BZYY i) ))}>}>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038498.363165 s, next control iter: 1743038498.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 11997&, header.stamp.nsec: 0&0 temperature: 13.567884&* salinity: 33.375118&, density: 1025.000000&* values[0]: 0.578287&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038498.763165 s.6+J~,ذ*AǍn@A{n@AxX~? AAm%"AAkNA"AZAbAjArAzAAAlS|ҭ @A'TrG3tA7w@AP)j<AzA68Av?A ֿA<*Ah9?2A &׽:ABAh9?JA &׽RAY@ڱyvu k<ٓH@??Qտ\?YZ?@'?D?m?)@ I٘i)I9w@YG J<C=JnJJJE&K6x> YYW~?y6UAڱE7+9)BqE[[6[KX~?[ﵪ[[[[BZYY i) *))(>(>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038498.783165 s, next control iter: 1743038499.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038499.183165 s.2J~,c*AJ"J*J2J:J&?BJ&?nJY5vJA(\n@A&†n@AX~? AZAo%"AAkNA"AZAbAjArAzAAA(o΍J @Ae5tADx@AvaU<ASAݦAU?A>տAkv<*A9?2Aֽ:ABA9?JAֽRA٘i)I9Dx@YG J<JJJJE&K YW~?yUAEj7Z79)BtE[[[R_X~?[e[[[[ZZZZ¸>BZYY i¸>,䨽) ))>>y=J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038499.203165 s, next control iter: 1743038499.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038499.603165 s.849J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082466< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038499.603308F (some fields omitted in printout)AQn@AEn@AɭX~? AAz'%"AA!lNA"AZAbAjArAzAAA@AiY:7tA~x@Ay;AZA/ԜAJ?A@dԿA<*A{9?2AYֽ:A aBA{9?JAYֽRA a٘i)I9x@YG J<JJJJE&K YbW~?y $VAEZ7SI79IB)BwE[[[lsX~?[ļ[[[[ZZZZBZYY i) a))">">y=g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038499.623165 s, next control iter: 1743038500.003176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 11998 , header.stamp.nsec: 0 0 temperature: 13.567468 * salinity: 33.375134 , density: 1025.000000 * values[0]: 0.579151 F (some fields omitted in printout)bW~?)  rAdjusting time to match Gazebo time: 1743038500.023165 s.Z@J~,| *AJ"J*J2J:JC?BJC?nJv5vJAHz.o@A!o@AHX~? A`A%"AAElNA"AZAbAjArAzAAA}0{\@A9tA$y@AsAFA撾A@gL?A`ӿA=*An9?2A&ֽ:A[BAn9?JA&ֽRA[٘i)I9y@YG JE<JJJJE&K Y X~?y VAE77779){B[[U[ӇX~?[ [[[[ZZZZBZYY i) ))am>am>y追[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038500.043165 s, next control iter: 1743038500.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038500.443165 s.CFJ~,p] *AAq= co@A!%Vo@AX~? AA%"AAhlNA"AZAbAjArAzAAA+{@AY;tAz@AcZA?AɈA`|?AmҿA}=*A9?2Aֽ:ASüBA9?JAֽRASü٘i)I9z@YG J=JJJJE&K Yo&X~?yWA!Eb77V9)tBzE[[\[X~?[5ê[[[[ZZZZBZYY i) ʹ))¬>¬>yD*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038500.483165 s, next control iter: 1743038500.843187 s, wait time: 0.360022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 11999, header.stamp.nsec: 00 temperature: 13.567005* salinity: 33.375156, density: 1025.000000* values[0]: 0.580112F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038500.863165 s.+MJ~,>7 *AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082466< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038500.863329F (some fields omitted in printout)Ao@A&o@AX~? A Ab%"AAьlNA"AZAbAjArAzAAAe@A9Y=tA>p{@A~^AxA|Ap?AѿA[<*A9?2A#ֽ:AU~BA9?JA#ֽRAU~Y-@{y=x^ٓH@?(E?Is Ͽ`???Ћ!?)-@ I٘i)I9p{@YG J=J|=JJJE&K)w> YAX~?yfWA{$E77j7 9KB)oB~E[[ܾ[1X~?[=ƪ[[[[ZZZZBZYY i) ))Ҁ!>!>ī*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038500.903165 s, next control iter: 1743038501.263182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038501.283165 s.1RTJ~,R *AA(\o@Av?To@A Y~? AA &%"AA3lNA"AZAbAjArAzAAAw_@Au?tA4|@A`ѻAs4A~gA?AпA<*A9?2AFֽ:ABA9?JAFֽRA⻙٘i)I94|@YG J%<JJJJE&K YC]X~?yWA&Eŧ7b79)jBE[[Ҿ[3X~?[+ɪ[[[[ZZZZBZYY i) M=)) W>W>Hz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038501.303165 s, next control iter: 1743038501.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12000., header.stamp.nsec: 0.0 temperature: 13.566485.* salinity: 33.375175., density: 1025.000000.* values[0]: 0.581203.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038501.703165 s.ݺZJ~,.m *AJ"J*J2J:J?BJ?nJ5vJAQp@APo@AS%Y~? AA %"AAlNA"AZAbAjArAzAAA&4B@AlQRAtA!|@A ;AoۼA+RA?ANпA><*Aĸ9?2Adս:A~4:BAĸ9?JAdսRA~4:٘i)I9|@YG J<JJJJE&K YxX~?y? XA)E{7{79)eBE[[gɾ[X~?[˪[[[[ZZZZBZYY i) )) > >7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038501.723165 s, next control iter: 1743038502.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038502.123165 s.;aJ~,m *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082466< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038502.123301F (some fields omitted in printout)AG:p@Ak^-p@A=Y~? APA%"AAlNA"AZAbAjArAzAAAWq:n@AgdBtAU}@A[<AR$A<>A1?A+HοAy<*A9?2A^^ս:A(<BA9?JA^^սRA(<٘i)I9U}@Y0G J<JJJJE&K YX~?ydaXA,Eŧ7b79LB)aBE[[[X~?[Ϊ[[[[ZZZZBZYY i) ))%>%>l)YWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038502.143165 s, next control iter: 1743038502.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038502.543165 s.IhJ~,â *AJ"J*J2J:JBJnJvJA= ףpp@Ascp@AVY~? AA%"AA$ mNA"AZAbAjArAzAAAk0=@A "\DtA5}@A}<AH;A)A oX?A*̿A(<*A9?2AEmս:A݂<BA9?JAEmսRA݂<٘i)I9}@YgG JW<JJJJE&K Y|X~?yXA/E777K9)^B[[i[Y~?[SѪ[[[[ZZZZBZYY i) (x@< M>))M>M>YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743038502.563165 s, next control iter: 1743038502.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12001, header.stamp.nsec: 00 temperature: 13.566092* salinity: 33.375172, density: 1025.000000* values[0]: 0.581988F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038502.963165 s.znJ~, *AAffffp@AR( _p@AXoY~? A9AS%"AAEmNA"AZAbAjArAzAAA}j@AKEtA}@AC<A5<AiA`|?AvʿA1;*A9?2A ս:AX<BA9?JA սRAXJJJE&KLu> YX~?yXA1E{7{79)\BE[[[Y~?[Ӫ[[[[ZZZZBZYY ib p) Yf))$~>>ZܩYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038502.983165 s, next control iter: 1743038503.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038503.383165 s.J uJ~"J*J2J,+ *A:J ?BJ ?nJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.248188@ elevatorAngleAction: -0.058607< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743038503.383265F (some fields omitted in printout)A(p@Ap@AVY~? ArA&%"AAhkmNA"AZAbAjArAzAAA* a@APGtA~@AicA=AAǞ?A`ȿA:*A9?2Aֽ:Ap<BA9?JAֽRAp<٘i)I9~@YG JA;C=JJJJE&K YX~?y}XA4E7779)E[[ե[2Y~?[#֪[[[[BZYY iO) T)) y>y>P7YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038503.403165 s, next control iter: 1743038503.783177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12002", header.stamp.nsec: 0"0 temperature: 13.565851"* salinity: 33.375187", density: 1025.000000"* values[0]: 0.582400"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038503.803165 s.uA|J~,sg *AAq@Arq@AzY~? AA%"AAdmNA"AZAbAjArAzAAA@A1WϑHtAi~@A0A3=Ay.ֽA?AƿA2 ?*A9?2A.ս:A<BA9?JA.սRA<II٘i)I9~@YG JyJJJJE&K YY~?y_bXA D7E7ŧ79)E[[[8IY~?[`ت[[[[BZYY i) irB))>>pvYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038503.843165 s, next control iter: 1743038504.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038504.223165 s.gJ~,H *AJ"J*J2J:JBJnJvJAzGq@A :q@AY~? AhA%"AAmNA"AZAbAjArAzAAAr@AúItA}@A9rAVX=AA`%?A %ſA2ٻ*A>9?2A}qս:A<BA>9?JA}qսRA<٘i)I9}@YG J|JJJJE&K YY~?yGXA9Eŧ77v9)]BE[[ [_Y~?[ڪ[[[[BZYY i) T0 YWY~?yS!WAi8?E77 9)aBE[[z[yY~?[Uު[[[[BZYY iKf) Z~? A+$As%"AA?+nNA"AZAbAjArAzAAAg@AUjĢLtAY|@A<A=AϼA |#?ARAdኼ*A9?2A9:ս:AUr=BA9?JA9:սRAUr=٘i)I9|@YG Je{JJJJE&K YsY~?y!tWAAE779)dBE[[g[xY~?[[[[[BZYY i) k3;Ii%$@< ^%?)) ^%?^%?|ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038505.523165 s, next control iter: 1743038505.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12004, header.stamp.nsec: 00 temperature: 13.565765* salinity: 33.375210, density: 1025.000000* values[0]: 0.582191F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038505.903165 s.ȝJ~,y *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056355< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743038505.903301F (some fields omitted in printout)J"J*J2J:JBJnJvJAQr@AŠSr@A Z~? Ao%AwY%"AARnNA"AZAbAjArAzAAAaMj @A< hMtA}p|@Au<AM6=AKA&9?A@OA*A9?2Aӽ:A=BA9?JAӽRA=٘i)I9p|@YG JٕJJJJE&K Y5Y~?y"WADEŧ779)hBE[[c`T[Y~?[[[[[BZYY i) L;Iiz @8i< ?))??ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038505.943165 s, next control iter: 1743038506.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038506.323165 s.yJ~,2 *AAGzTr@AKToGr@A:Z~? A&AB%"AAynNA"AZAbAjArAzAAAS!@A NtA {@A EP<A=AP'f<A@J?A`4ڷAO/*AR9?2AtDԽ:A=BAR9?JAtDԽRA=٘i)I9{@YOG J5JJJJE&K YmY~?y"VAGEb7k9)mB[[k@[4Y~?[[[[[BZYY i) ;Ii5@w:< ?))??ygRժY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038506.343165 s, next control iter: 1743038506.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12005*, header.stamp.nsec: 0*0 temperature: 13.565861** salinity: 33.375221*, density: 1025.000000** values[0]: 0.581690*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038506.743165 s.WJ~,` *AJ"J*J2J:JBJnJvJAףp=r@A 2}r@ATZ~? A'A-%"AA6nNA"AZAbAjArAzAAAfF!@AGNtAQ{@AEz;AR=A=AX?AkAί*AN9?2AԽ:A>k =BAN9?JAԽRA>k =٘i)I9Q{@YG JJJJJE&K YY~?y"aVAIE776 9)qBE[[t-[Y~?[u[[[[BZYY i:) ;IiX@< ڲ?))ڲ?ڲ?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038506.763165 s, next control iter: 1743038507.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038507.163165 s.w}J~,q *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065709< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038507.163292F (some fields omitted in printout)Ar@AUr@ArnZ~? AH(A%"AAknNA"AZAbAjArAzAAA'UU@"@A%OtA?z@AA9י=Ad=Ae?ARAe*A9?2Aܳս:A-V=BA9?JAܳսRA-V=Y8@b=y=֙=IٓHc?``?>???&6`,|?)8@ I٘i)I9z@YG JJJ<JJJE&Kt> YY~?yl"UAb=LE{7{7 9KB)vBE[[)[kZ~?[[[[[BZYY i) 濂;Ii@F< r"?))xr"?r"?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038507.183165 s, next control iter: 1743038507.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038507.583165 s.渂J~, S *AJ"J*J2J:J?BJ?nJ5vJA)\r@A$'r@AfZ~? A(A%"AAnNA"AZAbAjArAzAAA&~"@AHOtA,z@AniA%=A+=Ado?AAM*A-9?2A)ֽ:AH=BA-9?JA)ֽRAH=٘i)I9,z@YCG JAJJJJE&K YZ~?y!UAOEj7 9)zBE[[[.Z~?[[[[[BZYY i) X-I;Ii@W< a'?)) a'?a'?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038507.603165 s, next control iter: 1743038507.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12006, header.stamp.nsec: 00 temperature: 13.566012* salinity: 33.375259, density: 1025.000000* values[0]: 0.581114F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038508.003165 s.y J~,P4 *AAR+s@Af.pys@AdZ~? A])A%"AAoNA"AZAbAjArAzAAAy~M{#@A`rOtA\y@A&eAy=A=Ax?A*A*A9?2AԽ:At<BA9?JAԽRAt<٘i)I9y@YG JJJJJE&K Y9Z~?ys!+UAQE779)~BE[[F[,2Z~?[[[[[BZYY i) u ;Ii @d< G,?))G,?G,?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038508.023165 s, next control iter: 1743038508.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038508.423165 s.uƂJ~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065709< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743038508.423315F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gas@A;Ts@AjZ~? A)A%"AA~=oNA"AZAbAjArAzAAA)2$@A|8,wOtAFy@AѻA==A3=A}?A]A.Ԧ*A:?2AԽ:A<BA:?JAԽRA<٘i)I9y@YG JǦJJJJE&K Yi9Z~?y TATEj7j7a9)BE[[۾[_JZ~?[c[[[[BZYY i) `:Iij @,< `41?))`41?`41?yԍʪY%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038508.443165 s, next control iter: 1743038508.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12007, header.stamp.nsec: 00 temperature: 13.566148* salinity: 33.375267, density: 1025.000000* values[0]: 0.580518F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038508.843165 s.̂J~,5 *AAp= s@As@AtZ~? A)A,%"AAdoNA"AZAbAjArAzAAA.3$@AfPtAx@A;A~=A\ >A`?A? tAl*A:?2A!Խ:AB=BA:?JA!ԽRAB=٘i)I9x@YCG JB=JJJJE&K YUZ~?yz ]TAWE)7b7+9)BE[[0[bZ~?[[[[[BZYY i) h9Iir@_< )6?)))6?)6?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038508.883165 s, next control iter: 1743038509.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038509.263165 s.ԂJ~,#P *AJ"J*J2J:J?BJ?nJ5vJAs@A)\¿s@AZ~? A)A%"AAjoNA"AZAbAjArAzAAA"tT%@A=uiPtAw@AxV<A\=Ab>A ?A-?Ap*Ad:?2A*Խ:A`=BAd:?JA*ԽRA`=Y:@Ln>yY=V<ٓH^? Cÿo?@? _?a`DZΊ??):@ I٘i)I9w@YG J*C=JZJJJE&Kt> YqZ~?ySAn>YE779JB)BE[[_[zZ~?[[[[[BZYY i) q%Ii@Ab< ;?))w;?;?-ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038509.283165 s, next control iter: 1743038509.663176 s, wait time: 0.380011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 120082, header.stamp.nsec: 020 temperature: 13.5662932* salinity: 33.3752592, density: 1025.0000002* values[0]: 0.5799792F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038509.683165 s.lڂJ~,Zk *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241268@ elevatorAngleAction: -0.065709< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199442 time: 1743038509.683276F (some fields omitted in printout)A(\t@A<s@A [~? A)A%"AAoNA"AZAbAjArAzAAAoP0%@A TtOtApw@AHq<A=AN<3>A^}?A?A7?*An:?2AIս:AZ=BAn:?JAIսRAZ=٘i)I9pw@YG JۤJJJJE&K YiZ~?ySA\E{7Z79QB)B[[l[MZ~?[[[[[BZYY i) &ͺIi?< @?))9@?@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038509.683165 s, next control iter: 1743038510.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038510.103165 s.J~, *AJ"J*J2J:JBJnJvJAQ8t@AnE+t@A$[~? A>)A%"AAXoNA"AZAbAjArAzAAA&@AG ,OtAOv@AE <A4=AH>Az?Aa?A`*A :?2A1Խ:A<BA :?JA1ԽRA<٘i)I9v@YGG JHJJJJE&K YPZ~?ya>SA_Eŧ7b79PB)BE[[[[Z~?[ [[[[BZYY i) J$Ii??"< D?)) D?D?`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038510.143165 s, next control iter: 1743038510.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038510.523165 s.J~,{ *AAHznt@A΍ at@A>[~? A(A %"AApNA"AZAbAjArAzAAAŏeR.'@AjOtAKkv@A A=Aw\>As?Aʫ?AS*A#:?2AԽ:A<BA#:?JAԽRA<٘i)I9kv@YG J.JJJJE&K Y9Z~?yRAaE{7{7V9)BE[[Dp;[Z~?[[[[[BZYY i) # bIiU?p< J?))J?J?%Y庅YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038510.543165 s, next control iter: 1743038510.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12009, header.stamp.nsec: 00 temperature: 13.566415* salinity: 33.375286, density: 1025.000000* values[0]: 0.579417F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038510.943165 s.YdJ~,F] *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065709< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743038510.943338F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ףt@A@̖t@AX[~? A(At%"AA,*pNA"AZAbAjArAzAAA@'@A\OtAQu@A?Aw=Ar>Ai?A`Ϥ?A䊼*Aa#:?2A+Vս:AY<BAa#:?JA+VսRAY<٘i)I9u@YG JӎJJJJ E&K Y Z~?yRAdE77!9OB)BE[[<[Z~?[[[[[BZYY i) f͏Ii@?d< P O?))P O?P O?귪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038510.983165 s, next control iter: 1743038511.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038511.363165 s.J~,> *AAt@Alt@Awr[~? A8'A %"AAQpNA"AZAbAjArAzAAADh(@AmBr~NtAwu@A`twAs=A7>A p]?Ag?A ܆*A?":?2Aս:A<BA?":?JAսRAy2o=wٓH?`Aп` ?:*?Q?O?@򊰿 ? ?)`= I٘i)I9u@YkG JJ<JJJ E&KDt> YvZ~?yk&RA>gE7779)BE[[/=[.Z~?[[[[[BZYY i)  Ii?<  T?)) v T? T?{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038511.403165 s, next control iter: 1743038511.763178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12010&, header.stamp.nsec: 0&0 temperature: 13.566529&* salinity: 33.375286&, density: 1025.000000&* values[0]: 0.578939&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038511.783165 s.VJ~, *AJ"J*J2J:J5?BJ5?nJh5vJA(\u@A4Ou@AT[~? A9&A1%"AAxpNA"AZAbAjArAzAAAvJ)@A^/MtAu@A? -AX؃=Aƍ>A{N?A9%?A*A :?2Aս:A<BA :?JAսRA<٘i)I9u@Y&G JmJJJJE&K Y[~?y0QAjE{79NB)BùE[[j=[[~?[S[[[[BZYY i) A>?A?Av*A47:?2AXӽ:A!<BA47:?JAXӽRA!<٘i)I9t@YG J/JJJJE&K Y!3[~?ytQAlEb77!9)BƹE[[J=['[~?[[[[[BZYY i) IiG?< $$^?)) $$^?$$^?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038512.243165 s, next control iter: 1743038512.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038512.623165 s.] J~,v' *AJ"J*J2J:JBJnJvJAGzu@Amu@Aٿ[~? A#A^%"AApNA"AZAbAjArAzAAA38>*@AJ_LtA-t@A <A+=AS>A@+?AL?Aw*A4:?2Aӽ:AGI=BA4:?JAӽRAGI=٘i)I9-t@YG JJJJJE&K YwN[~?yQAoEŧ7b7L#9)B[[}=[A[~?[ [[[[BZYY i) IiJ?< ?c?))?c??c?yRY3,YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038512.663165 s, next control iter: 1743038513.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12011 , header.stamp.nsec: 0 0 temperature: 13.566609 * salinity: 33.375309 , density: 1025.000000 * values[0]: 0.578500 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038513.043165 s.J~,B *AA= ףu@AIG9u@A{[~? AD"Ay%"AApNA"AZAbAjArAzAAA-*@AhF"xKtAܸs@Aÿu<A=Ad>A?A?Al*A.:?2AFԽ:A=BA.:?JAFԽRA=٘i)I9s@YVG JGJJJJE&K Yi[~?yPArE77%9KB)BȹE[[=[HZ[~?[&[[[[BZYY i) >.Ii&?a;w< bh?))bh?bh?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038513.083165 s, next control iter: 1743038513.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038513.463165 s.^J~, ] *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: -0.077021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038513.463291F (some fields omitted in printout)Affffu@A^u@A[~? A A%"AAqNA"AZAbAjArAzAAA)|t+@AOyJtApCs@AI<A=AK׵>A4?A?AH*A%(:?2AԽ:A=BA%(:?JAԽRA=Y$ >C>y=rJ<ٓH=?@ֿ!?FA?`*??7 ?? ?)$ > I٘i)I9Cs@YG JJ;JJJE&Ks> YI[~?yn fPAC>tEŧ77&9)B˹E[[e>['s[~?[[[[[BZYY i) =%Ii? k< wm?))/uwm?wm?hYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038513.483165 s, next control iter: 1743038513.863184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12012, header.stamp.nsec: 00 temperature: 13.566715* salinity: 33.375351, density: 1025.000000* values[0]: 0.578048F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038513.883165 s.yJ~,4x *AA(v@A(>v@Ap \~? AAH%"AAI;qNA"AZAbAjArAzAAAY&,@Amq{aItAHr@A'R;AP=Ab>A?A?Aڊ*Ao!:?2Aս:A=BAo!:?JAսRA=٘i)I9r@YG JJJJJE&K Yž[~?y\ PAwE7{7(9JB)BιE[[&>[([~?[[[[[BZYY i) @5Ii?f_< r?))r?r?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038513.903165 s, next control iter: 1743038514.283176 s, wait time: 0.380011 s.ž[~?).\ rAdjusting time to match Gazebo time: 1743038514.303165 s.T$J~,og *AJ"J*J2J:JBJnJvJAQv@A"8.Dv@A%\~? AA%"AAaqNA"AZAbAjArAzAAAI۷ ,@AtU0HtAYr@A Aw=A!>A ?A ?Av*AK8:?2AjԽ:A_=BAK8:?JAjԽRA_=٘i)I9Yr@YG JB=JJJJE&K Y?[~?yJOAzE7777v*9IB)BѹE[[]:>[J[~?[[[[[BZYY i) /DIi?jU< 2w?)) 2w?2w?êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038514.323165 s, next control iter: 1743038514.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12013*, header.stamp.nsec: 0*0 temperature: 13.566793** salinity: 33.375328*, density: 1025.000000** values[0]: 0.577590*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038514.723165 s.+J~,H *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038514.723300F (some fields omitted in printout)Azv@Azv@A>\~? AA_%"AAqNA"AZAbAjArAzAAAB~@-@A"㔛FtAq@A8kA =A[w>A ?A`?AZk*A+4:?2AԽ:Ar=BA+4:?JAԽRAr=٘i)I9q@Y9G JC=JJJJ"E&K Y[~?y9SOA|E{7A,9)BԹE[[O>[~[~?[[[[[BZYY i) mRTIi ?aL< ||?))||?||?ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038514.763165 s, next control iter: 1743038515.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038515.143165 s.W/2J~, * *AJ"J*J2J:JBJnJvJA ףpv@A.ev@AW\~? AA/%"AA qNA"AZAbAjArAzAAA}op-@AܶEtAPmq@A ^AP=A.>A?A@+P?A;*A?.:?2A4ս:AQ =BA?.:?JA4սRAQ =٘i)I9mq@YG JJJJJ%E&K Y2[~?y'NAEb7b7 .9)B[[Ud>[[~?[S[[[[BZYY i) ucIi?!E< ?))??˪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038515.163165 s, next control iter: 1743038515.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038515.563165 s.8J~,[ *AA3333v@Aʾ+v@Ap\~? AA]%"AAqNA"AZAbAjArAzAAAJo.@AO㬡DtAp@A쵻A{Z=A!>A`~_?A`?Aغ*A(:?2AnMս:A =BA(:?JAnMսRA =Yr>A>yY=slٓHz?j6ܿfW???5?沿v?)r> I٘i)I9p@YG JB=Ja<JJJ'E&Kt> Y\~?yFNA>E77/9HB)B׹E[[[[~?[{ު[[[[BZYY i) sIi?8< ?))Bv??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038515.603165 s, next control iter: 1743038515.963180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12014, header.stamp.nsec: 00 temperature: 13.566898* salinity: 33.375351, density: 1025.000000* values[0]: 0.577138F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038515.983165 s.?J~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240489@ elevatorAngleAction: -0.077021< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743038515.983281F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(w@Aow@A\~? AA2%"AAvqNA"AZAbAjArAzAAAU(/@A uvBtAjp@A;AW=Ap>A 8?A?A-*A":?2ANPս:A;P=BA":?JANPսRA;P=٘i)I9jp@YRG JC=JJJJ*E&K Y \~?ye+NAEZ7Z719GB)įBڹE[[g>[ \~?[wܪ[[[[BZYY i) Ii?o-< K?))jK?K?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038516.003165 s, next control iter: 1743038516.383176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038516.403165 s.&FJ~, *AAQ^w@AͮQw@A\~? AA%"AArNA"AZAbAjArAzAAA+I/@A@tAo@A{]<A=A+>A`?AX?A櫼*A9:?2Aڅӽ:A=BA9:?JAڅӽRA=٘i)I9o@YG JڧJJJJ-E&K Y@:\~?yMAE7777l39FB)ǯBݹE[[+>["\~?[Fڪ[[[[BZYY i) 妈Ii"?k$< 8?)) 8?8?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038516.423165 s, next control iter: 1743038516.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12015", header.stamp.nsec: 0"0 temperature: 13.567005"* salinity: 33.375366", density: 1025.000000"* values[0]: 0.576628"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038516.823165 s.LJ~,24 *AJ"J*J2J:JBJnJvJAGzw@Aqw@Ar\~? A Ax%"AACrNA"AZAbAjArAzAAA%E0@A2ĭ ?tAJo@Aum<Az=A?A?A2?A5¯*A6:?2Atӽ:AT=BA6:?JAtӽRAT=٘i)I9Jo@YG JJJJJ0E&K YS\~?y`MAE)7)7659BB)ȯB߹E[[.>[;\~?[ת[[[[BZYY i) 9Ii{r?{0< ?))??تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038516.863165 s, next control iter: 1743038517.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038517.243165 s.SJ~,O *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038517.243298F (some fields omitted in printout)Aףp=w@A(1w@A\~? A A1%"AAhrNA"AZAbAjArAzAAAx,0`0@Ao H[0=tAn@A<Ay=A ?Aǹ?Ax?A*㯼*A2:?2AԽ:Ar4=BA2:?JAԽRAr4=٘i)I9n@YIG J>JJJJ2E&K Yl\~?yLAE7{779)ͯB[[o٦>[T\~?[[ժ[[[[BZYY i) ]̗Iiuf?x~< I>?))I>?I>?٪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038517.263165 s, next control iter: 1743038517.643180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038517.663165 s.ZJ~,qj *AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12016, header.stamp.nsec: 00 temperature: 13.567165* salinity: 33.375381, density: 1025.000000* values[0]: 0.576016F (some fields omitted in printout)Ax@Aw@A\~? AAqn%"AA5rNA"AZAbAjArAzAAAE@0@A;y?;tA$n@A6Adӟ=A?AR?A ?Aɫ*Aw(:?2Afս:A=BAw(:?JAfսRA=Y>lr?y<ӟ=27ٓH?1?? 8+?L?7@|f ?)> I٘i)I9$n@YG JJb!<JJJ5E&Kt> Y\~?yLAr?E77j789)ЯBE[[f>[Am\~?[Ҫ[[[[BZYY i) WBIiS?Q< ?))ljw??۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038517.683165 s, next control iter: 1743038518.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038518.083165 s.DaJ~,"S *AA)\5x@A(x@A_]~? A]A׭%"AAerNA"AZAbAjArAzAAAЭ0@AT79tA m@ADA=Au?AV?A?AJ*A:?2AJGֽ:AS=BA:?JAJGֽRAS=٘i)I9m@YG JJJJJ8E&K Y\~?yw$LAE{7:9AB)ԯBE[[7 >[߅\~?[Ϫ[[[[BZYY i) 淦IiB?>; ?)) ??yܰުYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038518.103165 s, next control iter: 1743038518.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038518.503165 s.gJ~,74 *AJ"J*J2J:Ja?BJa?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038518.503289F (some fields omitted in printout)ARkx@A1z^x@A]~? AA?%"AA@rNA"AZAbAjArAzAAA-]I81@A^f7tAm@ActAsʤ=AQ?A ?A?A*A0:?2AԽ:A=BA0:?JAԽRA=٘i)I9m@YAG JJJJJ:E&K Yܴ\~?yݪKAE777a<9@B)دBE[[3>[\~?[̪[[[[BZYY i) -Iiz3?n; z9?))z9?z9?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038518.523165 s, next control iter: 1743038518.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12017, header.stamp.nsec: 00 temperature: 13.567307* salinity: 33.375393, density: 1025.000000* values[0]: 0.575413F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038518.923165 s.7nJ~, *AA{Gx@A$@x@A61]~? AAA5%"AArNA"AZAbAjArAzAAA]~1@A?`4tApl@A#e#A ا=A?A w?A .?A΍*Ai(:?2AxԽ:A=BAi(:?JAxԽRA=٘i)I9pl@YG JVJJJJ=E&K Y\~?y+٪MKAE{7j7,>9)ܯB[[3>[\~?[ɪ[[[[BZYY i) Ii&?~; :?)):?:?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038518.963165 s, next control iter: 1743038519.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038519.343165 s.[\~?[ ƪ[[[[BZYY i) IiX? ;  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038519.363165 s, next control iter: 1743038519.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12018&, header.stamp.nsec: 0&0 temperature: 13.567482&* salinity: 33.375404&, density: 1025.000000&* values[0]: 0.574775&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038519.763165 s.9{J~,' *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038519.763282F (some fields omitted in printout)A y@ACx@A_]~? AAR%"AA>sNA"AZAbAjArAzAAA% 2@AN00tA2k@A@*<A1=A'?Ay?A#?A$Ǽ*A:?2AԽ:ALn=BA:?JAԽRALn=Y>"(?yɋ=*<ٓH }@?@ƃɲ?`w?[?:?@Ԫ`G?`)?)> IHI٘i)I92k@Y%G J¼J<JJJBE&Kt> Y$\~?y&ϪnJA"(?Eŧ7ŧ7A9;B)BE[[36>[\~?[ª[[[[BZYY i) 4`ļIi?; zU?))hyzU?zU?oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038519.803165 s, next control iter: 1743038520.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038520.183165 s.˂J~,g *AJ"J*J2J:JBJnJvJA(\By@Ad5y@Au]~? AA%"AA$asNA"AZAbAjArAzAAAN2@A%^-tAj@A Kw<Aǯ=A-?A@[\~?[޾[[[[BZYY i) l˼Ii>^ޘ;  ?))  ? ?~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038520.223165 s, next control iter: 1743038520.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038520.603165 s.D4J~,&*AAQxy@A*7QKky@A]~? AXAf%"AA(sNA"AZAbAjArAzAAAu>2@A&*+tAki@A/B<A=A42?A@?A`?ATм*A:?2AԽ:A'=BA:?JAԽRA'=٘i)I9i@YSG J`ϼB=JJJJHE&K Y']~?yhĪIAEŧ7b7WE9)B[[>[]~?[[[[[BZYY i) ҼIiH>; ȣ?))ȣ?ȣ?7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038520.623165 s, next control iter: 1743038521.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12019 , header.stamp.nsec: 0 0 temperature: 13.567668 * salinity: 33.375416 , density: 1025.000000 * values[0]: 0.574111 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038521.023165 s.ZJ~,{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: -0.086397< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038521.023284F (some fields omitted in printout)AHzy@A-^, y@A]~? AA$%"AA¤sNA"AZAbAjArAzAAA_I2@Av(tA*i@A6>;A(=A7?A{?A?Aм*A:?2AԽ:Ab=BA:?JAԽRAb=٘i)I9*i@Y G JѼC=JJJJJE&K Y,>]~?y IAE777!G98B)BE[[ ?[K/]~?[ڶ[[[[BZYY i) 3ڼIiY>ij; ?))??&Y!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038521.043165 s, next control iter: 1743038521.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038521.443165 s.?ÖJ~,_]\*AAq= y@AJy@A]~? AA%"AAsNA"AZAbAjArAzAAA+y3@A_?1%tA{h@A{tA=A6]?A"Fм*AS:?2Aս:AK=BAS:?JAսRAK=٘i)I9{h@Y~ G JмJJJJME&K YT]~?yHAE77{7H97B)BE[[y ?[F]~?[[[[[BZYY i) zIi>x.N; *N?))*N?*N?EYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038521.463165 s, next control iter: 1743038521.843188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12020, header.stamp.nsec: 00 temperature: 13.567875* salinity: 33.375427, density: 1025.000000* values[0]: 0.573380F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038521.863165 s.+J~,>w*AJ"J*J2J:JBJnJvJAz@AՐ z@A*]~? A߫A4g%"AAsNA"AZAbAjArAzAAA&ZW3@A_i"tA%g@A@nA V=A;B?A2?A$?ApѼ*A :?2A3ֽ:A8=BA :?JA3ֽRA8=Y ?A?yQ=toٓH(?z ?`?h8?`Z?o¶ύ?) ? I٘i)I9g@Y G JмJ '<JJJPE&KYu> Yi]~?y!HAA?Ej7J9)B[[?[^]~?[+[[[[ZZ¸BZYY i¸=) kռIiz> ; Y ?))X|Y ?Y ?vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038521.903165 s, next control iter: 1743038522.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038522.283165 s.9RJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246175> elevatorAngleAction: 0.083980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743038522.283288F (some fields omitted in printout)A(\Oz@ADQOBz@AK]~? A8۫A/%"AAtNA"AZAbAjArAzAAALЗ3@A tAg@AWA=AkG?A?A?A ּ*Af:?2A>Xֽ:A=BAf:?JA>XֽRA=٘i)I9g@Y G J|ӼJJJJRE&K Y~}]~?yGAE{7L93B)BE[[?[u]~?[[[[[ZZBZYY i) ]ɼIi:>=: 2Ю?)) 2Ю?2Ю?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038522.323165 s, next control iter: 1743038522.683178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12021*, header.stamp.nsec: 0*0 temperature: 13.568097** salinity: 33.375458*, density: 1025.000000** values[0]: 0.572621*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038522.703165 s.ԺJ~,*AJ"J*J2J:J?BJ?nJ5vJAQz@AxCxz@A]~? A[֫A%"AA&tNA"AZAbAjArAzAAAp3@A)r"tAQf@A2AT=AZL?A`.?Av?A`*AT:?2AԽ:AG<BAT:?JAԽRAG<٘i)I9Qf@Y- G JJJJJUE&K Y]~?y-GAE777LN92B)BE[[%$?[]~?[ʤ[[[[ZZBZYY i) NIi1>ۥ: ?))??{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038522.723165 s, next control iter: 1743038523.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038523.123165 s.7᱃J~,]*AAGz@Aխz@A ^~? A^ѫA%"AAFtNA"AZAbAjArAzAAA*s4@AmAtApe@AfP;A=A, elevatorAngleAction: 0.083980< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038523.543302F (some fields omitted in printout)A= ףz@A<2Vz@A^~? AA̫AO%"AAdtNA"AZAbAjArAzAAA.&R4@A":tAd@AfX<Ay=AGV?AS ?A?A!*A0:?2A%ս:Av<BA0:?JA%սRAv<٘i)I9d@Y G JB=JJJJ[E&K Y]~?yu8FAEb7b7Q9-B) BE[[g%?[ ]~?[[[[[ZZBZYY i) ,Ii.=)9 ;?));?;?lYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038523.583165 s, next control iter: 1743038523.943179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12022, header.stamp.nsec: 00 temperature: 13.568394* salinity: 33.375462, density: 1025.000000* values[0]: 0.571710F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038523.963165 s.zJ~,*AAffff&{@AW[{@A3^~? AǫA=G%"AA;tNA"AZAbAjArAzAAA.oH4@AtA$c@AOB[<A\3=At{[?A?A ?AA;ټ*Ah2:?2ALս:A=;BAh2:?JALսRA=;YD#?[?ynX3=)x[<ٓHj?1ף?G/??#?`8i@h?j?)D#? I٘i)I9c@Y G JC=JܽJJJ]E&K)u> Yy]~?yʔEA[?E)7ŧ7S9)B[[+?[]~?[b[[[[ZZBZYY ie=) X_IvI?i켉K ?))??{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038524.003165 s, next control iter: 1743038524.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038524.383165 s.ŃJ~,*AJ"J*J2J:JBJnJvJA(\{@AO{@AG^~? AA%"AAtNA"AZAbAjArAzAAAFXEc4@A%tAy"c@A>;A <A`?Akm?A]?A ͮ*A/:?2Amս:AJ!غBA/:?JAmսRAJ!غ٘i)I9"c@Y< G JȼJJJJ`E&K Y]~?yEAEj7j7wU9)B)BE[[A0?[]~?[ꏪ[[[[ZZBZYY i) ʏI>I?iQh =?)) =?=?7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038524.423165 s, next control iter: 1743038524.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12023", header.stamp.nsec: 0"0 temperature: 13.568663"* salinity: 33.375469", density: 1025.000000"* values[0]: 0.570823"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038524.803165 s.xÃJ~,g3*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073981< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038524.803285F (some fields omitted in printout)A{@A'"{@A:Z^~? A,Aj%"AA_tNA"AZAbAjArAzAAAn5@Ar% & tAUb@AMAx<Ae?A?A!?Au}*A ?:?2AvԽ:AuBA ?:?JAvԽRAu٘i)I9b@Y G J횼JJJJcE&K Yx]~?ysEAE77{7AW9(B)BE[[`6?[;]~?[@[[[[ZZBZYY i) sIN I?iK ?))??jYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038524.843165 s, next control iter: 1743038525.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038525.223165 s.gӃJ~,HN*AJ"J*J2J:JBJnJvJAz{@A߽{@Am^~? AA%"AA'tNA"AZAbAjArAzAAAg<5@AV( tAEb@A8ZAǻAk?A@?Ax?AT#*A::?2Aս:ArBA::?JAսRAr٘i)I9Eb@Y G J1WJJJJeE&K Y^~?yƀGEAEj7Z7 Y9)B[[ V?))V?V?y3=(Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038525.263165 s, next control iter: 1743038525.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038525.643165 s.yكJ~,*i*AA ףp{@Age{@Au^~? AذA%"AAetNA"AZAbAjArAzAAAy:rKt5@A5;<tAb@AyAHiAi$p?Au?A?A*A2:?2A Xս:A^BA2:?JA XսRA^٘i)I9b@Y G JJJJJhE&K Yx^~?yz EAE)7ŧ7Z9'B)BE[[eA?[g$^~?[^~[[[[ZZBZYY i) <^II?id_ +?))+?+?y U=tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12024, header.stamp.nsec: 00 temperature: 13.568794* salinity: 33.375477, density: 1025.000000* values[0]: 0.570309F (some fields omitted in printout))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038525.663165 s, next control iter: 1743038526.043180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038526.063165 s.J~,V *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083328< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038526.063294F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333|@A(&|@A^~? AAc%"AAuNA"AZAbAjArAzAAAj 5@AtAYa@A&AA\^u?A`?A !?AGx*A'#:?2Aս:AUѼBA'#:?JAսRAUѼYY=?2ru?y2p:ٓH`?`T/@͚-?Rd?|h@,v? Df?)Y=? I٘i)I9a@Y G Jd_J&9JJJkE&Ku> Y'^~?yr7EAru?Eb77\9)B[[G?[8^~?[=x[[[[BZYY iMIl=) LII?iݒJ; ?))q??yT=`/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038526.103165 s, next control iter: 1743038526.463180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038526.483165 s.v_J~,*AA\h|@Aa4[|@A1^~? AA%"AA0.uNA"AZAbAjArAzAAA,5@AA;; sAa@A١:A1Az?A?A@t?A' ;*A:?2A-Yֽ:A8BA:?JA-YֽRA8٘i)I9a@Y G J69JJJJmE&K Y7^~?ykcEAE7l^9"B)B E[[cM?[L^~?[q[[[[BZYY i֊=) W;IH?iW` .?)) .?.?yz=\n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038526.503165 s, next control iter: 1743038526.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12025, header.stamp.nsec: 00 temperature: 13.568777* salinity: 33.375477, density: 1025.000000* values[0]: 0.570213F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038526.903165 s.J~,͹*AJ"J*J2J:J?BJ?nJ5vJAQ|@A]h|@Ax^~? AAK%"AAHuNA"AZAbAjArAzAAA 6@A#dXsAZb@Ap2<A8XAX?A?A=?A;*A:?2Aս:ABA:?JAսRA٘i)I9b@Y G JK;JJJJpE&K Y?H^~?ypdEAEŧ7b77`9)B[[/3S?[{`^~?[kk[[[[BZYY i) )IH?irȾI ?))??y5@e=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038526.923165 s, next control iter: 1743038527.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038527.323165 s.uJ~,!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067793< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743038527.323297F (some fields omitted in printout)AGz|@AKTo|@AW^~? A֘A'%"AAbuNA"AZAbAjArAzAAA61:*H6@AosARb@Alq<A$tvAp?A?A@B?A $<*AJ:?2A;ֽ:AZBAJ:?JA;ֽRAZ٘i)I9Rb@Y G J<JJJJsE&K YX^~?y7]EAEb77b9!B)B E[[e Y?[s^~?[d[[[[BZYY i) uIH?imݾ򶍻 q?))q?q?y^=*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038527.343165 s, next control iter: 1743038527.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12026*, header.stamp.nsec: 0*0 temperature: 13.568638** salinity: 33.375500*, density: 1025.000000** values[0]: 0.570397*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038527.743165 s.WJ~,`*AJ"J*J2J:JBJnJvJAףp= }@A|a2|@A^~? AA<%"AA{uNA"AZAbAjArAzAAAm3#z6@A(`sAZb@A/<AɥA(?AV?A@$b?APZ<*A:?2A_7ֽ:AB. BA:?JA_7ֽRAB. ٘i)I9b@Y G J<<JJJJuE&K Yh^~?yUEAE7{7c9) B[[^?[Ɇ^~?[][[[[BZYY i) KIBH?i  Yv^~?yPNIFA?EZ7Z7e9B)BE[[d?[^~?[V[[[[BZYY ik=) rfIH?ik &?))&?&?>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038528.183165 s, next control iter: 1743038528.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038528.583165 s.J~,S%*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038528.583290F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u}@A]0h}@A^~? AA5%"AAuNA"AZAbAjArAzAAA <6@AsusAc@AOA,A/?A?A`v?A<*A :?2Aս:ABA :?JAսRA٘i)I9c@Yu G J/<JJJJ{E&K Yb^~?yFFAE7777bg9)B[[j?[^~?[O[[[[BZYY i) лIH?i ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038528.603165 s, next control iter: 1743038528.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12027, header.stamp.nsec: 00 temperature: 13.568396* salinity: 33.375496, density: 1025.000000* values[0]: 0.570864F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038529.003165 s.x J~,L4@*AAR}@Az}@A_~? A)AH%"AAuNA"AZAbAjArAzAAĀ6g7@AbsA d@A@sA.A ?Az?A&:?A@<*Ab:?2Aս:A tBAb:?JAսRA t٘i)I9 d@Y G Jޣ<JJJJ}E&K Y1^~?y> GAE7,i9B)BE[[%p?[n^~?[H[[[[BZYY i) q&IH?iq˻ ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038529.023165 s, next control iter: 1743038529.403179 s, wait time: 0.380014 s&1^~?)&> rAdjusting time to match Gazebo time: 1743038529.423165 s.uJ~,[*AJ"J*J2J:JBJnJvJA{G}@A elevatorAngleAction: 0.057617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038529.843311F (some fields omitted in printout)Ap= ~@Au ~@A!_~? AqA2%"AAuNA"AZAbAjArAzAAA-`7@AFGQsAZ6e@AjA2As?A|?A ?Azd<*AB:?2AZֽ:A BAB:?JAZֽRA ٘i)I96e@Y G J/<JJJJE&K YЭ^~?y/GAE77{7l9B)BE[[m|?[^~?[9[[[[BZYY i) iIH?i/ 4?))4?4?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038529.863165 s, next control iter: 1743038530.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038530.263165 s.$J~,ؐ*AJ"J*J2J:JBJnJvJAL~@Avi?~@A/_~? AjA<%"AAkvNA"AZAbAjArAzAAAA7@A>sAe@A$;AI™A͔?A:?A?A<*A:?2A=׽:AXBA:?JA=׽RAXY_q?ٻ?yBe{;ٓH^?~^G? h?&[`3?}??)_q? I٘i)I9e@Y G JS<J#"JJJE&Kx> Y ^~?y'7HA?E77n9B)BE[[--?[^~?[1[[[[BZYY i) x-I޷H?i= f?))f?f?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038530.283165 s, next control iter: 1743038530.663176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12029., header.stamp.nsec: 0.0 temperature: 13.567692.* salinity: 33.375526., density: 1025.000000.* values[0]: 0.572313.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038530.683165 s.l*J~,V*AA(\~@AC: elevatorAngleAction: 0.066771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038531.103275F (some fields omitted in printout)AQ~@A F~@A@J_~? A\AjK%"AA ~@AV_~? AUA"%"AABvNA"AZAbAjArAzAAAN3a8@A`ڲsAyg@A;AA?A*?Až?A⡣<*A;$:?2A׽:AGBA;$:?JA׽RAG٘i)I9yg@Y G Jɥ<B=JJJJE&K Y^~?yGlIAE77{7s9B)֯BE[["-?[_~?[[[[[BZYY i) 8IҕH?i[ ^?))^?^? *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038531.543165 s, next control iter: 1743038531.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12030, header.stamp.nsec: 00 temperature: 13.567368* salinity: 33.375534, density: 1025.000000* values[0]: 0.573043F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038531.943165 s.Xd>J~,B]*AJ"J*J2J:JBJnJvJAq= #@AOu@Ab_~? ANAb`%"AADUvNA"AZAbAjArAzAAAʁ?X%8@AUVQsA|h@A EA>⋽A$?AsS?A`?AŽ<*A#:?2Aֽ:A՗BA#:?JAֽRA՗٘i)I9h@Y4 G J<C=JJJJE&K Y^~?y3IAE77u9)үB[[74?[N(_~?[[[[[BZYY i) v:IH?ia: W?))W?W?y_=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038531.963165 s, next control iter: 1743038532.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038532.363165 s.EJ~,}>*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038532.363309F (some fields omitted in printout)AY@AƼL@Aon_~? AqGA%"AA:gvNA"AZAbAjArAzAAA{H8@AsAh@A,VA] AY?Ay?A,?AX<*A":?2Aֽ:AeBA":?JAֽRAeY?̡?y\ VٓH@`H?`~0p?``?n?eŊ`?)? I٘i)I9h@Y G JA<J=<JJJE&Kx> Yv^~?y0JA̡?E77w9)ίB[[7?[e5_~?[T [[[[BZYY i) ;I|H?in? C?))C?C?Ӻ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038532.403165 s, next control iter: 1743038532.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12031&, header.stamp.nsec: 0&0 temperature: 13.567029&* salinity: 33.375546&, density: 1025.000000&* values[0]: 0.573740&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038532.783165 s.XKJ~,2*AJ"J*J2J:J?BJ?nJ5vJA(\@AP@Ay_~? A @AC{%"AAyxvNA"AZAbAjArAzAAA>@j8@A-msA} i@A nA}AgI?A М?A `?A@f<*A!:?2A$ֽ:AwBA!:?JA$ֽRAw٘i)I9 i@Y G Jo<JJJJE&K Y^~?yhJAE7{7My9B)ȯBE[[>?[A_~?[[[[[BZYY i)  @;IroH?icy n7?))n7?n7?L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038532.803165 s, next control iter: 1743038533.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038533.203165 s.SJ~,*M*AAQ@ATb@A1_~? A8A %"AAvNA"AZAbAjArAzAAA0Š8@A}sAi@AvASA?A?A@?A<*AV :?2A ׽:ABAV :?JA ׽RA٘i)I9i@Y#G J<JJJJE&K Y^~?yJAE77{9 B)BE[[J?[M_~?[?[[[[BZYY i) [=~;IaH?i T0% Z1?))Z1?Z1?Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038533.223165 s, next control iter: 1743038533.603182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038533.623165 s.[YJ~,mg*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066771< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743038533.623329F (some fields omitted in printout)AG@Ayv@AW_~? AI1A%"AAŘvNA"AZAbAjArAzAAA „8@A ^sAj@AV;AEA妩?A?A>?A6<*A:?2AX׽:AGBA:?JAX׽RAG񼙘٘i)I9j@YkG Jԍ<JJJJE&K Y_~?yDKAEj7j7|9)B[[Z?[;Y_~?[[[[[BZYY i) 1;IUSH?ie;w) Y1?))Y1?Y1?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038533.663165 s, next control iter: 1743038534.023180 s, wait time: 0.360015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12032 , header.stamp.nsec: 0 0 temperature: 13.566748 * salinity: 33.375530 , density: 1025.000000 * values[0]: 0.574392 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038534.043165 s.Ĩ`J~,Â*AA= ף0@AS'#@A_~? A)A-%"AA̧vNA"AZAbAjArAzAAA›'8@AD?QȳsA YU_~?yԩKAڮ?Eb77w9)B[[z?[m_~?[ݩ[[[[BZYY i) b;I5H?i\|3 5@))5@5@x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038534.503165 s, next control iter: 1743038534.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12033, header.stamp.nsec: 00 temperature: 13.566473* salinity: 33.375557, density: 1025.000000* values[0]: 0.574982F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038534.883165 s.ymJ~,U*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038534.883337F (some fields omitted in printout)A(@A@Aȩ_~? AAU%"AAvNA"AZAbAjArAzAAA$$N8@A HsAsHk@A)<AMA?A B?A%D?A|<*A:?2AN׽:AgBA:?JAN׽RAg󼙘٘i)I9Hk@Y2G J|<JJJJE&K Y_~?y˩NLAEB9 B)BE[[?[>w_~?[ԩ[[[[BZYY i) 1;I*&H?iۖ9 @))@@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038534.923165 s, next control iter: 1743038535.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038535.303165 s.StJ~,jg*AJ"J*J2J:JBJnJvJAр@A͔Ā@A_~? AA %"AAXvNA"AZAbAjArAzAAALi9@A0ΥsAk@Aʫ9A AZ?AWt?Asi?AE=<*A:?2Aֽ:A<BA:?JAֽRA<٘i)I9k@YsG J~<JJJJE&K Y!_~?yWéLAE{7{7 9)B[[У?[_~?[˩[[[[BZYY i)  A@))A@A@y7=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038535.323165 s, next control iter: 1743038535.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12034., header.stamp.nsec: 0.0 temperature: 13.566220.* salinity: 33.375565., density: 1025.000000.* values[0]: 0.575539.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038535.723165 s.{J~,H*AAz@A;P@A_~? A$ A%"AAYvNA"AZAbAjArAzAAAk,9@A}sA"l@A"A_DA?Aw?A`X?A<*A:?2Aֽ:AcBA:?JAֽRAcGI٘i)I9"l@YG JA<B=JJJJE&K Y'_~?yLAEj7j7ׅ9)B[[G?[_~?[v©[[[[BZYY i) Ő elevatorAngleAction: 0.076314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743038536.143331F (some fields omitted in printout)A ףp=@Ae0@A_~? A]A%"AAvNA"AZAbAjArAzAAA Y70_~?ySMA?Ej7Z7m9B)BE[[?[ȕ_~?[ᯩ[[[[BZYY i) <*AJ"J*J2J:Jz?BJz?nJ5vJA\@AM雁@Av_~? AAIJ%"AAvNA"AZAbAjArAzAAAPrh9@AoeĒsAMm@ARBA A{?A ?A h?Ae<*A9?2Aw׽:AywBA9?JAw׽RAyw٘i)I9m@YG J<JJJJE&K Y3_~?yNA Eb7779)B[[ ?[_~?[}[[[[BZYY i) @L elevatorAngleAction: 0.076314< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038537.403295F (some fields omitted in printout)AQށ@ASͬс@A _~? AA!%"AAwNA"AZAbAjArAzAAAb?y9@AW/8sAm@A];AnEA0?A-?A ?A%K<*A9?2Ap׽:A9BA9?JAp׽RA9٘i)I9m@YG JO<JJJJE&K Y6_~?yΗkNA ESI7879)B[[w)?[Ơ_~?[[[[[BZYY i) Ӹ[sAn@AZ<AAt?A@ľ?A.?AP <*Ay9?2A^׽:An BAy9?JA^׽RAn ٘i)I9n@YiG J<JJJJE&K Y;_~?yH&OAE{7{79)B[[k?[٨_~?[뉩[[[[BZYY iGI=) ŭz elevatorAngleAction: 0.085589*J< massPositionAction: 0.0000002J4 buoyancyAction: 0.000500:JBJnJ dt: 0.419973vJ2 time: 1743038538.663285F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12037, header.stamp.nsec: 00 temperature: 13.565484* salinity: 33.375561, density: 1025.000000* values[0]: 0.577252F (some fields omitted in printout)A@Anr@A_~? AӪA%"AAwNA"AZAbAjArAzAAA`P9@A^sAko@A#;AAY?A`?A@@?AW<*A9?2A ֽ:A BA9?JA ֽRA Y?G?y;ٓH@A>P? {u?H?ہC?  @ ? yu?+?)? I٘i)I9ko@YG J<J%JJJE&KHx> Y;_~?yz}OA?E77b9)B[[NJ?[_~?[Z[[[[BZYY i) %%wNA"AZAbAjArAzAAA9@Aa L elevatorAngleAction: 0.085589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038539.923309F (some fields omitted in printout)A{G!@A >@A_~? AѻA,&"AAe)wNA"AZAbAjArAzAAAe#9@AI{psA$q@A8kAϠA?Al?A g?A<*A9?2Aoֽ:AQBA9?JAoֽRAQ٘i)I9q@YG J.<JJJJE&K Y;_~?ycPAE{7—9)yB[[?[_~?[`c[[[[BZYY i) ?A?A v?A*<*A9?2A+׽:ANBA9?JA+׽RANY:??yU*>;ٓH`[ ʧ?@o?r۹Ĵ?Fg?`?):? I٘i)I99r@YlG Jٱ<JWJJJE&K}x> Y9_~?yQQA?#Ej7Z7X9)oB[[@?[_~?[P[[[[BZYY i) F elevatorAngleAction: 0.085589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038541.183287F (some fields omitted in printout)A(\ƒ@AXQ@A_~? AAjc&"AA1wNA"AZAbAjArAzAAA={9@AǘasA4r@AD<A>A?A`Ww?Aky?A<*A9?2Aj׽:ABA9?JAj׽RA٘i)I9r@YG J<JJJJE&K YD6_~?yHRA%E77"9B)iBE[["g?[V_~?[VF[[[[BZYY i) {߱dg @))@@t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038541.203165 s, next control iter: 1743038541.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038541.603165 s.74لJ~,f*AAQ@AH@A_~? AA&"AA1wNA"AZAbAjArAzAAA:?9@A ȫ\sA is@Ar3r<A4AXZ?A@P?A z?A̸<*A9?2A]׽:AJTBA9?JA]׽RAJT٘i)I9is@Y%G J<JJJJE&K Yl3_~?y@uRA(E77j7힠9)dB[[7?[_~?[<[[[[BZYY i) P? elevatorAngleAction: 0.085589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038542.443297F (some fields omitted in printout)Aq= c@A>V@A_~? AdAv<&"AA[1wNA"AZAbAjArAzAAAKv9@A,)>SsAt@AӹA$yAd?A@@As?AqN<*Aѯ9?2A9ֽ:ABAѯ9?JA9ֽRA٘i)I9t@YG J<B=JJJJE&K Y-_~?y~.TSA-E779)[BE[[\?[ͣ_~?[W)[[[[BZYY i) L*AJ"J*J2J:JBJnJvJA@A@A_~? ATA&"AA/wNA"AZAbAjArAzAAA9@AZ/0NsAYu@A~*AaAA?A%A@:m?A<*A9?2AG6ֽ:AjBA9?JAG6ֽRAjY??y__*ٓH`ɿcY@*R~?9?Gɿ]xd?@ (?)? I٘i)I9Yu@YTG J_<C=JbxJJJE&K x> Y(_~?y%SA?0E{7{7M9)UB[[#?[_~?[[[[[BZYY i) 0t BA9?JA#ֽRA>t ٘i)I9 v@YG J<JJJJE&K Yb"_~?yEETA D3Ej79)PB[[L.?[_~?[-[[[[BZYY i) b elevatorAngleAction: 0.085589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038543.703275F (some fields omitted in printout)AQ@A"@A_~? AAA?AA X?A3<*A9?2Acֽ:ApBA9?JAcֽRAp٘i)I9v@Y0G J<JJJJE&K Y_~?yTA5Ej7⧠9)JB[[SW?[l_~?[ [[[[BZYY i) B[[?[_~?[[[[[ZZZZ¸>BZYY i¸>_)  Y_~?y )VA ?=E{7C9B):BE[[v?[K|_~?[j[[[[ZZZZBZYY i) _~? AFSA &"AACwNA"AZAbAjArAzAAApQщ9@AUZ0sAoy@A6V<AAD?A`2AT?ARI=*A`9?2A/׽:ABA`9?JA/׽RA𼙘٘i)I9y@YG J<C=JJJJE&K Yo_~?yVA@E 9)3B[[n?[s_~?[![[[[ZZZZBZYY i) .JJJE&Kw> Y^~?yaѨ8XA ?KE{789)B[[8?[(G_~?[¨[[[[ZZZZBZYY i5) (5vJAQ@A1@A_~? AP$A &"AA8vNA"AZAbAjArAzAAA9 ;T9@AD0sA}@AIĒ;A(;A @AR̿A9d?A"<*A9?2AVֽ:AW<BA9?JAVֽRAW<٘i)I9}@YeG J[<JJJJE&K Y^~?y*~XAPE77͹9B)BE[[`@[,_~?[7[[[[ZZZZBZYY i) zJJJE&Kw> Yf^~?y?XA@XE{7{7-9)E[[ͥ@[_~?[[[[[BZYY if) @5vJ,*AA{Ga@A}$%=T@Am|_~? AA&"AAvNA"AZAbAjArAzAAA0Gs8@AkrA<}@A˜jAɭ=A@A6bӿA@+_?AY*A9?2A׽:A>K=BA9?JA׽RA>K=٘i)I9<}@Y!G JBJJJJE&K Y#x^~?y WA`E7777Ġ9)B[[nV @[^~?[i[[[[BZYY i)  ;@))>;@>;@yNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038550.463165 s, next control iter: 1743038550.823181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12049, header.stamp.nsec: 00 temperature: 13.383571* salinity: 33.391636, density: 1025.000000* values[0]: 0.710244F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038550.843165 s.lJ~,*AAp= @A@Auq_~? AA#&"AA[~vNA"AZAbAjArAzAAAGTQ8@AlNrAQ|@A%j*AS=AF @A >ԿA@+?A/*A?9?2Axֽ:A =BA?9?JAxֽRA =٘i)I9|@YG JnJJJJ E&K Ycj^~?ykWAcEb7b7XƠ9 B)%BE[[g @[^~?[w[[[[BZYY i) h;IeE?i:F v=@))v=@v=@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038550.883165 s, next control iter: 1743038551.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038551.263165 s.tJ~,*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: -0.065556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038551.263307F (some fields omitted in printout)Ä@AmĿ@Af_~? AA&"AAhmvNA"AZAbAjArAzAAA&'%/8@ArA0b|@AwA5=A @A`տAv?AE;*A9?2A\mֽ:A |=BA9?JA\mֽRA |=Y? @y5=5xٓHC`@=|H+?Qe? Nⲿ N?)? I٘i)I9b|@YG JB=J0=JJJ E&Kw> Y9Z^~?y21WA @fE77{7#Ƞ9)(B[[Xq@[^~?[o[[[[BZYY i) ;IUE?i˙D ?@))?@?@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038551.303165 s, next control iter: 1743038551.663177 s, wait time: 0.360012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12050., header.stamp.nsec: 0.0 temperature: 13.383773.* salinity: 33.391609., density: 1025.000000.* values[0]: 0.709383.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038551.683165 s.lzJ~,V*AA(\@AE.8@AZ_~? ASA ?&"AA[vNA"AZAbAjArAzAAAdl 8@AWEMrA{@A X<AZ=A @A2տA9?AS*A9?2Aֽ:A=BA9?JAֽRA=FI٘i)I9{@YJG J,C=JJJJE&K YJ^~?y{VAhESI7SI7ɠ9 B).BE[[@[^~?[yh[[[[BZYY i) ,Ͼ;IDE?iSxA @@))@@@@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038551.683165 s, next control iter: 1743038552.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038552.103165 s.J~,*AJ"J*J2J:Ju5?BJu5?nJF>5vJAQ8@AE+@AM_~? A9کA&"AAbIvNA"AZAbAjArAzAAAsIۆ7@ADrAsK{@Aj<AHg=A{@AdֿA?AN*A9?2A ֽ:AO=BA9?JA ֽRAO=٘i)I9K{@YG JJJJJE&K Y9^~?ytfVAkE77{7ˠ9)3B[[@["^~?[#a[[[[BZYY i) <;I4E?iѓ5= B@))B@B@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038552.143165 s, next control iter: 1743038552.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038552.523165 s.J~,{!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038552.523262F (some fields omitted in printout)AHzn@A a@A@_~? A3өAT&"AAQ6vNA"AZAbAjArAzAAA7@A+MrA0z@AE<A;=Aa@AK׿AI?AK*A09?2ADֽ:AC=BA09?JADֽRAC=٘i)I9z@YG JJJJJE&K Y)^~?ymVAnE77͠9B):BE[[@[5p^~?[Y[[[[BZYY i)  1;I%E?iIh7 C@))C@C@ ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038552.563165 s, next control iter: 1743038552.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12051, header.stamp.nsec: 00 temperature: 13.384030* salinity: 33.391647, density: 1025.000000* values[0]: 0.708245F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038552.943165 s.YdJ~,F]<*AJ"J*J2J:JBJnJvJAq= ף@A,( ʖ@A3_~? AB̩A&"AA"vNA"AZAbAjArAzAAATQ7@AAqrAz@Ac;A=A@AlؿA ?A³*A9?2Acֽ:AAi =BA9?JAcֽRAAi =٘i)I9z@Y9G JTJJJJE&K Y^~?ySfUApEb77MϠ9)?B[[@[[^~?[S[[[[BZYY i) /G;IE?iL0 z0E@))z0E@z0E@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038552.983165 s, next control iter: 1743038553.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038553.363165 s.J~,y>W*AAى@A9Վ̉@A%_~? AhũAc&"AAvNA"AZAbAjArAzAAATПl7@AEBrAy@AAM=Aj@Aa?ٿA?AÓ*AҺ9?2A׽:A=BAҺ9?JA׽RA=Y@ @yL=aٓH`D;@Bg,?>A?d@/w|B?)@ I٘i)I9y@YG J=B=Jț;JJJE&K!x> Y&^~?y_3UA @sEj7j7Ѡ9B)EBE[[$@[F^~?[0L[[[[BZYY i) ˜ ;I%E?i!q- NF@))NF@NF@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038553.403165 s, next control iter: 1743038553.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12052&, header.stamp.nsec: 0&0 temperature: 13.384308&* salinity: 33.391666&, density: 1025.000000&* values[0]: 0.707016&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038553.783165 s.J "J *J ^J~2J:J4?BJ4?,r*AnJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038553.783330F (some fields omitted in printout)A(\@AO@A_~? AA&"AAuNA"AZAbAjArAzAAA)yA7@A!rAx@A aAa=A"ݿA oi?A*Ae9?2AR?ֽ:Av=BAe9?JAR?ֽRAv=Y' @K@ysŏ=4UO<ٓHW/  ?`8c?@!ډ? +?)' @ I٘i)I9v@Y)G JB=J{[JJJ'E&Kx> Y]~?y>1SA@E77ڠ9B)bBE[[@[]~?[,[[[[BZYY i) z"IDD?ibF- C))C_N@)ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038555.503165 s, next control iter: 1743038555.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12054, header.stamp.nsec: 00 temperature: 13.384855* salinity: 33.391670, density: 1025.000000* values[0]: 0.704655F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038555.883165 s.yJ~,4*AA(@A)>>!@A&^~? A:Af&"AA9uNA"AZAbAjArAzAAADyV6@A@YrAG,v@Ave<Aq=A@A DݿA`7?Ay*A<9?2AbTֽ:A=BA<9?JAbTֽRA=٘i)I9,v@YG JBC=JJJJ)E&K Yg]~?y8RAE7۠9)gB[[A@[1]~?['[[[[BZYY i) _ID?iZ };B))};B8O@FªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038555.903165 s, next control iter: 1743038556.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038556.303165 s.RąJ~,fg*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065556< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038556.303263F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AxD@Ag^~? A A&"AA-luNA"AZAbAjArAzAAAaWs#6@AGCrAäu@AC<A[0=A!@A͜޿Am?A✼*A9?2Aaֽ:AAz<BA9?JAaֽRAAz<٘i)I9u@YG JfJJJJ,E&K Y]~?y2pRAE7777ݠ9B)mBE[[ @[g]~?[}![[[[BZYY i) EIFD?iPf @))@hQ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038556.323165 s, next control iter: 1743038556.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12055*, header.stamp.nsec: 0*0 temperature: 13.385114** salinity: 33.391697*, density: 1025.000000** values[0]: 0.703515*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038556.723165 s.˅J~,H.*AAz@Az@A?^~? AA^X&"AARuNA"AZAbAjArAzAAAG5@A޺rAB$u@AAˇ=Az@A`8W߿A)}?A*A9?2A=ֽ:A(<BA9?JA=ֽRA(<٘i)I9$u@Y3G JJJJ5FJ/E&K Yck]~?y,RAE77nߠ9B)tBE[[MA"@[V]~?[([[[[BZYY i) CTID?iDy K3?))K3?jR@4YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038556.743165 s, next control iter: 1743038557.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038557.143165 s.]/҅J~,$*I*AJ"J*J2J:J3?BJ3?nJ<5vJA ףp@Ay@e@A^~? AA&"AA:8uNA"AZAbAjArAzAAA=c[5@Aӂ):rAt@AM9Au=A@A@'A)?AY*A9?2A1׽:A\<BA9?JA1׽RA\<٘i)I9t@YG JcJJJJ2E&K YV]~?y&QAE)7ŧ789)xB[[^#@[ x]~?[ [[[[BZYY i)  ̻IؚD?i7H Ű=))Ű=nT@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038557.163165 s, next control iter: 1743038557.543185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743038557.563165 s.؅J~,c d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038557.563286F (some fields omitted in printout)A3333@A=|(@A^~? A(AqA&"AAXuNA"AZAbAjArAzAAA#o!5@A rA8t@AlAY'=A"@A6`A@?AɅ*A9?2A-0׽:A"<BA9?JA-0׽RA" Y{@]~?yW!VQA@E779B)}B޹E[[5<%@[5_]~?[ [[[[BZYY i) OIeD?i/ /<))/<U@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038557.583165 s, next control iter: 1743038557.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12056, header.stamp.nsec: 00 temperature: 13.385390* salinity: 33.391708, density: 1025.000000* values[0]: 0.702499F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038557.983165 s.߅J~,~*AJ"J*J2J:J3?BJ3?nJ<5vJA\(@A%@Akr^~? AlA&"AAuNA"AZAbAjArAzAAAOL5@A&3'rAbs@A8#Ar=AHk @A A~?Ab*A9?2Abֽ:AD<BA9?JAbֽRAD<٘i)I9s@Y_G J鄼JJJJ7E&K Y*]~?yPAE77{79 B)B۹E[[M&@[F]~?[G [[[[BZYY i) JIqD?i&|,ջ :)):pW@y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038558.003165 s, next control iter: 1743038558.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038558.403165 s.&J~,͙*AAQ^@AQ@A_^~? AzA!&"AAtNA"AZAbAjArAzAAA!z55@A"rAWs@A|A=A!@A AR'?A)ʈ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9Ws@YG JUB=JJJJ:E&K Y]~?yPAE9)B[[f4(@[,]~?[[[[[BZYY i) cID?iQ ƻ .9)).9X@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038558.423165 s, next control iter: 1743038558.803179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12057, header.stamp.nsec: 00 temperature: 13.385593* salinity: 33.391693, density: 1025.000000* values[0]: 0.701559F (some fields omitted in printout)6]~?)6 rAdjusting time to match Gazebo time: 1743038558.823165 s.J~,6*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075006< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.419826"J*J2J2 time: 1743038558.823300F (some fields omitted in printout):JBJnJvJAGz@Aܚt@AL^~? AMuAS&"AAFtNA"AZAbAjArAzAAA_o4@A0k^rAr@A X<A=A"@A\A;?Ap*A99?2AUֽ:Ay=BA99?JAUֽRAy=٘i)I9r@YG JC=JJJJaB4@AՆYrAkr@All<A8=A8$@A^A?A*A9?2AjEֽ:A=BA9?JAjEֽRA=٘i)I9kr@YG JJJJJ?E&K Y\~?y OAE77.9%B)BԹE[[S"+@[\~?[5[[[[BZYY i) 154IqD?i G26))G26n[@?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038559.283165 s, next control iter: 1743038559.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038559.663165 s.J~,q*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12058, header.stamp.nsec: 00 temperature: 13.385819* salinity: 33.391701, density: 1025.000000* values[0]: 0.700590F (some fields omitted in printout)A@AK8@A%^~? AjA`&"AAtNA"AZAbAjArAzAAAV<^c4@AoߢrAq@A?<A=Aω%@A A-?AV*A9?2Awֽ:A\=BA9?JAwֽRA\=Yʐ@%@ys=Q%@<ٓHV% `H y?1`?`z,?Q?)ʐ@ I٘i)I9q@Y@G J>J<JJJBE&K&x> Y\~?y6OA%@Eb779'B)BѹE[[,@[\~?[9[[[[BZYY i) ΨCI>kD?i?֗ 4))4i]@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038559.683165 s, next control iter: 1743038560.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038560.083165 s.DJ~, S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075006< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038560.083308F (some fields omitted in printout)A)\5@A]¡(@Ah^~? AeA3&"AATptNA"AZAbAjArAzAAAH5[p&4@Aރ%rAwq@A?9;Aƍ=A&@A(KAn?AhY*A9?2Awֽ:A=BA9?JAwֽRA=٘i)I9wq@YG JJJJJDE&K Y\~?y4OAE779)B[[P.@[z\~?[p[[[[BZYY i)  SIleD?iؾ S:3))S:3b^@êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038560.103165 s, next control iter: 1743038560.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038560.503165 s.J~,U4 *AJ"J*J2J:J:3?BJ:3?nJ;5vJARk@A[z^@A]~? A`A8)&"AAQtNA"AZAbAjArAzAAAQx ~3@AðrARp@AAɏ=A8;(@A๗A?A=*A9?2A#׽:Al=BA9?JA#׽RAl=٘i)I9p@YG JʏJJJJGE&K Yݞ\~?yNAE77779(B)BιE[[/@[#\~?[[[[[BZYY iq) _bIC`D?i鿾=u e1))e1P``@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038560.543165 s, next control iter: 1743038560.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12059, header.stamp.nsec: 00 temperature: 13.386065* salinity: 33.391716, density: 1025.000000* values[0]: 0.699621F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038560.923165 s.;J~,;*AA{G@A<@A8]~? A[A&"AAq2tNA"AZAbAjArAzAAAh}፩3@AtٷrAp@A3cA8=A%)@AAm?A[*A9?2A@׽:AE=BA9?JA@׽RAE=٘i)I9p@YcG JJJJJJE&K Yن\~?yNxNAE)7)7Y9*B)B˹E[[<0@[\~?[[[[[BZYY i) rI[D?iy?Q E0))E0a@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038560.943165 s, next control iter: 1743038561.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038561.343165 s.<J~,U*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: -0.084012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038561.343275F (some fields omitted in printout)Ap= ׍@A ɍ@A%]~? AVA&"AAtNA"AZAbAjArAzAAAi3@A;~ӖrA p@ASA=AX*@AG)A"?A*AF9?2A-׽:A =BAF9?JA-׽RA =٘i)I9 p@YG JJJJJLE&K Yn\~?yNAE{7j7#9+B)BȹE[[e2@[Rv\~?[Z[[[[BZYY i) ɼIWXD?i=' .)).Qc@w̪YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038561.363165 s, next control iter: 1743038561.743175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12060*, header.stamp.nsec: 0*0 temperature: 13.386302** salinity: 33.391731*, density: 1025.000000** values[0]: 0.698650*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038561.763165 s.8J~,#p*AA @A@AĽ]~? ASRAB&"AAsNA"AZAbAjArAzAAAiBLJ(3@Ae=rAo@A`A,=A% ,@A`mAV?A*A9?2A׻ֽ:A =BA9?JA׻ֽRA =Y@,@y=רٓH. ۿ@8?@Bx?` u Q?)@ I٘i)I9o@YG JQB=Jf<JJJOE&Kw> YkU\~?yMA,@E7779)B[[3@[q[\~?[][[[[BZYY i) NIQUD?i` V-))V-(d@yѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038561.803165 s, next control iter: 1743038562.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038562.183165 s.J "J *J 2J :J 2?BJ 2?nJ h;5vJ "J~,^*AA(\B@A*AJ"J*J2J:JM2?BJM2?nJ:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038563.863283F (some fields omitted in printout)A@AK @AN]~? Aa=AA&"AAeKsNA"AZAbAjArAzAAAЋ-1@A/OD YW[~?yfާKA2@Eŧ779)˯B[[:@[[~?[sߧ[[[[BZYY i) IPD?i'='9 7&))7&~ l@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038563.903165 s, next control iter: 1743038564.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038564.283165 s.3RDJ~,*AA(\O@AJPB@A7]~? A9A/.&"AA(sNA"AZAbAjArAzAAA'B1@A rA&l@A;?AP=A3@AA e?A8*A9?2A.׽:A =BA9?JA.׽RA =٘i)I9&l@YG J\C=JJJJ_E&K Yۺ[~?yaۧ;KAE{7Z792B)ѯBE[[Y<@[e[~?[ݧ[[[[BZYY i) HIRD?iK=f: ߢ$))ߢ$|m@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038564.323165 s, next control iter: 1743038564.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12063., header.stamp.nsec: 0.0 temperature: 13.387084.* salinity: 33.391716., density: 1025.000000.* values[0]: 0.695302.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038564.703165 s.ӺJJ~,-*AJ"J*J2J:JBJnJvJAQ@A}rx@Aj ]~? A6A=v&"AAsNA"AZAbAjArAzAAA1K1@AfFܼrAzk@AWjA"=AL5@A`A(?As*Av9?2A$׽:Aa^=BAv9?JA$׽RAa^=٘i)I9k@Y[G JJJJJbE&K  9YZ[~? 9y[اJAEŧ7b7y94B)ׯBE[[=@[>[~?[ ܧ[[[[BZYY i) ֥ITD?i>: >3#))>3#wn@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038564.723165 s, next control iter: 1743038565.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038565.123165 s.6QJ~,XG*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084012< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743038565.123297F (some fields omitted in printout)AGẏ@AG ^׭@A]~? A2Aj&"AAKrNA"AZAbAjArAzAAAԒ1@Aiy埀rAAj@AAoq=A6@A`KA?AJ*A9?2Afֽ:AO==BA9?JAfֽRAO==٘i)I9j@YG JJJJJeE&K Y؅[~?yUէ[JAE{7j7C95B)ݯBE[[#?@[1[~?[ڧ[[[[BZYY i) ļIVD?iP>t; !))!Zp@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038565.143165 s, next control iter: 1743038565.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038565.543165 s.IXJ~,b*AJ"J*J2J:JBJnJvJA= ף@Aa @A;\~? Ak2; gX ))gX Nq@eYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038565.583165 s, next control iter: 1743038565.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12064, header.stamp.nsec: 00 temperature: 13.387405* salinity: 33.391724, density: 1025.000000* values[0]: 0.694122F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038565.963165 s.^J~,}*AAffff&@Ay[@AS\~? A,A!= &"AArNA"AZAbAjArAzAAAN2 YP[~?y%ЧtIA 9@Eŧ79)B[[A@[ M[~?[\ا[[[[BZYY i) ×ҼI^D?i%>n; ))t@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038566.423165 s, next control iter: 1743038566.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12065", header.stamp.nsec: 0"0 temperature: 13.387743"* salinity: 33.391712", density: 1025.000000"* values[0]: 0.692775"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038566.803165 s.uAlJ~,sg*AA두@A:ℐ@A\~? A1&A+ &"AAzQrNA"AZAbAjArAzAAA>kG/@AZyrA"2h@AC8<A+=AC;@A@A,?A!=׼*AZ9?2A'?ֽ:A=BAZ9?JA'?ֽRA=٘i)I92h@YQ G JO׼JJJJoE&K YU[~?y˧HAEb77n 99B)BE[[D@[[~?[֧[[[[ZZ¸BZYY i¸=)  ͼIiD?iT>ω; ))v@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038566.823165 s, next control iter: 1743038567.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038567.223165 s.gsJ~,H*AJ"J*J2J:JBJnJvJAzǐ@Ae@Ar\~? A{#A &"AA,rNA"AZAbAjArAzAAAwH ./@AFCcmwrA}g@AA ;A!=A=@A+A?A ռ*A9?2AEֽ:AeL=BA9?JAEֽRAeL=٘i)I9}g@Y G JּJJJJrE&K YZ~?yɧHAE7779 9:B)BE[[ F@[Z~?[X֧[[[[ZZBZYY i) IhpD?i>; ?))?vpw@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038567.243165 s, next control iter: 1743038567.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038567.643165 s.xyJ~,**AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038567.643282F (some fields omitted in printout)A ףp@A3h@Aw\~? A A'!&"AAQrNA"AZAbAjArAzAAAP;.@A}urAf@A[A)=Ab>@A PA@?A3*AV9?2Aֽ:AO<BAV9?JAֽRAO<٘i)I9f@Yl G JAJJJJuE&K YZ~?yyǧGAE77j79;B)BE[[^G@[kZ~?[ ֧[[[[ZZBZYY i) ӵI xD?i ?a; ?H))?Hvx@`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038567.663165 s, next control iter: 1743038568.043180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12066, header.stamp.nsec: 00 temperature: 13.388062* salinity: 33.391739, density: 1025.000000* values[0]: 0.691378F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038568.063165 s.J "J *J 2J :J 0?BJ 0?nJ 95vJ J~,p *AA33333@AR)&@A_\~? AAM!&"AAqNA"AZAbAjArAzAAAb鉸.@ACitrAe@AUiAb=A?@A`sAT?A*Ab9?2A׽:A<BAb9?JA׽RA YZ~?y/Ƨ2GA?@E779z@yx=}ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038568.083165 s, next control iter: 1743038568.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038568.483165 s.t_J~,*AA\h@AKp[@A F\~? ANAz!&"AA+qNA"AZAbAjArAzAAAipjk-@Af srAe@A3wWAwcn=AA@AԕA?AP*A)9?2Aֽ:A+:R<BA)9?JAֽRA+:R<٘i)I9e@Yo G JJJJJzE&K Y˪Z~?yħFAE{7j79=B)BE[[NJ@[Z~?[է[[[[ZZBZYY i) |I5D?i:&?F; {)){{@$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038568.503165 s, next control iter: 1743038568.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12067, header.stamp.nsec: 00 temperature: 13.388445* salinity: 33.391739, density: 1025.000000* values[0]: 0.689842F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038568.903165 s.ȍJ~,9*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038568.903291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ab/@A,\~? A:A!&"AA@qNA"AZAbAjArAzAAAM$=,@A˜qrA ad@AaWA+=AHB@AA&,?Aϕɼ*A9?2Aֽ:A;BA9?JAֽRA;٘i)I9ad@Y G JۼB=JJJJ}E&K YڎZ~?yçjFAEb77d9)BE[[TpK@[Z~?[,֧[[[[ZZBZYY i) ID?i5?; ))}@pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038568.923165 s, next control iter: 1743038569.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038569.323165 s.sJ~,T*AAGzԑ@A+pǑ@A\~? AOA3!&"AApqNA"AZAbAjArAzAAAE6>:,@AprAec@Al;A<AC@AA ~Q?A+*AR9?2Aֽ:A2BAR9?JAֽRA2٘i)I9c@Y G J޼C=JJJJE&K YrZ~?yP§FAEŧ7.9)B[[L@[vZ~?[֧[[[[ZZBZYY i) bID?iE?; @))@ul~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038569.343165 s, next control iter: 1743038569.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12068*, header.stamp.nsec: 0*0 temperature: 13.388776** salinity: 33.391750*, density: 1025.000000** values[0]: 0.688421*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038569.743165 s.WJ~,~o*AJ"J*J2J:JBJnJvJAףp= @AY2@A][~? AA7!&"AAIqNA"AZAbAjArAzAAAEɐM}+@AorAAc@AțG<A<AD@A`A^t?A*A9?2Axֽ:AqBA9?JAxֽRAq٘i)I9Ac@YO G JGJJJJE&K YVZ~?yEAEb779>B)$BE[[N@[\Z~?[ק[[[[ZZBZYY i) :wI.D?iX?<> < VQ))VQ_@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038569.763165 s, next control iter: 1743038570.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038570.163165 s.u}J~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083841< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038570.163281F (some fields omitted in printout)A@@Ao2@A[~? AA"&"AAG#qNA"AZAbAjArAzAAA8 +@A;"nrAb@AQ<AA)F@AmAy?A}2*A09?2Aֽ:A5|BA09?JAֽRA5|Y!8@(F@yOQ<ٓHL-,?;?`x?@v?>? ?)!8@ I٘i)I9b@Y G JzcJDJJJE&Kx> Y:Z~?yEA(F@E7779?B)(BE[[qO@[*BZ~?[ק[[[[ZZBZYY iǢ|=) qdIjD?ic?< ))L@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038570.183165 s, next control iter: 1743038570.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038570.583165 s.樆J~,R*AJ"J*J2J:JBJnJvJA)\u@A#h@AR[~? AA."&"AApNA"AZAbAjArAzAAAgqj*@AkܒmrAfb@AdS;A[AtG@AAr?A*Aj9?2AEwֽ:AwBAj9?JAEwֽRAw٘i)I9b@Y G J2JJJJE&K YlZ~?y8EAE779@B)*BE[[VP@['Z~?[ا[[[[ZZBZYY iZ=) RI]D?ip?(< )) I@0)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038570.603165 s, next control iter: 1743038570.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12069, header.stamp.nsec: 00 temperature: 13.389011* salinity: 33.391750, density: 1025.000000* values[0]: 0.687525F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038571.003165 s.x J~,L4*AAR@Af.py@A[~? A>AI"&"AApNA"AZAbAjArAzAAA {:^)@AF4c,lrAb@ApA @AH@A @2A`!?Ae9*A9?2A~.ֽ:ANӼBA9?JA~.ֽRANӼ٘i)I9b@Y G J'CJJJJE&K Y#Z~?yҿEAE7Y9),BE[[R@[Z~?[٧[[[[BZYY i) u elevatorAngleAction: 0.072439< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038571.423284F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@AnB<Ԓ@A[~? A Aa"&"AAծpNA"AZAbAjArAzAAA[E3)@AmN9lrAMb@AxDA0;AHA)CA@'?Ad;*AB9?2Aս:ABAB9?JAսRA򼙘٘i)I9b@Y G J&;JJJJE&K YY~?ykEAE)7)7$9AB)E[[ckS@[SY~?[ ۧ[[[[BZYY i) v,ID?ie?.<  )) ֨@yݕ=|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038571.443165 s, next control iter: 1743038571.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12070, header.stamp.nsec: 00 temperature: 13.389096* salinity: 33.391743, density: 1025.000000* values[0]: 0.687263F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038571.843165 s.ݼJ~,*AAp= @AK @Az[~? A,Afu"&"AAŇpNA"AZAbAjArAzAAAƀ–(@A=krAUb@AhA_AFA QA@6?A<*Ap9?2AQս:AbVBAp9?JAQսRAbV٘i)I9b@Y G J-;JJJJE&K YY~?yEAE77{79)+BE[[AT@[Y~?[mܧ[[[[BZYY i) ItD?i?w:< ap ))ap W@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038571.863165 s, next control iter: 1743038572.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038572.263165 s.ĆJ~,*AJ"J*J2J:JBJnJvJAL@AB]?@A<`[~? AaA"&"AA`pNA"AZAbAjArAzAAA<'@A )krAc@A A}AEA]A`f?A(B<*A܋9?2A7ֽ:A BA܋9?JA7ֽRA Y>@xEy3|FٓH+j?Я?  w?@ ?)>@ I٘i)I9c@Y5 G J'<JJJJE&Khw> YZY~?y/FAxEEj7j7!9BB))BE[[ V@[pY~?[ݧ[[[[BZYY iŇi=)  ID?i?A<  )) @?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038572.283165 s, next control iter: 1743038572.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12071., header.stamp.nsec: 0.0 temperature: 13.389046.* salinity: 33.391731., density: 1025.000000.* values[0]: 0.687580.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038572.683165 s.lʆJ~,^+*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057014< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038572.683312F (some fields omitted in printout)A(\@AAu@ARF[~? AA"&"AA`9pNA"AZAbAjArAzAAA"?\'@APjrApc@As0:AoA`*DA%gA@?AQi<*A9?2Aܙֽ:A8BA9?JAܙֽRA8٘i)I9pc@Yl G JT<JJJJE&K Y!Y~?yFAE#9)&B[[XW@[0Y~?[ߧ[[[[BZYY i) IE?i9?J< ?))?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038572.683165 s, next control iter: 1743038573.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743038573.103165 s.цJ~,F*AJ"J*J2J:JBJnJvJAQ@AtϺF@A^,[~? AKAQ"&"AApNA"AZAbAjArAzAAA$ee&@Ag jrArc@Aid#<AWABAOnAe?A<*Aj9?2Aֽ:A BAj9?JAֽRA ٘i)I9c@Y G J>}<JJJJE&K YtY~?yFAEb7b7O%9)$BE[[nX@[=Y~?[[[[[BZYY i) HzԻI!E?iʥ?6T< ]))]a@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038573.143165 s, next control iter: 1743038573.503178 s, wait time: 0.360013 stY~?) rAdjusting time to match Gazebo time: 1743038573.523165 s.׆J~,{a*AAHz@A[Z @Ad[~? A AԦ"&"AAoNA"AZAbAjArAzAAA*!&@A6PjrATd@A2d<A똽AAA %sAm?A`<*Ak9?2Aqֽ:AY BAk9?JAqֽRAY ٘i)I9Td@Y G J<JJJJE&K YXY~?y.GAEŧ7'9CB) B}E[[yY@[vY~?[[[[[BZYY ipˇ=) ִIR4E?i7?K^< )))) @yNi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038573.543165 s, next control iter: 1743038573.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12072, header.stamp.nsec: 00 temperature: 13.388926* salinity: 33.391743, density: 1025.000000* values[0]: 0.688302F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038573.943165 s.]dކJ~,W]|*AJ"J*J2J:J40?BJ40?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200582 time: 1743038573.943337F (some fields omitted in printout)Aq= #@A`r@AeZ~? A A!"&"AAWoNA"AZAbAjArAzAAA$w\vA%@Aʽ-}*AAY@AVGL@AfZ~? A A="&"AAoNA"AZAbAjArAzAAA|z$@AkxAjrAhe@Au:AޜA>A uAqۅA<*A9?2Ajֽ:A BA9?JAjֽRA Y"E@>yޜ::ٓH ?!H? Ŀ݋??.Z?@?)"E@ I٘i)I9he@Y G J?<B=JJJJE&Kw> Y Y~?y§GA>Ej7j7*9DB)BwE[[\@[EY~?[[[[[BZYY i) mpnIe\E?iJ?^Jr< Z))Zb@y(=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038574.403165 s, next control iter: 1743038574.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12073&, header.stamp.nsec: 0&0 temperature: 13.388741&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.689253&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038574.783165 s.RJ~,*AJ"J*J2J:JBJnJvJA(\@A[;Q@AhZ~? AA/"&"AAtoNA"AZAbAjArAzAAAm[I$@A|`jrAue@AjA A=AMrAAu<*AT9?2A ֽ:AM BAT9?JA ֽRAM ٘i)I9e@Y G J<C=JJJJE&K YY~?yAħUHAE{7y,9)BtE[[]@[-Y~?[b[[[[BZYY i) Mr2IvqE?i?z< -))-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038574.803165 s, next control iter: 1743038575.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038575.203165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038575.203296F (some fields omitted in printout)AQŔ@Ad@AnZ~? AsA"&"AA)MoNA"AZAbAjArAzAAAg6#@AȗjrAHf@A9`A+Al<A`@mAqAJ<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9f@YX G J"<JJJJE&K YX~?yŧHAE77{7D.9)BqE[[_@[Y~?[[[[[BZYY i) IWE?iv?77< ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038575.243165 s, next control iter: 1743038575.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038575.623165 s.[J~,m*AJ"J*J2J:JBJnJvJAG@A@A|Z~? AA"&"AA%oNA"AZAbAjArAzAAA-b*#@AO jrAo2g@ACA)mA ;AeA.A<*A%9?2A@ֽ:A BA%9?JA@ֽRA ٘i)I92g@Y G J<JJJJE&K YX~?yǧ(IAEj7709) BnE[[S`@[X~?[[[[[BZYY i) $iIE?i?l< ))K@#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038575.663165 s, next control iter: 1743038576.023181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12074, header.stamp.nsec: 00 temperature: 13.388498* salinity: 33.391708, density: 1025.000000* values[0]: 0.690386F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038576.043165 s.J~,*AA= ף0@Aݗ#@AvZ~? AA"&"AAnNA"AZAbAjArAzAAAu q"@A:ZSkrAg@ArA얽Ay9A[A`?A<*AS9?2Anֽ:A BAS9?JAnֽRA ٘i)I9g@Y G JW<JJJJE&K YX~?ygȧIAE777719)B[[a@[zX~?[y[[[[BZYY i) @37IE?i?Um< _))_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038576.083165 s, next control iter: 1743038576.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038576.463165 s.\J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038576.463298F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A[Y@A\Z~? AA"&"AAFnNA"AZAbAjArAzAAAZA:!@ATȾkrAYh@A;A[bAk8A`GOA ŵA<*A%9?2Aֽ:ABA%9?JAֽRAYoK@%s8ya*u;ٓH 't?@?bп@|w+? ?]y?Y?)oK@ I٘i)I9Yh@Yi G JQ<J!<JJJE&K"x> Y˕X~?yʧIAs8E7739)BkE[[b@[RX~?[w[[[[BZYY i) 8y:I@E?i?< ))@G*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038576.503165 s, next control iter: 1743038576.863185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12075, header.stamp.nsec: 00 temperature: 13.388295* salinity: 33.391708, density: 1025.000000* values[0]: 0.691526F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038576.883165 s.y J~,#8*AA(@AԚ@ABZ~? AAp"&"AAnNA"AZAbAjArAzAAAƾ7!@A SwlrAh@A2+V<ArAY7A@A`AW<*A9?2A׽:A<BA9?JA׽RA<٘i)I9h@Y G J <JJJJE&K YzX~?y̧XJA E7)7o59)BhE[[ d@[}X~?[[[[[BZYY i) :ITE?i elevatorAngleAction: 0.066306< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038577.723299F (some fields omitted in printout)Az@A)U@AZ~? A A?B"&"AAbnNA"AZAbAjArAzAAAmO6 @A[~!nrA5i@A;A Aԃ4AiA@A<*AA9?2AGֽ:ABAA9?JAGֽRA٘i)I9i@Y`G J<JJJJE&K YCX~?yqѧ KAE{799DB)BcE[[f@[X~?[+[[[[BZYY i) 3u;IF?i??< ~))~Tp@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038577.763165 s, next control iter: 1743038578.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038578.143165 s.Y/"J~,**AJ"J*J2J:JBJnJvJA ףp=@AYe0@AY~? AA&"&"AAN;nNA"AZAbAjArAzAAA~f"w@Av\nrAsj@A|AJQAA3A A0n¿A`&<*A9?2Ahֽ:AbBA9?JAhֽRAb٘i)I9sj@YG J<JJJJE&K Y(X~?yӧKAE77:9)B`E[[g@[)wX~?[[[[[BZYY i) ;I7F?i@< ))g@6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038578.163165 s, next control iter: 1743038578.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038578.563165 s.(J~,N *AA3333s@A<)f@AY~? A3A"&"AAnNA"AZAbAjArAzAAAsbt@AXorAfj@A SCAwA_1AmA`HĿA<*A9?2A><ֽ:A6BA9?JA><ֽRA6Yo)R@%1yuCٓH?A?ֿ`X? CK?;j?)o)R@ I٘i)I9j@YG J<J<<JJJE&Kx> Y1X~?y֧KA1E)7ŧ7<9)B]E[[i@[gaX~?[?[[[[BZYY iʜ=) 0;ITF?i@}< G))GI@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038578.603165 s, next control iter: 1743038578.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12077, header.stamp.nsec: 00 temperature: 13.387888* salinity: 33.391666, density: 1025.000000* values[0]: 0.693532F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038578.983165 s./J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038578.983286F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A Yꛖ@A*Y~? AA!&"AA!mNA"AZAbAjArAzAAAa>\b@A qrA{k@A(g`AɕA0AGA"ƿA'q<*A<9?2A*Lֽ:AEBA<9?JA*LֽRAE٘i)I9{k@YRG Jn<JJJJE&K YW~?y٧=LAE77d>9)B[[Vj@[LX~?[ [[[[BZYY i)  ;IqF?i@< o ))o 뿩?M@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038579.023165 s, next control iter: 1743038579.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038579.403165 s.&6J~,*AAQޖ@A?Wі@AY~? AA!&"AAmNA"AZAbAjArAzAAAJ|0@Awc+ArrALk@A2AASA]/A 0AmǿAZ<*A9?2AUֽ:ABA9?JAUֽRA٘i)I9k@YG J<JJJJE&K YYW~?y ݧLAE{7j7/@9)BZE[[|k@[6X~?[ [[[[BZYY i) ;IĎF?iw @<< ))迩9@W*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038579.423165 s, next control iter: 1743038579.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12078", header.stamp.nsec: 0"0 temperature: 13.387681"* salinity: 33.391678", density: 1025.000000"* values[0]: 0.694527"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038579.823165 s.J elevatorAngleAction: 0.076559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743038580.243273F (some fields omitted in printout)Aףp=J@Az2=@AwY~? ApAm!&"AA{mNA"AZAbAjArAzAAA3@AtrAl@A+,<AiA,A@mA˿As<*A9?2A"׽:AzBA9?JA"׽RAz٘i)I9l@Y-G J<JJJJE&K Y~W~?yETMAE77C9CB)ܯBTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #74q/J^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038580.263165 s, next control iter: 1743038580.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038580.663165 s.JJ~,q**AJ"J*J2J:J 2?BJ 2?nJ:5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12079, header.stamp.nsec: 00 temperature: 13.387538* salinity: 33.391663, density: 1025.000000* values[0]: 0.695455F (some fields omitted in printout)A@Ar@A#_Y~? A!Av?!&"AAVmNA"AZAbAjArAzAAAu1N@ADwvrA(Um@A.d<A~^A\+A.HAͿAF<*Aغ9?2A#׽:AՍBAغ9?JA#׽RAՍY(X@ll+y [d<ٓH o8??mܿ`ե?H??`?)(X@ I٘i)I9Um@YrG JӅ<J8JJJE&K$x> Y7W~?y4MAl+!Eŧ7b7E9)ٯBQE[[>o@[W~?[[[[[BZYY i) ) elevatorAngleAction: 0.076559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038581.503286F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A0{ޗ@A.Y~? A['A &"AAn mNA"AZAbAjArAzAAAIF*XR@AG,̥yrA?n@AS:AbA)A AпA(<*A:?2AMý:ASKBA:?JAMýRASK٘i)I9?n@YG J<JJJJE&K YXW~?ykNA'E77$I9)ѯBNE[[q@[W~?["[[[[BZYY i) ~HAo@AAfAoAݘ'ACAѿAޟ<*Aʔ:?2Aeǽ:A;BAʔ:?JAeǽRA;٘i)I9Ao@YG J<JJJJE&K Y &W~?y%OA,Ej7SI7L9BB)ȯBIE[[`t@[W~?[+[[[[BZYY i) }{g elevatorAngleAction: 0.076559< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038582.763288F (some fields omitted in printout)Ǎ@Ad@ArX~? Ak0A, &"AAlNA"AZAbAjArAzAAA^@ATrAo@A#LAGvAY&A@A@ҿAݢ<*A(:?2A*ʽ:ABA(:?JA*ʽRAY]@J&yHs(LٓHeQ`?\?`g?ʲ?ND?)]@ I٘i)I9o@YG Jk<B=JHfJJJE&KC> Y W~?yOAJ& D/E{7{7N9)įBFE[[Lu@[9W~?[[0[[[[BZYY i) ƨv elevatorAngleAction: 0.085808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038584.023301F (some fields omitted in printout)AHz.@AU !@AvX~? A:Ah&"AA0lNA"AZAbAjArAzAAAVd` @AؓNrAcq@A[V<AAJ"A2 A$տA-M<*A>s:?2AfFҽ:A BA>s:?JAfFҽRA DI٘i)I9cq@YG Jâ<JJJJE&K YoV~?y& PA7ES9AB)B@E[[x@[ eW~?[>[[[[BZYY i) uA!&"AA` lNA"AZAbAjArAzAAAS\ @AZ~ЋڇrAq@AZ<AA AA7տA<*Ae:?2Aޒӽ:ATBAe:?JAޒӽRAT٘i)I9q@Y>G JW<JJJJE&K YCV~?y QA9Eb7b7U9)B=E[[z@[&TW~?[C[[[[BZYY i) 7*AJ"J*J2J:J 3?BJ 3?nJ;5vJA@A$@AGpX~? A:BA(&"AA]kNA"AZAbAjArAzAAA@#GM@A^3rA)yr@AQ;A 栽AتA@ӚA@$ֿA<*AX:?2AUԽ:A=(BAX:?JAUԽRA=(YBfd@Ry'堽F;ٓHw@H? ? !6A@a?Y?*z? ?)Bfd@ I٘i)I9yr@YG J<JFJJJE&Kz> YV~?yQAE[[>{@[]CW~?[H[[[[BZYY i)   elevatorAngleAction: 0.085808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038585.283314F (some fields omitted in printout)A(\ϙ@A=S™@AYX~? A7FAԋ&"AAkNA"AZAbAjArAzAAAg|l@A 1rA s@A2.rA>죽AdA^A׿A<*APL:?2AԽ:AdBAPL:?JAԽRAd٘i)I9 s@YG J<JJJJE&K Y2V~?yMQA?E777DY9)B;E[[Sm|@[2W~?[(N[[[[BZYY i) w elevatorAngleAction: 0.085808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038586.543277F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@A8cc@AX~? ASA&"AAAbkNA"AZAbAjArAzAAAmU5@A \qrAt@AiKA;AtA A@ڿASg<*A+:?2AKJֽ:ABA+:?JAKJֽRA٘i)I9t@YG Jf<JJJJE&K Y Y'V~?y1.SAIE77o`9)B1E[[]@[FV~?[c[[[[BZYY i) p, elevatorAngleAction: 0.085808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038587.803291F (some fields omitted in printout)A@Am@A=W~? A aA݈&"AAkNA"AZAbAjArAzAAA{R?AI1rAv@Ah<A2A?dAA`_ܿA%<*A:?2A׽:AMBA:?JA׽RAM٘i)I9v@Y=G J(<JJJJE&K YU~?y-:TAOEb77d9)B0E[[H@[zV~?[n[[[[BZYY i) B)B,E[[J@[V~?[it[[[[BZYY i) >= ))l@*YFFF]:U~?)+@Waiting for Gazebo time sync: latest Gz time: 1743038588.243165 s, next control iter: 1743038588.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038588.643165 s.vɇJ~,*)*AA ףp}@AYep@ANW~? A kA&"AA7jNA"AZAbAjArAzAAAZp"?AwrAW3x@A:AAA)AݿAMs<*A:?2A8ֽ:APBA:?JA8ֽRAP٘i)I93x@YG J<JJJJE&K YVU~?y)FUATE77g9)|B[[݂@[SV~?[z[[[[ZZZZ¸>BZYY i¸>() < pAc&"AAjNA"AZAbAjArAzAAA?|?AJrAqx@A AiAAA޿A <*A9?2Aֽ:AvBA9?JAֽRAvY͌q@ȌyTg2ٓH`.`?@T?=`b? ?@?)͌q@ I٘i)I9x@YG J<J7JJJE&KCy> YU~?yLUAWE7)7ei9=B)vB)E[[q@[)V~?[[[[[ZZZZBZYY i) B)pB*E[[R@[cV~?[΅[[[[ZZZZBZYY i) BJJJ E&Kw> YhU~?ypn XA dE77Zr9.B)GB!E[[9N@[%tV~?[Ɲ[[[[ZZZZBZYY iS) MY5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069494< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038591.583281F (some fields omitted in printout)A)\@A5@A*W~? AA&"AAiNA"AZAbAjArAzAAA~GuyA,@ںrAS}@A5vJA{Ga@A`_?T@AW~? AA&"AAiNA"AZAbAjArAzAAA Ag_ErA}@AA<AAB޿AAf ;*AC:?2A׽:A`ҥ<BAC:?JA׽RA`ҥ<٘i)I9}@YG J<JJJJE&K Y6U~?yxXAlEZ7SI7w9)?B[[@[xTV~?[Z[[[[ZZZZBZYY i) TBE[[㓈@[JV~?[[[[[BZYY i) @5vJA̝@A`ſ@AV~? AAg&"AA̐iNA"AZAbAjArAzAAAE1ArA&~@AFeA?2=A|A>ܿA AM*A 9?2A98׽:A<BA 9?JA98׽RAJJJE&K|x> YU~?y咨`XArEj7Z7P{9/B)?BE[[H%@[BAV~?[H[[[[BZYY ik) H?/5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743038594.103316F (some fields omitted in printout)AQ8@A;4,F+@AV~? AA&"AA aiNA"AZAbAjArAzAAA{A!RrAҶ}@A3;A{=AA<ۿA%A8*A99?2Aֽ:A$, =BA99?JAֽRA$, =٘i)I9}@YkG JPJJJJE&K YT~?y=WAwE7ŧ7~9)AB[[F@[/V~?[ɨ[[[[BZYY i) O =BAm9?JAKֽRA>=٘i)I9]}@Y5G JSJJJJ!E&K YT~?y驨WAzE7779.B)CBE[[M֊@[<'V~?[Ш[[[[BZYY i) ;Ii~@w&#= K^))K^H@yF YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038594.543165 s, next control iter: 1743038594.923180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12093, header.stamp.nsec: 00 temperature: 13.384645* salinity: 33.391464, density: 1025.000000* values[0]: 0.709808F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038594.943165 s.Xd.J~,B] *AJ"J*J2J:JBJnJvJAq= ף@A|͖@AV~? AĩAA&"AA3iNA"AZAbAjArAzAAA1~QALrA|@A s<A =AbA 3ٿA`A$*AX9?2AHֽ:A=BAX9?JAHֽRA=٘i)I9|@YG J*JJJJ#E&K YT~?yqWA|Eb77z9/B)HBE[[]e@[ZV~?[֨[[[[BZYY i) ;Ii@\6%=  ")) "X@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038594.963165 s, next control iter: 1743038595.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038595.363165 s.5J~,> *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038595.363297F (some fields omitted in printout)Aٞ@Al̞@AV~? A˩A,y&"AA@iNA"AZAbAjArAzAAA~>TSAq.rASr|@A*<Au=AA@ؿAAw㛼*A9?2Aֽ:A=BA9?JAֽRA=Y2@ayX =*<ٓH Rٿ`I?5)@8ٿO@P? ?)2@ I٘i)I9r|@YG JHJؕ=JJJ&E&K x> YsT~?y WAEj7Z7E9)LB[[-@[V~?[ ݨ[[[[BZYY i) 歹;Iiȁ@&= ⏿))⏿(@ ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038595.383165 s, next control iter: 1743038595.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12094&, header.stamp.nsec: 0&0 temperature: 13.384810&* salinity: 33.391453&, density: 1025.000000&* values[0]: 0.709115&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038595.783165 s.W;J~, *AJ"J*J2J:JBJnJvJA(\@AߤiP@AV~? AҩAX&"AAU iNA"AZAbAjArAzAAA[)AudrA{@A:A =ASkA/ؿAT0A*A9?2ATֽ:A=BA9?JATֽRA=٘i)I9{@YTG J<JJJJ)E&K YT~?yVAE7779.B)OBE[[@[V~?[[[[[BZYY i) m;Ii@+E'= /))/@{֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038595.803165 s, next control iter: 1743038596.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038596.203165 s.CJ~,! !*AAQE@A*8@AV~? A٩Ak&"AAhNA"AZAbAjArAzAAA+AaarA `{@ABA;K=AȵAb1׿A`nA""*Ab9?2ADP׽:A =BAb9?JADP׽RA =٘i)I9`{@YG J;JJJJ,E&K YT~?yɨ?VAEڇ9)SB[[@[ V~?[[[[[BZYY i) Tz;IiÃ@x(= Ki))Ki5@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038596.243165 s, next control iter: 1743038596.603181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038596.623165 s.TIJ~,P'!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743038596.623274F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@Am@AUuV~? AA&"AAhNA"AZAbAjArAzAAAWc^AL-rA%z@AEoADn=A, A YֿAAZ*A(9?2A?d׽:A` =BA(9?JA?d׽RA` =٘i)I9z@YG J,JJJJ.E&K YdT~?yѨUAEŧ7b790B)YBE[[@[tV~?[[[[[BZYY i) Q=;Ii@H*= o/))o/æ@W۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038596.663165 s, next control iter: 1743038597.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12095 , header.stamp.nsec: 0 0 temperature: 13.385061 * salinity: 33.391453 , density: 1025.000000 * values[0]: 0.708188 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038597.043165 s.PJ~,B!*AA= ף@Aݗ@A,iV~? AAW&"AAhNA"AZAbAjArAzAAAN AEJUrA>z@AkkDAf=AxALտA Aΰ*A+9?2A0׽:AR =BA+9?JA0׽RAR =٘i)I9>z@YNG JdJJJJ1E&K Y T~?y٨sUAEb77p9/B)]BE[[/@[uU~?[=[[[[BZYY i) M;Ii}@8%,= k))kQ@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038597.063165 s, next control iter: 1743038597.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038597.463165 s.QWJ~,Ӥ]!*AJ"J*J2J:JBJnJvJAffff@A5[ٟ@A{]V~? A A&"AAhNA"AZAbAjArAzAAAx A&"AAEhNA"AZAbAjArAzAAA ;е A~s1rA y@Aõ;A =A sAӿA`NAH*A9?2A~ֽ:AW =BA9?JA~ֽRAW =٘i)I9 y@YG JʷJJJJ6E&K YUT~?yTAEŧ7b79)gB[[-I@[U~?[Y[[[[BZYY i) |9Ii@+0= ˒))˒(k@AتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038597.903165 s, next control iter: 1743038598.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038598.303165 s.UdJ~,sg!*AJ"J*J2J:JBJnJvJAQ@A)D@AGV~? AA&"AAhNA"AZAbAjArAzAAABmMR AMrAsqx@Aյe<Al=AXAҿA0Aѵ*A9?2A+`ֽ:A! =BA9?JA+`ֽRA! =٘i)I9qx@Y5G JJJJJ9E&K YT~?y@TAE{7j7А90B)lBE[[ԏ@[U~?[ [[[[BZYY i) PIi@E&K YGoT~?y0tSAE)7ŧ7e9/B)uBE[[@[QU~?[[[[[BZYY i) I-Iiz@8= u*x))u*x @̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038599.163165 s, next control iter: 1743038599.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038599.563165 s.xJ~,c !*AA3333@A])@A3*V~? AAA.&"AAlhNA"AZAbAjArAzAAAAC|AYh sA,v@AᙫA=AAdCпA A*A9?2A:׽:An<BA9?JA:׽RAn YciT~?y SAE{7Z709)zB[[$u@[U~?[[[[[BZYY i) ҀjIiِ@h9= s))s@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038599.603165 s, next control iter: 1743038599.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12098, header.stamp.nsec: 00 temperature: 13.385797* salinity: 33.391422, density: 1025.000000* values[0]: 0.705123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038599.983165 s.J~,!*AJ"J*J2J:JBJnJvJA\(@AB@Am!V~? AA&f&"AA@_hNA"AZAbAjArAzAAAbQAm sA*v@A3WA'?=A6A2οA]5AZ*A9?2Ae׽:Ab<BA9?JAe׽RAb<CI٘i)I9*v@YG J$JJJJDE&K YcT~?yjRAE7791B)BE[[@[U~?[8%[[[[BZYY i) דIig@:= co))coz#@^ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038600.023165 s, next control iter: 1743038600.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038600.403165 s.&J~,"*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066718< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038600.403282F (some fields omitted in printout)AQ^@AF'KQ@A)V~? A#A &"AAORhNA"AZAbAjArAzAAA:g AOsAu@AphAB=A޿A`M̿Ao\A;*A9?2A)Q׽:A <BA9?JA)Q׽RA <٘i)I9u@YG J暼JJJJFE&K Y]T~?yORAE7777ř9)B[[@[U~?[+[[[[BZYY i) rpIi$@d;= k))k@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038600.423165 s, next control iter: 1743038600.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12099", header.stamp.nsec: 0"0 temperature: 13.385988"* salinity: 33.391369", density: 1025.000000"* values[0]: 0.704167"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038600.823165 s.J~,24"*AJ"J*J2J:JBJnJvJAGz@AfJo@AfV~? A@+A: &"AA!FhNA"AZAbAjArAzAAALjAdlqsA(u@A<Aѝ=A$ ܿA w˿AA*A\9?2A׽:A&<BA\9?JA׽RA&<٘i)I9(u@Y6G J,JJJJIE&K YWT~?y$QAE779)B[[G@[iU~?[2[[[[BZYY i\)  ѻIi@=<= Ťf))ŤfB;@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038600.863165 s, next control iter: 1743038601.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038601.243165 s.J~,mO"*AAףp=ʡ@A1@A$ V~? A3Aģ &"AA:hNA"AZAbAjArAzAAAsAuJ.sAt@AT2;A#=AGٿA=ɿA mA*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9t@YG JSJJJJLE&K YQT~?y@-QAE{7j7Z9)B[[@[U~?[89[[[[BZYY i) Ii)@== Kb))KbzƬ@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038601.263165 s, next control iter: 1743038601.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038601.663165 s.J~,qj"*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: 0.4200182 time: 1743038601.663310F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12100, header.stamp.nsec: 00 temperature: 13.386211* salinity: 33.391365, density: 1025.000000* values[0]: 0.703328F (some fields omitted in printout)A@A*9'@AcV~? A:A &"AA0hNA"AZAbAjArAzAAA0.ArkF!sA>)t@A@<A"=A׿AiǿAA;*A9?2Axֽ:A=BA9?JAxֽRA=YR@ֿy> =#A<ٓH ?eԻq `z??)R@ I٘i)I9)t@YG JJ>#JJJNE&KCx> YNT~?y6/QAֿE777%92B)B E[[b0@[-U~?[?[[[[BZYY i) `ZIi[@== ]))]]R@༪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038601.683165 s, next control iter: 1743038602.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038602.083165 s.DJ~, S"*AA)\5@A4(@A%U~? ABAr &"AA,&hNA"AZAbAjArAzAAAz(W#}`A+ǎ&sAs@A\o<A/=AkԿAſAlA(*A59?2At|ֽ:A=BA59?JAt|ֽRA=٘i)I9s@YMG J4JJJJQE&K YKT~?y>PAEb7b79)B[[@[U~?[F[[[[BZYY i) Ii@~a>= -Y))-Yޭ@yCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038602.123165 s, next control iter: 1743038602.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038602.503165 s.J~,P4"*AJ"J*J2J:JBJnJvJARk@Ag=AfɿAkA@:A|*A9?2A)b׽:A|=BA9?JA)b׽RA|=Y@ɿy]c=doٓHy`?? pu )α ȱٍ V?)@ I٘i)I9q@Y*G JJ;JJJ\E&K|x> YjBT~?ya_OAɿE77779+B)B[[wȿ[U~?[fa[[[[BZYY i) NTIi@?A= 'H))'H'HêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038603.803165 s, next control iter: 1743038604.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038604.183165 s.ˆJ~,Z #*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: 0.4199722 time: 1743038604.183267F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@AoK5@AU~? AgjAl&"AAhNA"AZAbAjArAzAAAZ|A:>sA@Vq@AE;A7=A'ǿA,A RKAa*A-9?2A (׽:Av=BA-9?JA (׽RAv=٘i)I9Vq@YG JDJJJJ_E&K Y=BT~?yjNAEZ7SI7婡9)B[[nƿ[?U~?[h[[[[BZYY i) AdIi+@A= _C))_C_C[ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038604.223165 s, next control iter: 1743038604.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038604.603165 s.44ɈJ~,&#*AAQx@A]Ek@AU~? AmrA/&"AArgNA"AZAbAjArAzAAA=AB"XCsASp@A|Ai=AĿA@.iA;YA *A9?2Aֽ:A4 =BA9?JAֽRA4 =٘i)I9p@YG JJJJJaE&K YBT~?yssNAEE7E79)BE[[KBĿ[U~?[n[[[[BZYY iv) YsIi@A= t?))t?t?ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038604.643165 s, next control iter: 1743038605.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12103 , header.stamp.nsec: 0 0 temperature: 13.570148 * salinity: 33.374977 , density: 1025.000000 * values[0]: 0.574757 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038605.023165 s.ZЈJ~,{A#*AJ"J*J2J:J#?BJ#?nJI5vJAHz@Ad9 @AU~? AxzA]3&"AAgNA"AZAbAjArAzAAA㰺TAB|tHsAWp@A&.<Aꛕ=A` ¿A@7AdAX*A9?2A]\#*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199482 time: 1743038605.443280F (some fields omitted in printout)Aq= @A&֣@AU~? AA<&"AAgNA"AZAbAjArAzAAAf$AhMsAo@Ałi<Aʗ=AݓAwAmA3*A9?2ALֽ:A=BA9?JALֽRA=٘i)I9o@YG JJJJJgE&K YAT~?yMAEŧ7ŧ7E9)B[[k쿿[3U~?[|[[[[BZYY i) _5Iiژ@C= 6))66ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038605.483165 s, next control iter: 1743038605.843178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12104, header.stamp.nsec: 00 temperature: 13.570402* salinity: 33.374992, density: 1025.000000* values[0]: 0.574121F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038605.863165 s.+݈J~,}>w#*AJ"J*J2J:JBJnJvJA@A: @AzU~? AA&"AAgNA"AZAbAjArAzAAA.AӢRsAEo@A#uS<AV=AA A`*tA를*A9?2A}tֽ:A=BA9?JA}tֽRA=Yג@ԼyS=4T<ٓHZ?@?Zw}R,?E@tn??)ג@ I٘i)I9Eo@YG JJXc<JJJiE&K$x> YgDT~?yԍyMAԼEj7Z79)B[[![U~?[Ă[[[[BZYY i) PIi@joC= gr2))gr2gr2y7w3ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038605.903165 s, next control iter: 1743038606.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038606.283165 s.6RJ~,#*AA(\O@A9SB@AyU~? AAT[&"AAgNA"AZAbAjArAzAAADA&j'WsAn@A p;A=ADA ֔AMxAc*Az9?2Azֽ:A/=BAz9?JAzֽRA/=٘i)I9n@YKG J,JJJJlE&K YGT~?yMAE77۲9)BE[[Ǖ[U~?[j[[[[BZYY i) IGIi@sC= .))..תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038606.303165 s, next control iter: 1743038606.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12105., header.stamp.nsec: 0.0 temperature: 13.570673.* salinity: 33.374966., density: 1025.000000.* values[0]: 0.573475.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038606.703165 s.ֺJ~,#*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199622 time: 1743038606.703268F (some fields omitted in printout)AQ@A x@AU~? AA&"AAgNA"AZAbAjArAzAAAcXAu~\sA .n@A󝽻As)=A卷AOuAyAܦ*A9?2AO-׽:A =BA9?JAO-׽RA =٘i)I9.n@YG J{B=JJJJoE&K YIT~?y\LAEŧ7b79)B[[ij[iU~?[ [[[[BZYY i) ПIi@ݳC= )))))$ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038606.723165 s, next control iter: 1743038607.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038607.123165 s.1J~,C#*AAGẤ@A٭@AU~? AϢA&"AA\gNA"AZAbAjArAzAAA&9|AlasAm@AZYA8x=A޴AN?AxAs*A9?2A`W׽:A=BA9?JA`W׽RA=٘i)I9m@YG J槼C=JJJJqE&K Y|LT~?yBLAE77p9)B[[@[3U~?[[[[[BZYY i) WXIiD@A/D= Kp%))Kp%Kp%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038607.143165 s, next control iter: 1743038607.523174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038607.543165 s.IJ~,#*AJ"J*J2J:J?BJ?nJ5vJA= ף@Ac@AU~? A⪪AK&"AAgNA"AZAbAjArAzAAA%A'ǣYfsAm@A}aAަ=ABA ~?A@2uAr*A9?2A5׽:Ae=BA9?JA5׽RAe=٘i)I9m@YHG J᫼JJJJtE&K Y.OT~?y఩KAE7777;9)ïBE[[e[WU~?[?[[[[BZYY i) ஼Iiә@D= !))!!GYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038607.563165 s, next control iter: 1743038607.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12106, header.stamp.nsec: 00 temperature: 13.570963* salinity: 33.374966, density: 1025.000000* values[0]: 0.572824F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038607.963165 s.{J~,#*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038607.963290F (some fields omitted in printout)Affff&@A4,F]@AU~? AA&"AAgNA"AZAbAjArAzAAAP+eAjF(FksA&zl@AelA=AAS?AoAy*Aө9?2AZֽ:A=BAө9?JAZֽRA=YZ@ͯy=7ٓH@?@_??TE*?` y<@}|?)Z@ I٘i)I9zl@YG J;J4<JJJwE&Kx> YTT~?yhKAͯEj7Z79,B)ɯBE[[[첿[U~?[ң[[[[BZYY i) 3Iiy@rD= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038608.003165 s, next control iter: 1743038608.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038608.383165 s.J~,<$*AJ"J*J2J:JBJnJvJA(\@ATO@AxU~? AAGG&"AA2gNA"AZAbAjArAzAAAQ+^NAW'1psAik@Ad;A=A=Aث?AfA~¼*A9?2Aafֽ:AME=BA9?JAafֽRAME=٘i)I9k@YG JJJJJyE&K Y>ZT~?y!©JAE7777л9)ίB[[S°[U~?[`[[[[BZYY i) YIiM@:D= t))ttYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038608.423165 s, next control iter: 1743038608.783179 s, wait time: 0.360014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12107", header.stamp.nsec: 0"0 temperature: 13.571225"* salinity: 33.374969", density: 1025.000000"* values[0]: 0.572113"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038608.803165 s.wA J~,{g3$*AA둥@A"߄@AU~? A êA&"AAgNA"AZAbAjArAzAAA{A#usA4k@ASG<A.=AAͬ?A`[A,3˼*A9?2Aֽ:A=BA9?JAֽRA=٘i)I94k@Y&G JƼJJJJ|E&K Y_T~?yʩJAE79)ӯB[[񗮿[U~?[鰩[[[[BZYY i) ļIiP@[>D=  ))  YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038608.843165 s, next control iter: 1743038609.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038609.223165 s.gJ~,HN$*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.419998J2 time: 1743038609.223292F (some fields omitted in printout)"J*J2J:JBJnJvJAzǥ@A7㢺@AWU~? A˪A &"AAgNA"AZAbAjArAzAAAt?4A/zsAj@Apm<A Ѱ=A%Ar?A`NAKSм*Ab9?2AH%ֽ:A=BAb9?JAH%ֽRA=٘i)I9j@YG JͼJJJJE&K YNeT~?ybөJAE7f9-B)ٯBE[[m[zU~?[l[[[[BZYY i) *̼Ii@;}D= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038609.243165 s, next control iter: 1743038609.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038609.643165 s.wJ~, *i$*AA ףp@AhZbe@AU~? AӪAp&"AA(gNA"AZAbAjArAzAAAL`"rAo~sAi@Aґ<A9=AzAA?A` ?AѼ*Aj9?2Atֽ:Alz=BAj9?JAtֽRAlz=٘i)I9i@YRG JUѼJJJJE&K YjT~?yܩIAEb7709)ޯB[[C[dU~?[轩[[[[BZYY i) |ӼIi@tD= x ))x x YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12108, header.stamp.nsec: 00 temperature: 13.571532* salinity: 33.374977, density: 1025.000000* values[0]: 0.571351F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743038609.663165 s, next control iter: 1743038610.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038610.063165 s. J~,N $*AJ"J*J2J:JD?BJD?nJ^5vJA33333@A@)&@APU~? A۪AW%"AAhhNA"AZAbAjArAzAAANjŦDA ăsA'i@AelAU=Ar¢A`?A,AHм*A9?2A`ֽ:A =BA9?JA`ֽRA =Y[@ŢyP=SMmٓH6??7? Lv?F@"V`M@?)[@ I٘i)I9'i@Y G J]ѼJ'<JJJE&K4x> Y'sT~?yj(IAŢE77j7¡9.B)BE[[[U~?[[ĩ[[[[BZYY i)  ڼIiW@GD= W%))W%W%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038610.103165 s, next control iter: 1743038610.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038610.483165 s.q_'J~,$*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084756< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038610.483267F (some fields omitted in printout)A\h@A[@AU~? A A8%"AAwhNA"AZAbAjArAzAAA$AB䟈sAyh@Aq,A9۳=A As?AAtϼ*A9?2A/,׽:A=BA9?JA/,׽RA=٘i)I9yh@Y| G J)мJJJJE&K Yv{T~?yHAEj7Z7ġ9)B[[[DU~?[ʩ[[[[BZYY i) Ii@C= ))/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038610.503165 s, next control iter: 1743038610.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12109, header.stamp.nsec: 00 temperature: 13.571878* salinity: 33.374989, density: 1025.000000* values[0]: 0.570525F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038610.903165 s.-J~,͹$*AJ"J*J2J:JBJnJvJAQ@AĬ@AfU~? AAt%"AARhNA"AZAbAjArAzAAAmAHwsAjg@AnAش=AeA`W?AAм*A9?2A0׽:A=BA9?JA0׽RA=٘i)I9g@Y G JϼB=JJJJE&K YȃT~?y97HAE77ơ9)BE[[ţ[=V~?[0ѩ[[[[ZZ¸BZYY i¸=) KռIiИ@™C= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038610.943165 s, next control iter: 1743038611.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038611.323165 s.y4J~,2$*AAGzԦ@ApwnǦ@AU~? AA%"AAhNA"AZAbAjArAzAAA=͕A4]7IsAg@A3Aɵ=A)՚A 4?A@"AԼ*AS9?2Aֽ:A=BAS9?JAֽRA=٘i)I9g@Y G JjҼC=JJJJE&K YT~?yGAE{7{7[ȡ9)B[[[ V~?[ש[[[[ZZBZYY i) ɼIiј@C= N))NNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038611.363165 s, next control iter: 1743038611.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12110*, header.stamp.nsec: 0*0 temperature: 13.572160** salinity: 33.374981*, density: 1025.000000** values[0]: 0.569747*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038611.743165 s.W;J~,m$*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743038611.743314F (some fields omitted in printout)Aףp= @A66@AU~? AAi%"AAdhNA"AZAbAjArAzAAA@NAN!|sARf@AֺAV=AUA@j?AA*Aś9?2Aֽ:A#<BAś9?JAֽRA#<٘i)I9Rf@Y- G JJJJJE&K YgT~?yGGAE)7ŧ7&ʡ9/B)BE[[p[7V~?[ݩ[[[[ZZBZYY i) ٽIi@C= >))>뾩>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038611.763165 s, next control iter: 1743038612.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038612.163165 s.w}BJ~,q %*AA@@At2@AV~? AA%"AA'hNA"AZAbAjArAzAAAidAqEQۛsAte@A <A=AԕA`C?A`hA*A%9?2AHֽ:Aܺ<BA%9?JAHֽRAܺ?#?)Ɯ@ I٘i)I9te@Y G J:JJJJE&Kx> YlT~?y"FAE77ˡ9)B[[F[7V~?[1[[[[ZZBZYY i) 3IiI@aB= ))⾩yY=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038612.183165 s, next control iter: 1743038612.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038612.583165 s.HJ~, S%%*AJ"J*J2J:J?BJ?nJ5vJA)\u@A=h@A V~? AR A7%"AA1hNA"AZAbAjArAzAAA AjZ%sAd@A{'b<Atos=A:DA̮?AA*A9?2AEֽ:Ap<BA9?JAEֽRAp<٘i)I9d@Y" G J2JJJJE&K YpT~?y={FAE77͡90B) BE[[[ V~?[w[[[[ZZBZYY i) Ii@ elevatorAngleAction: 0.083000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038613.003294F (some fields omitted in printout)AR@Akz@AV~? AA%"AAE<AT.=AMA?A iAsҼ*AԸ9?2A\ֽ:AZ;BAԸ9?JA\ֽRAZ;٘i)I9c@Y G JJJJJE&K YuT~?yXFAE7ŧ7ϡ91B)B!E[[[F(V~?[[[[[ZZBZYY i) 㚼Iic@[A= Ѿ))ѾѾuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038613.043165 s, next control iter: 1743038613.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038613.423165 s.uVJ~,[%*AJ"J*J2J:J|?BJ|?nJ5vJA{G@AF};ԧ@AV~? AAw %"AAGhNA"AZAbAjArAzAAAZATsA 5c@AxA;Ah@<AA T?AvEA\A*A~9?2Acֽ:ABA~9?JAcֽRA٘i)I95c@YH G J<¼JJJJE&K YyT~?ys&EAE{7{7Pѡ9)B[[[Ö[S0V~?[[[[[ZZBZYY i) U?Ii6@A= Ⱦ))ȾȾYFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743038613.443165 s, next control iter: 1743038613.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12112, header.stamp.nsec: 00 temperature: 13.572869* salinity: 33.374985, density: 1025.000000* values[0]: 0.567880F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038613.843165 s.\J~,u%*AAp= @Azo  @AV#V~? Aa!As%"AAThNA"AZAbAjArAzAAA7!A%ޭsAb@AABF<AfA"?AwAv*A۷9?2AaJֽ:A]!BA۷9?JAaJֽRA]!٘i)I9b@Y G JꕼB=JJJJE&K YT~?y.IEAEj7SI7ӡ9)B[[[8V~?[[[[[ZZBZYY i) KIi8@ɏA= V:))V:V:RSYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038613.863165 s, next control iter: 1743038614.243175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038614.263165 s.dJ~,ؐ%*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083000< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038614.263289F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A`?@A3,V~? A(A%"AA ahNA"AZAbAjArAzAAAmxKA!,OsA^b@A7lA%~AgшA'v?AAt *A9?2A!+ֽ:ALjBA9?JA!+ֽRALjYPٟ@͈yw򻙓lٓH`?` ?@I?@ y?[?N~?@Ú?)Pٟ@ I٘i)I9^b@Y G JRC=J GJJJE&Kv> YT~?yL6SEA͈EZ7ԡ92B)B%E[[i[qAV~?[0[[[[ZZBZYY izx=) _tIiR@i@= ·))··)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038614.283165 s, next control iter: 1743038614.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 121132, header.stamp.nsec: 020 temperature: 13.5730582* salinity: 33.3749962, density: 1025.0000002* values[0]: 0.5673172F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038614.683165 s.ljJ~,R%*AA(\@Aꭁu@A5V~? A~0AjK%"AAnhNA"AZAbAjArAzAAAzWh ATӬsA)b@Az>eA"A:ADZ?A aAz*AD9?2AG/ֽ:AgBAD9?JAG/ֽRAg٘i)I9)b@Y G JJJJJE&K YT~?y>]EAEj7֡9)!B[[1<[JV~?[E [[[[ZZBZYY i|=) 7aIi@y?= Ѯ))ѮѮ4)YFFF]h:Waiting for Gazebo time sync: latest Gz time: 1743038614.683165 s, next control iter: 1743038615.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038615.103165 s.qJ~,%*AJ"J*J2J:JBJnJvJAQ@A#F@Ag?V~? A7A%"AAX}hNA"AZAbAjArAzAAA6)y Ac#vsAXb@AjsһA$ AAH>?A OAV*A9?2Asfֽ:ANѼBA9?JAsfֽRANѼ٘i)I9b@Y G J<JJJJE&K Y]T~?yEgEAEb7b7{ء93B)#B(E[[ [SV~?[R[[[[BZYY i) NIi@>= ))~9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038615.123165 s, next control iter: 1743038615.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038615.523165 s.wJ~, |%*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743038615.523321F (some fields omitted in printout)AHz@A( 5 @AIV~? A^?A'%"AAhNA"AZAbAjArAzAAAk4+N~ ACT7sAb@Aߌ;Ab&5AA ?A\lA\;*AS9?2Aֽܴ:AdBAS9?JAֽܴRAd缙٘i)I9b@Y G J:JJJJE&K YU~?yMrEAE)7ŧ7Fڡ9)"B[[܋[]V~?[S[[[[BZYY i) ;Ii@^>= S))SSyB=bs*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038615.563165 s, next control iter: 1743038615.923190 s, wait time: 0.360025 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12114, header.stamp.nsec: 00 temperature: 13.573101* salinity: 33.374985, density: 1025.000000* values[0]: 0.567160F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038615.943165 s.^d~J~,[]%*AJ"J*J2J:J1?BJ1?nJ>5vJAq= #@Ah @ATV~? AFA%"AAhNA"AZAbAjArAzAAACPw AvsA@b@AM<AYAX|A1?A9A8;*A9?2A/ֽ:A@BA9?JA/ֽRA@BI٘i)I9@b@Y G J;JJJJE&K YU~?y?U|EAEb77ܡ94B))E[[[gV~?[H[[[[BZYY i) 0#)Ii@(>= ^))^^Ȓ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038615.983165 s, next control iter: 1743038616.343185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038616.363165 s.J~,>&*AAY@A|%L@A_V~? AMA%"AAahNA"AZAbAjArAzAAA5A4e Au.:sA3zb@Ae<AtxAWwA?AA'<*AW9?2Aֽ:AtBAW9?JAֽRAtY@wynx|df<ٓH`v"?S?`BKM0? YU~?y\EAwE7{7ݡ95B)!B,E[[W[5rV~?['![[[[BZYY iu g=) BIi}@\<= ݋))݋݋*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038616.383165 s, next control iter: 1743038616.763184 s, wait time: 0.380019 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12115&, header.stamp.nsec: 0&0 temperature: 13.572991&* salinity: 33.374996&, density: 1025.000000&* values[0]: 0.567336&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038616.783165 s.VJ~,2&*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056409< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038616.783296F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@ALT@AkV~? A+UA{%"AAھhNA"AZAbAjArAzAAAoXGA SxJsAb@A <AEA;rA?A|A']<*A19?2AЙֽ:A BA19?JAЙֽRA ٘i)I9b@Y G J?<JJJJE&K Y/U~?yc#FAE{7j7ߡ9)B[[YP[|V~?[&[[[[BZYY i) a Ii@;= !))!!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038616.803165 s, next control iter: 1743038617.183174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038617.203165 s.J~,2M&*AAQũ@As@AwV~? AJ\A%"AAhNA"AZAbAjArAzAAA<AsA3c@AA#SA 7mA?AAߋ<*Aڙ9?2A8ֽ:AmBAڙ9?JA8ֽRAm٘i)I93c@YG G J_y<JJJJE&K Y?U~?ykvFA E77q96B)B/E[[5 [V~?[,[[[[BZYY i) Ii@:=  elevatorAngleAction: 0.065657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743038618.043277F (some fields omitted in printout)A= ף0@As#@AʑV~? AKjA%"AAyhNA"AZAbAjArAzAAAɪA&&/sAe>d@ArpA AM cA@.?AA"<*A9?2Aս:AIzBA9?JAսRAIz٘i)I9>d@Y G Jn<JJJJE&K Y_U~?yyGAE98B)B3E[[x}[(V~?[28[[[[BZYY i) RIi@9= pQ))pQpQymg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038618.083165 s, next control iter: 1743038618.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038618.463165 s.mJ~,H&*AJ"J*J2J:Jo?BJo?nJ5vJAfffff@Ab1ZY@AgV~? A+qAwU%"AA iNA"AZAbAjArAzAAAτ`A-asAGd@AK%AnA=]A?AA<*AЬ9?2AKֽ:An BAЬ9?JAKֽRAn Y[@]ylUe&ٓH`%?`? Y%rU~?y8GA]E77779)B6E[[;y[#V~?[=[[[[BZYY i) ^Iiɏ@ 8= -@))-@-@yŇ=[*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038618.503165 s, next control iter: 1743038618.863198 s, wait time: 0.360033 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12117, header.stamp.nsec: 00 temperature: 13.572478* salinity: 33.375004, density: 1025.000000* values[0]: 0.568458F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038618.883165 s.yJ~,M&*AA(@Am@AxV~? AwA%"AA iNA"AZAbAjArAzAAA?] ANsAde@AqAљATXA?AAj <*A9?2Aڵֽ:A{BA9?JAڵֽRA{٘i)I9de@Y G J<JJJJE&K YtU~?y솪GAEŧ7b79) B[[?t[xV~?[SC[[[[BZYY i) PynIi@ׯ6= .))..*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038618.903165 s, next control iter: 1743038619.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038619.303165 s.UJ~,sg&*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038619.303280F (some fields omitted in printout)J"J*J2J:JBJnJvJAѪ@A"Ī@AV~? A~A&L%"AAQ6iNA"AZAbAjArAzAAAU KAWbƝsABe@A<A#AMRA`ĝ?ATAL<*A9?2A(׽:ABA9?JA(׽RA٘i)I9e@Y G J<JJJJE&K YU~?yTHAE777f99B) B9E[[#Tp[#V~?[H[[[[BZYY i) ;2Ii؍@55=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038619.323165 s, next control iter: 1743038619.703177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12118., header.stamp.nsec: 0.0 temperature: 13.572138.* salinity: 33.375019., density: 1025.000000.* values[0]: 0.569195.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038619.723165 s.J~,H&*AAz@A @AV~? ADA*%"AALiNA"AZAbAjArAzAAAݥAI0sA{f@Ao<AqA"MAg?AA<*A9?2AG׽:AcBA9?JAG׽RAc٘i)I9f@YJ G J<JJJJE&K YU~?ySHAE77{719:B)B:E[[k[%V~?[BN[[[[BZYY i) Ii&@4=  p )) p  p *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038619.763165 s, next control iter: 1743038620.123180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038620.143165 s.J "J *J 2J :J ?BJ ?nJ 5vJ c/‰J~,=* '*AA ףp=@ADi0@AUV~? AƋAJ%"AAciNA"AZAbAjArAzAAAkAT'sA' g@A B<AZiAxHA7-?AA& <*A9?2Aaֽ:AbBA9?JAaֽRAb٘i)I9 g@Y G J8<B=JJJJE&K Y_U~?y#IAEj79;B)B=E[[g[zV~?[S[[[[BZYY i) fIi@4=  ))  *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038620.163165 s, next control iter: 1743038620.543190 s, wait time: 0.380025 s rAdjusting time to match Gazebo time: 1743038620.563165 s.ȉJ~,R $'*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038620.563264F (some fields omitted in printout)A3333s@AeI)f@A$V~? A0A%"AA6{iNA"AZAbAjArAzAAAdXAMe sAg@A͐:;AyArnCA?AK|AOU<*A9?2AΖֽ:A/FBA9?JAΖֽRA/FYL@{Cyy ;;ٓH? ?[`?k?"k?`Rg??)L@ I٘i)I9g@Y G J<C=Je<JJ6FJE&K4x> YU~?yIA{C E779)B[[c[V~?[X[[[[BZYY i) 0S8Ii:@62= mн))mнmн*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038620.603165 s, next control iter: 1743038620.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12119, header.stamp.nsec: 00 temperature: 13.571782* salinity: 33.374996, density: 1025.000000* values[0]: 0.569891F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038620.983165 s.ωJ~,>'*AJ"J*J2J:JBJnJvJA\@A˄_ꛫ@A^V~? AAoO%"AAuiNA"AZAbAjArAzAAAvc.:AUcsA &h@AADAi>A`?A1AnA<*A69?2AJֽ:ABA69?JAJֽRA٘i)I9&h@YJ G Jԧ<JJJJE&K Y*U~?y4IA#Eŧ7ŧ79 elevatorAngleAction: 0.065657< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743038621.823292F (some fields omitted in printout)AGz@AV p@A W~? AФA\%"AAiNA"AZAbAjArAzAAA'jFA:sAu=i@A;gVA/A24A ?A`@A,<*A49?2A[ֽ:AZBA49?JA[ֽRAZ٘i)I9=i@Y G Jˤ<JJJJE&K Y V~?yaJA(Eb77&9>B)BDE[[U[W~?[jh[[[[BZYY i) R:;Ii@2.= @L))@L@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038621.843165 s, next control iter: 1743038622.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038622.243165 s.J~,d'*AAףp=J@A0=@Aw-W~? AϪA}%"AAiNA"AZAbAjArAzAAAAXetAi@AQAA.A"?A BA<*A9?2Aӱֽ:AvBA9?JAӱֽRAv٘i)I9i@YEG Jx<JJJJE&K Y\!V~?yxKA D+E77{79)BGE[[dQ[%W~?[sm[[[[BZYY i) Pw;Iij@iU-= @Q))@Q@Q*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038622.263165 s, next control iter: 1743038622.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038622.663165 s.J~,q'*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12121, header.stamp.nsec: 00 temperature: 13.571095* salinity: 33.375034, density: 1025.000000* values[0]: 0.571317F (some fields omitted in printout)A@A%]3r@AK?W~? AAir%"AAiNA"AZAbAjArAzAAAߵfA x'tA@j@AM;A5AHT)AsE?AxAb<*A9?2Ao׽:ABA9?JAo׽RAYK߬@k)y ;ٓH`d0?`?`oI@E@?`휢??Iv??)K߬@ I٘i)I9@j@YG J<B=JNb<JJJE&Kx> Y7V~?y⾪mKAk)-Ej7j79?B)BJE[[L[4W~?[ar[[[[BZYY i9=) К;Iiօ@sP+= ?z))?z?z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038622.683165 s, next control iter: 1743038623.063182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038623.083165 s.DJ~,"S'*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743038623.083330F (some fields omitted in printout)A)\µ@A g@AQW~? AvA%"AAjNA"AZAbAjArAzAAA|$ԿA{1 tAj@AjX<A A#A?A Ad֊<*A9?2A1׽:A4BA9?JA1׽RA49٘i)I9j@YG JG<C=JJJJE&K YMV~?yLĪKA0Eŧ7b79)B[[+H[DW~?[>w[[[[BZYY i) ;Iir@&)= ;));;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038623.123165 s, next control iter: 1743038623.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038623.503165 s.J~,v4'*AJ"J*J2J:JBJnJvJAR@Amsczެ@AdW~? AA%"AA1jNA"AZAbAjArAzAAA)?AwM tA-*k@Af<A}ACA?A?A6n<*A9?2A׽:AT;BA9?JA׽RAT;򼙘٘i)I9*k@Y G JÇ<JJJJE&K Y;dV~?yɪ#LA3E777Q9@B)BME[[#D[SW~?[ |[[[[BZYY i) ;;Ii=@R'= <))<<ŵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038623.523165 s, next control iter: 1743038623.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12122, header.stamp.nsec: 00 temperature: 13.570815* salinity: 33.375042, density: 1025.000000* values[0]: 0.571939F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038623.923165 s.7J~,'*AA{G!@A%<@AwW~? AA#%"AA1NjNA"AZAbAjArAzAAAB}?AրtAk@AP;A@AA`F?Au߿A5<*A9?2A$ֽ:AnOBA9?JA$ֽRAnO٘i)I9k@YdG J<JJJJE&K YzV~?yϪ~LA5ES779)BPE[[S?[cW~?[Ȁ[[[[BZYY i) <;Ii7@&= x=))x=x=y-ٛ=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038623.943165 s, next control iter: 1743038624.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038624.343165 s.<J~,(*AJ"J*J2J:J~?BJ~?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038624.343279F (some fields omitted in printout)Ap= W@AN^dJ@A`W~? AǫA%"AA+kjNA"AZAbAjArAzAAA'm?AvltA l@AAxEAaA.A?A }߿A9?<*AR9?2A{ֽ:ALBAR9?JA{ֽRAL٘i)I9 l@YG J}<JJJJE&K YΐV~?yԪLA8E779BB)BUE[[;[=tW~?[q[[[[BZYY i)   9YV~? 9y7٪6MAa;E{7j79)ޯB[[s6[W~?[[[[[BZYY i) 5E77|9CB)ۯBXE[[+2[W~?[p[[[[BZYY i) ˺* elevatorAngleAction: 0.076130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743038625.603282F (some fields omitted in printout)AQ@A ސF@A\W~? A֫A %"AABA9?JAIֽRA>٘i)I9um@YG J<JJJJE&K YV~?yMA@E{7{7F9)دB[E[[_-[W~?[Ւ[[[[BZYY i) >:](*AAq= c@AkV@AW~? A=A+%"AAkNA"AZAbAjArAzAAA;?AaA?-#tAhn@Ar<'<A瑽AШA`?A@GYۿA֝<*A9?2AD/׽:A(BA9?JAD/׽RA(٘i)I9hn@YG J<JJJJE&K YxW~?yNAFEb779)ѯB[[$[ W~?[b[[[[BZYY i) IY))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038626.463165 s, next control iter: 1743038626.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12125, header.stamp.nsec: 00 temperature: 13.569863* salinity: 33.375084, density: 1025.000000* values[0]: 0.573783F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038626.863165 s.+-J~,>(*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076130< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038626.863315F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A@AJX~? AA$j%"AA#kNA"AZAbAjArAzAAAbw?A~H&tA"n@APSo<A7fAA`[?A@ ڿAE<*AY9?2Af7׽:ABAY9?JAf7׽RAYb@y(b|o<ٓH?x??F<ܿ?V??@$??)b@ I٘i)I9n@YdG Jw<JsNJJJE&KCx> Y!W~?y OAHE77j7 9)ͯBaE[[ [W~?[{[[[[BZYY i) ,h))#>#>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038626.883165 s, next control iter: 1743038627.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038627.283165 s.@R4J~,(*AA(\Ϯ@A1"Q®@AX~? AbA%"AAMDkNA"AZAbAjArAzAAA38@AM6(tA`o@A/9<AA{߾A?AٿA<*A]9?2Aֽ:A BA]9?JAֽRA ٘i)I9`o@YG Jw<JJJJE&K Y ;W~?yoOAKE77q 9FB)˯BeE[[[W~?[[[[[BZYY i) w))5>5>]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038627.303165 s, next control iter: 1743038627.683183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12126., header.stamp.nsec: 0.0 temperature: 13.569548.* salinity: 33.375111., density: 1025.000000.* values[0]: 0.574421.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038627.703165 s.Ӻ:J~,(*AJ"J*J2J:JBJnJvJAQ@A}@A0X~? AA%"AA9ekNA"AZAbAjArAzAAAާӊ@A;bl+tAo@Ak;AAվA?AؿA<*A9?2Akֽ:A BA9?JAkֽRA ٘i)I9o@YG Jg<JJJJE&K YtTW~?yOANE77{7<9GB)ȯBhE[[O[X~?[s[[[[BZYY iL=) O|))0G>0G>r*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038627.723165 s, next control iter: 1743038628.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038628.123165 s.CAJ~,)*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038628.123289F (some fields omitted in printout)AG:@A[z4-@AFX~? AAe%"AAkNA"AZAbAjArAzAAAV9@A3?.tAcnp@AAAAӶ˾A?A *ؿA <*Ai9?2A6@ֽ:ABAi9?JA6@ֽRA٘i)I9np@YUG J<JJJJE&K YmW~?y6PAPEb779)ïB[[[|X~?[O[[[[BZYY i) ))?Z>?Z>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038628.143165 s, next control iter: 1743038628.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038628.543165 s.IHJ~,")*AJ"J*J2J:JBJnJvJA= ףp@Azؘc@AW]X~? AA%"AATkNA"AZAbAjArAzAAA<^F"@AJeZ0tAp@AsjAZAA`[?A@X׿A<*A9?2Ad!ֽ:AbZBA9?JAd!ֽRAbZ٘i)I9p@YG Jk<JJJJE&K YW~?yhPASE77779)BkE[[ [&X~?[[[[[BZYY i) 嵒))0l>0l>.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038628.563165 s, next control iter: 1743038628.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12127, header.stamp.nsec: 00 temperature: 13.569185* salinity: 33.375107, density: 1025.000000* values[0]: 0.575126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038628.963165 s.xNJ~,=)*AAffff@A>Y1\@AtX~? AA%"AA~kNA"AZAbAjArAzAAA @AǰK2tA֎q@AQAȋA A?AfֿAɭ<*A9?2A.Mֽ:ABA9?JA.MֽRAYO@ysVXRٓH@?@d?Ng@Dֿp??˳?6?)O@ I٘i)I9q@YG J<JKAJJJE&Kx> YW~?yzQAVEŧ7b79HB)BnE[[` [9X~?[[[[[BZYY i) 0))@~>~>ya=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038629.003165 s, next control iter: 1743038629.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038629.383165 s.UJ~,X)*AJ"J*J2J:JU?BJU?nJ}5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.253031> elevatorAngleAction: 0.085204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743038629.383280F (some fields omitted in printout)A(ܯ@ADKϯ@AX~? AA(z%"AA kNA"AZAbAjArAzAAA>=v2 @A~;5tA r@APIAĠA"GA@?A`sտA6<*A9?2Aֽ:A8BA9?JAֽRA8٘i)I9 r@Y]G Jƭ<JJJJE&K YW~?ynQAXEZ7Z7g9)BqE[[w[BMX~?[>[[[[BZYY i) q)) Ȁ>Ȁ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038629.423165 s, next control iter: 1743038629.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12128", header.stamp.nsec: 0"0 temperature: 13.568806"* salinity: 33.375134", density: 1025.000000"* values[0]: 0.575910"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038629.803165 s.wA\J~,{gs)*AA@AB@A&X~? AzA>1%"AAlNA"AZAbAjArAzAAAd @AWv7tAwr@A;Z;ALA懡A ?AZԿA0W<*A9?2AFֽ:ABA9?JAFֽRA٘i)I9r@YG JV<B=JJJJE&K YzW~?yQA[E77719)BtE[[W7[aX~?[[[[[BZYY i) %))>>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038629.843165 s, next control iter: 1743038630.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038630.223165 s.gcJ~,H)*AJ"J*J2J:JBJnJvJAzG@Aӹ:@AX~? AA8%"AAK3lNA"AZAbAjArAzAAA @Al9tADs@Af9\<A!A`A>?AӿA2<*A9?2AOֽ:ABA9?JAOֽRA٘i)I9Ds@YG J<C=JJJJE&K YW~?y CRA^E9IB)BwE[[3[%uX~?[ [[[[BZYY i) ))>>3*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038630.263165 s, next control iter: 1743038630.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038630.643165 s.{iJ~,*)*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038630.643289F (some fields omitted in printout)A ףp}@Aep@A9X~? AWA%"AAVlNA"AZAbAjArAzAAA|jN@A.m;tAs@Aba<AA񙌾A@rp?AHӿA<*A9?2Atֽ:ALBA9?JAtֽRAL٘i)I9s@YjG JF<JJJJE&K Y` X~?yRA`Eŧ7b79RB)B[[e[X~?[N[[[[BZYY i) w))Q3>Q3>A*tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12129, header.stamp.nsec: 0Y0 temperature: 13.568424* salinity: 33.375141, density: 1025.000000* values[0]: 0.576659F (some fields omitted in printout)FFF]Waiting for Gazebo time sync: latest Gz time: 1743038630.663165 s, next control iter: 1743038631.043182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038631.063165 s.pJ~,_ )*AJ"J*J2J:J?BJ?nJ5vJA3333@AF(@AX~? A Ag%"AAzlNA"AZAbAjArAzAAAJ@Ac^=tA tt@A/;AA/A?A2ҿA <*AΜ9?2A0ֽ:A>BAΜ9?JA0ֽRA>Y߹@T҂y;ٓH ?`#?B7`Lп ?3ލ?`x?{??)߹@ I٘i)I9tt@YG J<JJJJ E&K5v> Y&X~?y!SA҂cE77{79SB)B{E[[[X~?[jê[[[[BZYY i) }f))~`>`>3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038631.103165 s, next control iter: 1743038631.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038631.483165 s.x_wJ~,)*AA\@A˻۰@A#Y~? AAy*%"AA8lNA"AZAbAjArAzAAA)Yh f2@A^lz?tA\u@AtA~A|/qA`?AxTѿA*o<*A9?2Aս:ABA9?JAսRA٘i)I9u@Y*G J)<JJJJ E&K YAX~?y6SAfEb7b7\9)B~E[[}۾[X~?[nƪ[[[[BZYY i) y)) 9>9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038631.523165 s, next control iter: 1743038631.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12130, header.stamp.nsec: 00 temperature: 13.568007* salinity: 33.375156, density: 1025.000000* values[0]: 0.577468F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038631.903165 s.}J~,)*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038631.903291F (some fields omitted in printout)AQ@AHG@AdY~? AA%"AAlNA"AZAbAjArAzAAAڧeX@A l@AtANu@AIAAs]A?A oпA&<*A/9?2AԽ:A1BA/9?JAԽRA1AI٘i)I9u@YG JV<JJJJE&K YD]X~?yoTAhE77' 9TB)BE[[ 5Ҿ[X~?[Xɪ[[[[BZYY i) #))>>E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038631.923165 s, next control iter: 1743038632.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038632.323165 s.nJ~,**AAGzT@A,`pG@A1Y~? AFA%"AAlNA"AZAbAjArAzAAAP@A{BtAov@AylAAS9IA@!?A"ϿA9<*A9?2AԽ:ABA9?JAԽRA٘i)I9ov@YG J<JJJJE&K YxX~?y{TAkE7777!9)BE[[MȾ[X~?[)̪[[[[BZYY i) I))iE>iE>v*Y2.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038632.363165 s, next control iter: 1743038632.723173 s, wait time: 0.360008 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12131., header.stamp.nsec: 0.0 temperature: 13.567595.* salinity: 33.375160., density: 1025.000000.* values[0]: 0.578315.F (some fields omitted in printout)6xX~?)6 rAdjusting time to match Gazebo time: 1743038632.743165 s.+WJ~,Ő/**AJ"J*J2J:JBJnJvJAףp=@Am3}@AoJY~? AA%"AA mNA"AZAbAjArAzAAAEwM@Aq;DtA "w@A}ACAN4AmH?A ^YͿA@"<*Aա9?2A=Lս:A'BAա9?JA=LսRA'٘i)I9"w@YiG J <JJJJE&K YޓX~?yTAnEj7#9)BE[[s[HX~?[Ϊ[[[[BZYY i) \))ɫ>ɫ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038632.763165 s, next control iter: 1743038633.143178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038633.163165 s.q}J~,qJ**AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085204< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743038633.163290F (some fields omitted in printout)A@Ah%@A4cY~? ATAR%"AA@3mNA"AZAbAjArAzAAAgR5 @AjFtAw@Aj:A ܳAgAVm?A˿Al<*A9?2Aս:A6BA9?JAսRA6Y@ yܳ:ٓH~?ʸ?:ÿ@,?d?t?`]R?l?)@ I٘i)I9w@YG J<J7JJJE&Ku> YX~?y=gUApEZ7SI7%9)B[[ ([Y~?[kѪ[[[[ZZZZ¸>BZYY i¸>|) q))ݽz>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038633.183165 s, next control iter: 1743038633.563174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038633.583165 s.昊J~, Se**AJ"J*J2J:JBJnJvJA)\@Ab@A!|Y~? AA%$%"AAXmNA"AZAbAjArAzAAAF@AדkGtAx@A.<A´AA@?A ɿAT<*A89?2Amkֽ:AvBA89?JAmkֽRAv٘i)I9x@YAG Jc<JJJJE&K YX~?yUAsE{7{7Q'9)BE[[ˬ[tY~?[Ӫ[[[[ZZZZBZYY i) )) T>T>P*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038633.623165 s, next control iter: 1743038633.983176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12132 , header.stamp.nsec: 0 0 temperature: 13.567146 * salinity: 33.375195 , density: 1025.000000 * values[0]: 0.579264 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038634.003165 s. J~,n4**AAR+@A }@A4Y~? AA%"AA~mNA"AZAbAjArAzAAA,P6@AEmuHtA;Gy@Ao<AxAVA?AǿA<*A9?2Aս:A\BA9?JAսRA\񼙘٘i)I9Gy@YG J<B=JJJJE&K YyX~?yYVAvE777)9)BE[[]][~3Y~?[4֪[[[[ZZZZBZYY i) ))Y>Y>Z*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038634.023165 s, next control iter: 1743038634.403183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038634.423165 s.uJ~,**AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084222< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038634.423288F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A KItAHz@AX?5<AfAA?A@ſA<*A9?2Ab(ս:AoBA9?JAb(սRAo٘i)I9z@Y;G J =C=JJJJ E&K YXY~?yNVAxEŧ7ŧ7*9)BE[[ᙾ[IY~?[nت[[[[ZZZZBZYY i)  {>))>>>>yѪh*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038634.443165 s, next control iter: 1743038634.823179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12133", header.stamp.nsec: 0"0 temperature: 13.566637"* salinity: 33.375195", density: 1025.000000"* values[0]: 0.580224"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038634.843165 s.ݬJ~,**AAp= @A -@AY~? A!Ar%"AA!mNA"AZAbAjArAzAAANz滚@ASYKtAz@Ak:AesAA?A@\/ĿA<*A9?2A^7ս:A[bBA9?JA^7սRA[b٘i)I9z@YG J^<JJJJ#E&K Y4Y~?y JWA{E77,9)|BE[[1X[X`Y~?[ڪ[[[[ZZZZBZYY i) u Yu;Y~?y#!WA]~Eb77|.9)vBE[[↾[vY~?[ܪ[[[[ZZZZBZYY i56) nNA"AZAbAjArAzAAA @AbhMtA{|@AK8A! AkA0?A $Aif<*A 9?2A+Խ:A <BA 9?JA+ԽRA <٘i)I9|@YG J<JJJJ+E&K YsY~?y"WAE{7{729)lBE[[ӂg[Y~?[[[[[ZZZZBZYY i) Խ:A$v<BA9?JA>ԽRA$v<٘i)I96}@YG J\<JJJJ.E&K Y1Y~?y"6XAESI7SI739)iBE[[s.T[Y~?[[[[[ZZZZBZYY iH) j?))>?>?y뗽YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038636.543165 s, next control iter: 1743038636.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12135, header.stamp.nsec: 00 temperature: 13.565752* salinity: 33.375233, density: 1025.000000* values[0]: 0.582080F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038636.943165 s.J "J *J 2J :J ?BJ ?nJ @5vJ adΊJ~,h]<+*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083635< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038636.943305F (some fields omitted in printout)Aq= ף@Aē̖@AGZ~? A@(A%"AAnNA"AZAbAjArAzAAA V!@A % OtAl}@A3;A <A_<A 1S?A>嵿A;*A9?2AVgԽ:AF<BA9?JAVgԽRAF<٘i)I9l}@Y>G J<JJJJ0E&K YqY~?y #pXAE7)759)hB[[@[|Y~?[#[[[[BZYY i) UW+*AAٳ@A@d̳@AaZ~? A)A; %"AA*nNA"AZAbAjArAzAAA!Õw!@A )OtA}@A}a<AP=A8=A`?A2A9*A9?2ArԽ:A<BA9?JArԽRAJJJ3E&Kr> YY~?y"BXA9=E7r79)gBE[[-[Y~?[t[[[[BZYY ir&m) CA~?AIqAB^*A9?2AԽ:A =BA9?JAԽRA =٘i)I9|@YG JGJJJJ>E&K Y9Z~?y !WAE{7{7>9)lBE[[M[JZ~?[e[[[[BZYY i) M`;Ii @d< *F1?))*F1?*F1?ZY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038639.063165 s, next control iter: 1743038639.443176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038639.463165 s.RJ~,פ+*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.068027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038639.463274F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AA,_ٴ@AZ~? A+A%"AA yoNA"AZAbAjArAzAAA%@APtAaS|@A^AT=A>A`M?A f?ApP*A$9?2A1ս:AX =BA$9?JA1սRAX =Y@e>y=|_ٓH.?ݥ¿`z?z?ԧ?@I^? i8`=݋v?)@ I٘i)I9S|@YG JqB=JG=JJJ@E&KTs> YUZ~?y)WA>Ej7Z7g@9QB)oBE[[@[bZ~?[[[[[BZYY iYn) v;Ii@*< '6?))s'6?'6?_ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038639.483165 s, next control iter: 1743038639.863174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12138, header.stamp.nsec: 00 temperature: 13.565449* salinity: 33.375275, density: 1025.000000* values[0]: 0.582195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038639.883165 s.yJ~,4+*AA(@A_|@AZ~? A*A%"AAoNA"AZAbAjArAzAAA;%@A=PtA{@AAA=A*>Ay}?Aִ?A*A9?2AUս:A =BA9?JAUսRA =٘i)I9{@YKG JQC=JJJJCE&K YqZ~?yVAE7772B9)rBE[[,_[zZ~?[[[[[BZYY i) -;IiC@Fu< 8;?))-̃8;?8;?=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038639.923165 s, next control iter: 1743038640.283176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038640.303165 s.UJ~,sg,*AJ"J*J2J:J?BJ?nJ:5vJAQ@AmD@A[~? A*Ap%"AAoNA"AZAbAjArAzAAAݍaC&@AM!PtAW{@A ;An=A=>A(|?A ?AL*A:?2A4ӽ:A=BA:?JA4ӽRA=٘i)I9W{@YG J.JJJJFE&K YZ~?y8eVAEŧ7b7C9)vB[[r[nZ~?[[[[[BZYY i) ;Iik?D< @?)) @?@?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038640.343165 s, next control iter: 1743038640.703176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12139*, header.stamp.nsec: 0*0 temperature: 13.565530** salinity: 33.375286*, density: 1025.000000** values[0]: 0.581768*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038640.723165 s. J~,H.,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038640.723304F (some fields omitted in printout)Az@A 7z@A1[~? A4*A %"AAioNA"AZAbAjArAzAAAN#&@Aa3QPtASz@A2<A=AP>Av?A@?A*A:?2A ӽ:A^=BA:?JA ӽRA^=٘i)I9z@YG JJJJJHE&K YZ~?yVAE7E9PB)zBE[[W[Z~?[ [[[[BZYY i) ;Ii ?< `E?))`E?`E?ynڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038640.743165 s, next control iter: 1743038641.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038641.143165 s.X/J~,*I,*AJ"J*J2J:J?BJ?nJ5vJA ףp@AhZbe@AK[~? A)A%"AApNA"AZAbAjArAzAAAѭ~'@ABOtA%z@AUe<A>#=Apd>An?A)?A۴*A :?2AϚӽ:A =BA :?JAϚӽRA =٘i)I9%z@Y?G JJJJJKE&K YZ~?yUAE77j7G9)BE[[D_~;[Z~?[[[[[BZYY i) F;Ii?fw< :J?)):J?:J?٪YTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038641.163165 s, next control iter: 1743038641.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038641.563165 s.J~,c d,*AA3333@A)@Ae[~? A(A%"AA1>pNA"AZAbAjArAzAAAz,9(@Ae:OtAdžy@AO <A"=APy>Ad?AL?AF*A%:?2AkԽ:A=BA%:?JAkԽRA=Y}<&z>y;=y <ٓH?\ο@s?x? ?14?lU??)}< I٘i)I9y@YG JJ8<JJJNE&Kr> YZ~?y8UAz>Eb77]I9OB)BE[[i<[mZ~?[[[[[BZYY i) 2 ;Ii?,< O?))ќrO?O?H֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038641.583165 s, next control iter: 1743038641.963182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12140, header.stamp.nsec: 00 temperature: 13.565694* salinity: 33.375301, density: 1025.000000* values[0]: 0.581141F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038641.983165 s.J~,~,*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.236926@ elevatorAngleAction: -0.058191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038641.983320F (some fields omitted in printout)A\(@AS9@A[~? A'A%"AA}epNA"AZAbAjArAzAAA˷݉(@ANtAQx@Au9A$=Ab>AW?AB?A0˴*A$*:?2ALս:A|=BA$*:?JALսRA|=٘i)I9x@YG JJJJJQE&K YKZ~?ygTAE7'K9)BE[[/=[&Z~?[[[[[BZYY i`) :Ii? h< ZT?))dZT?ZT?NѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038642.003165 s, next control iter: 1743038642.383181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038642.403165 s.&&J~,͙,*AAQ^@AQ@A[~? A&A#%"AApNA"AZAbAjArAzAAA [NU)@AKNtA5Vx@AmAZ=Aq9>AI?AX?Ag*ASO:?2A^ӽ:A8<BASO:?JA^ӽRA8<٘i)I9Vx@Y%G JJJJJSE&K Y[~?yEgTAE7L9NB)BùE[[(=[ [~?[S[[[[BZYY i) h9Ii?*< Y?)) Y?Y?˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038642.423165 s, next control iter: 1743038642.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12141", header.stamp.nsec: 0"0 temperature: 13.565861"* salinity: 33.375305", density: 1025.000000"* values[0]: 0.580512"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038642.823165 s.,J~,6,*AJ"J*J2J:JBJnJvJAGz@AWo@AL[~? A%AX:%"AAճpNA"AZAbAjArAzAAA)@AŢyMtAw@A}gA֏=A^>A`8?A`ض?Aޢ*AV:?2Aӽ:AK/<BAV:?JAӽRAK/<٘i)I9w@YG JJJJJVE&K Y3[~?y#SAEj7Z7N9)BƹE[[ۨ=[([~?[[[[[BZYY i) !&IiH?'v< V+^?))V+^?V+^?>ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038642.843165 s, next control iter: 1743038643.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038643.243165 s.3J~,d,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067079< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038643.243280F (some fields omitted in printout)Aףp=ʶ@An½2@A[~? AA$AS%"AApNA"AZAbAjArAzAAA *@AЋLtABw@A<Ajی=Azo>A $?A )?Am*AU:?2A]Խ:A<BAU:?JA]ԽRA<٘i)I9Bw@Y}G JJJJJYE&K YuN[~?ySAE7{7P9)B[[j=[GA[~?[[[[[BZYY i) 6˺Ii?z< hJc?))hJc?hJc?y_ªYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038643.263165 s, next control iter: 1743038643.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038643.663165 s.J "J *J 2J :J u?BJ u?nJ 5:J~vJ,q,*AtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12142, header.stamp.nsec: 00 temperature: 13.565991* salinity: 33.375313, density: 1025.000000* values[0]: 0.579911F (some fields omitted in printout)A@A@A[~? A"Afp%"AAqNA"AZAbAjArAzAAAY+)+@AKKtAA`,?A?A{*AS:?2AԽ:A X<BAS:?JAԽRA XY>yr=Z<ٓH= ?Iտ ?૏?@H?"?J Yg A?)8Q> I٘i)I9v@Y-G JMJ㢼JJJ[E&Kr> Y i[~?y :SAY>E777RR9KB)BȹE[[Y=[!Z[~?[([[[[BZYY i) h#Ii?m<  [h?))Qbr [h? [h?ľYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038643.683165 s, next control iter: 1743038644.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038644.083165 s.DAJ~,S-*AA)\5@ADԷ(@A\~? A!A%"AAw(qNA"AZAbAjArAzAAAB+@AĩJtA=v@A`;Ah=A>A@?A?A֡*AP:?2AԽ:A<BAP:?JAԽRA<٘i)I9=v@YG JJJJJ^E&K Y[~?y RAE)7b7T9JB)B˹E[[>[#s[~?[[[[[BZYY i) aIiݰ?9cb< wm?))\wm?wm?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038644.123165 s, next control iter: 1743038644.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038644.503165 s.GJ~,;4 -*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.256566@ elevatorAngleAction: -0.067079< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038644.503307F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@AA|^@A|\~? A!AƲ%"AA OqNA"AZAbAjArAzAAA-R],@A~ItAu@AN]<A✆=Am>A?A?Aٻ*A(p:?2Aҽ:AE<BA(p:?JAҽRAE<٘i)I9u@YG JƙJJJJaE&K Y<[~?yRAE77U9IB)BιE[[e:&>[J[~?[[[[[BZYY i) <돻Ii?W< tr?)) tr?tr?͹YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038644.543165 s, next control iter: 1743038644.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12143, header.stamp.nsec: 00 temperature: 13.566133* salinity: 33.375340, density: 1025.000000* values[0]: 0.579411F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038644.923165 s.5NJ~,;-*AA{G@ASy=@A2\~? AA%"AAruqNA"AZAbAjArAzAAA},@A O#RHtA'=u@AFrO<A =AOq>A V?A|?ATJ*A}u:?2A3ӽ:A*J<BA}u:?JA3ӽRA*J<٘i)I9=u@YBG J▼JJJJcE&K YӸ[~?y#RAEW9)BѹE[[:>[[~?[[[[[BZYY i) "䮻IiS?~N< Dw?))Dw?Dw?bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038644.963165 s, next control iter: 1743038645.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038645.343165 s.Aພ?AC?Aэ*Ar:?2AԽ:Av<BAr:?JAԽRAv<٘i)I9t@YG JJJJJfE&K Yh[~?y"QAE7}Y9HB)BԹE[[EO>[۾[~?[[[[[BZYY i) xͻIiؚ?3F< }?))}?}?YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038645.383165 s, next control iter: 1743038645.743175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12144&, header.stamp.nsec: 0&0 temperature: 13.566227&* salinity: 33.375347&, density: 1025.000000&* values[0]: 0.578905&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038645.763165 s.;[J~,0p-*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: 0.4199922 time: 1743038645.763298F (some fields omitted in printout)A @A /@Ad\~? AAX-%"AAqNA"AZAbAjArAzAAAij'.@As+cDEtA`Nt@AAh=A">A|?A?A3*An:?2AS ս:A<BAn:?JAS սRAS]>y=IٓHM?`ۿet?wp?@6? n?` 8t?)9Xf> I٘i)I9Nt@YG JJ JJJiE&Kr> Y[~?yYnQA]>Ej7j7G[9)B[[d>[[~?[R[[[[BZYY i) BIi?@9< ?))r??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038645.803165 s, next control iter: 1743038646.163181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038646.183165 s.bJ~,c-*AJ"J*J2J:JBJnJvJA(\B@AoK5@A}\~? AA?\%"AAsqNA"AZAbAjArAzAAAd.@A DtAs@ANABo=A31>A#V?A?Adx*Ae:?2Aս:A`<BAe:?JAսRA`<٘i)I9s@YmG JJJJJkE&K Yp\~?yQAE777]9GB)B׹E[[=jy>[[~?[wު[[[[BZYY i) QIi ?j".< 5?))߽5?5?봪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038646.223165 s, next control iter: 1743038646.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038646.603165 s.74iJ~,-*AAQx@A.IIk@Ai\~? AvAJ%"AA rNA"AZAbAjArAzAAA߆=S/@A-nBtAts@A]A=A[>A.?A?AN*A!~:?2Aӽ:Av<BA!~:?JAӽRAv<٘i)I9ts@Y,G J3B=JJJJnE&K Y\~?yPAE77^9FB)BڹE[[9>[ \~?[nܪ[[[[BZYY i) Ii?4#< mV?)) mV?mV?y眽qYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038646.623165 s, next control iter: 1743038647.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12145 , header.stamp.nsec: 0 0 temperature: 13.566326 * salinity: 33.375355 , density: 1025.000000 * values[0]: 0.578452 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038647.023165 s.J "J *J 2J :J ?BJ ?nJ F5vJ ZpJ~,-|-*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: 0.4200192 time: 1743038647.023299F (some fields omitted in printout)AHz@Au@A\~? AAZ%"AAB2rNA"AZAbAjArAzAAA|7/@A@tAs@A-AM=A?A>?A ?A/*AU|:?2Aӽ:Ant=BAU|:?JAӽRAnt=٘i)I9s@YG JTC=JJJJqE&K Yx9\~?yfPAE77`9)BݹE[[ё>[&#\~?[9ڪ[[[[BZYY i) %Ii\q?x< U?))U?U?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038647.063165 s, next control iter: 1743038647.423189 s, wait time: 0.360024 s"x9\~?)" rAdjusting time to match Gazebo time: 1743038647.443165 s.3vJ~,-]-*AAq= @A6ָ@A;\~? A AE%"AAFWrNA"AZAbAjArAzAAA"գ=0@A_Z>tAr@AW6;Am=A?A_?A ?A'*A,t:?2AԽ:Af=BA,t:?JAԽRAf=٘i)I9r@YG J醼JJJJsE&K YR\~?y6PAEZ7Z7rb9BB)߹E[[|>[W<\~?[ת[[[[BZYY i) Rd5Iid?R< ?))??dYYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038647.463165 s, next control iter: 1743038647.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12146, header.stamp.nsec: 00 temperature: 13.566390* salinity: 33.375362, density: 1025.000000* values[0]: 0.578029F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038647.863165 s.+}J~,>-*AJ"J*J2J:JBJnJvJA@A$ @A]\~? A A 6%"AA|rNA"AZAbAjArAzAAA4@̆0@A=tA*r@A;<AL=A ?A?A@m?A;*Ak:?2AmԽ:A =BAk:?JAmԽRA =Y:>5 ?y~J=W<<ٓH`Q??`T?9e?@r? x|??):> I@I٘i)I9r@Y\G JB=JA<JJJvE&Kr> Y,k\~?yOA5 ?E)7ŧ7=d9)B[[o >[U\~?[Oժ[[[[BZYY i) iDIi;Q?< IJ?))atIJ?IJ?TªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038647.883165 s, next control iter: 1743038648.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038648.283165 s.8RJ~,.*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238653@ elevatorAngleAction: -0.076649< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038648.283312F (some fields omitted in printout)A(\O@ARB@AJ\~? AaAs%"AAqrNA"AZAbAjArAzAAA–iV0@A{ˁ;tA_q@Ag<A=A+?A`1}?AH?A#*ATc:?2AԽ:AtC =BATc:?JAԽRAtC =٘i)I9q@YG JC=JJJJyE&K YU\~?yPOAEŧ7b7f9)BE[[W>[m\~?[Ҫ[[[[BZYY i) a;TIi??Y<; ?))؇??ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038648.303165 s, next control iter: 1743038648.683177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12147., header.stamp.nsec: 0.0 temperature: 13.566504.* salinity: 33.375404., density: 1025.000000.* values[0]: 0.577578.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038648.703165 s.J "J *J 2J :J ?BJ ?ҺJ~nJ 5vJ,-.*AAQ@A Rx@A]~? AAX%"AArNA"AZAbAjArAzAAAjeG81@A` 8tAe"q@A<Ao=A8W?A I?A0?A'W*Az:?2A]ӽ:A =BAz:?JA]ӽRA =٘i)I9"q@YG JXJJJJ|E&K Y\~?yNAE77g9AB)BE[[g>[\~?[Ϫ[[[[BZYY i) cIi/?{; ԡ?)) ԡ?ԡ?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038648.723165 s, next control iter: 1743038649.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038649.123165 s.6ᑋJ~,XG.*AAGẹ@A֭@A|&]~? ArA%"AAVrNA"AZAbAjArAzAAA]n^1@A _5A6tAZp@AgAД=A?A?AR?A*A+x:?2A5Խ:A =BA+x:?JA5ԽRA =٘i)I9p@YtG JJJJJ~E&K Y\~?y۪NAE7777i9@B)BE[[6>[\~?[̪[[[[BZYY i) sIi!?; U?))U?U?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038649.143165 s, next control iter: 1743038649.523176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038649.543165 s.IJ~,b.*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: 0.4199762 time: 1743038649.543278F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AR(@A=]~? AAK>%"AA sNA"AZAbAjArAzAAAw1@A4tA p@A;. A7=A[?A ?A?A;*Ap:?2Aս:A& =BAp:?JAսRA& =٘i)I9 p@Y%G JݙJJJJE&K Y\~?ymת3NAE77hk9)B[[>[@\~?[aɪ[[[[BZYY i) C>IiA? ; &?))&?&?ϪY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038649.563165 s, next control iter: 1743038649.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12148, header.stamp.nsec: 00 temperature: 13.566618* salinity: 33.375408, density: 1025.000000* values[0]: 0.577030F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038649.963165 s.yJ~,}.*AAffff&@A\@AT]~? AA{%"AA.sNA"AZAbAjArAzAAAs1@APNp=2tAo@AcfAD=A%?A\?A`?AL'*Ah:?2Aս:AT =BAh:?JAսRAT =Y.z>$?y_=q gٓH@I?'<WY?'?@ܑ?ά? 0/%̌@'?).z> I٘i)I9o@YG JUJj<JJJE&Kt> Yn\~?y$ҪMA$?E72m9?B)¯BE[[;>[\~?[Ū[[[[BZYY i) ɈIiH?¦; ?))pv??5ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038649.983165 s, next control iter: 1743038650.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038650.383165 s.إJ~,#.*AJ"J*J2J:J?BJ?nJ5vJA(\@A9O@Ak]~? AAs%"AAQsNA"AZAbAjArAzAAA/2@Ad7/tAo@A2Aa=AB*?A3i?AK?Aiޠ*A=\:?2AEս:A=BA=\:?JAEսRA=٘i)I9o@YG JfJJJJE&K Y\~?y̪eMAEZ7Z7n9;B)E[[>[\~?[lª[[[[BZYY i) SIi*>R; u?))Ϭu?u?֪YFFF]n:Waiting for Gazebo time sync: latest Gz time: 1743038650.403165 s, next control iter: 1743038650.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12149", header.stamp.nsec: 0"0 temperature: 13.566747"* salinity: 33.375423", density: 1025.000000"* values[0]: 0.576532"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038650.803165 s.uAJ~,sg.*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261084@ elevatorAngleAction: -0.085796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038650.803287F (some fields omitted in printout)A둺@Aq!@A]~? AA@"%"AAssNA"AZAbAjArAzAAATFMs2@AB5}N-tAn@A75AQ=A-/?A *?A`Y?A*ADm:?2AԽ:AH=BADm:?JAԽRAH=٘i)I9n@Y1G J(JJJJE&K Y]~?yǪLAE777p9)ƯB[[7>[]~?[[[[[BZYY i) dߗIiX> z; 2?)) 2?2?yT۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038650.823165 s, next control iter: 1743038651.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038651.223165 s.gJ~,H.*AJ"J*J2J:JBJnJvJAzǺ@A)U@A;]~? AAs%"AAƕsNA"AZAbAjArAzAAAiF2@AZv8*tAjm@AF<A_=A4?A[]~?[[[[[BZYY i) zjIi(>=W; ?))??ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038651.243165 s, next control iter: 1743038651.623177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038651.643165 s.tйJ~,).*AA ףp@AYe@A.]~? A8A%"AAFsNA"AZAbAjArAzAAA2@AqږW (tAdm@A,a<AT=A 9?A@?A@?Ag}*AY:?2AsԽ:A=BAY:?JAsԽRA=٘i)I9dm@Y{G JyJJJJE&K Y<]~?y/LAE{7j7]t98B)ͯBE[[f?[0]~?[[[[[BZYY i) Ii>+"9; J?))J?J?YYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12150, header.stamp.nsec: 00 temperature: 13.566888* salinity: 33.375450]:, density: 1025.000000* values[0]: 0.575956F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743038651.663165 s, next control iter: 1743038652.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038652.063165 s.J~,R /*AJ"J*J2J:Jq?BJq?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743038652.063297F (some fields omitted in printout)A33333@A?p'&@A]~? AA%"AAZsNA"AZAbAjArAzAAAj;3@AдG%tA9l@A,K<Aʬ=A F>?Ah?Ar?A*AuO:?2Aս:Ag =BAuO:?JAսRAg =Yp?L>?yq=hL<ٓHfu?`?`К? ?ԧ?`v??)p? I٘i)I9l@YG JʻJC<JJJE&Kt> YQ]~?y KA>?Eŧ7b7(v97B)ѯBE[[ ?[hH]~?[K[[[[BZYY i) TMIiW> ; ?z?))Ey?z??z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038652.083165 s, next control iter: 1743038652.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038652.483165 s.t_NjJ~,/*AA\h@A[@A7]~? A߫Aw%"AAsNA"AZAbAjArAzAAA\J|3@Ag : ??)) ????0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038652.503165 s, next control iter: 1743038652.883174 s, wait time: 0.380009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12151, header.stamp.nsec: 00 temperature: 13.567091* salinity: 33.375443, density: 1025.000000* values[0]: 0.575274F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038652.903165 s.͋J~,9/*AJ"J*J2J:JE?BJE?nJl5vJAQ@A̷>@AC]~? ADګA%"AA#tNA"AZAbAjArAzAAA;3@AMtAk@A#UA=AI?AS?A>?A# *A1T:?2ATԽ:A=BA1T:?JATԽRA=٘i)I9k@YWG JJJJJE&K Y{]~?y JAEZ7SI7y93B)ׯBE[[?[v]~?[1[[[[BZYY i) Iin=f: j ?))j ?j ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038652.943165 s, next control iter: 1743038653.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038653.323165 s.wԋJ~,)T/*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038653.323295F (some fields omitted in printout)AGzԻ@Agoǻ@A^~? AYիA2%"AA8tNA"AZAbAjArAzAAAX3M3@A>ztAj@AcSA=A @N?A@?AR?AQü*AK:?2AUս:AW=BAK:?JAUսRAW=٘i)I9j@YG JJJJJE&K YǏ]~?y*kJAE77{9)ܯB[[?[]~?[Y[[[[BZYY i) SļIi>=n9 ڱ?))ڱ?ڱ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038653.363165 s, next control iter: 1743038653.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12152*, header.stamp.nsec: 0*0 temperature: 13.567274** salinity: 33.375450*, density: 1025.000000** values[0]: 0.574613*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038653.743165 s.WۋJ~,io/*AJ"J*J2J:J?BJ?nJ?5vJAףp= @A=`2@Ag^~? ANЫAÓ%"AAXtNA"AZAbAjArAzAAAo;84@A‡fJptA1 YB]~?yIAPX?EZ791B)BE[[%?[ ]~?[0[[[[BZYY i) ҼII?iFkC c?))2z|c?c?-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038654.183165 s, next control iter: 1743038654.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038654.583165 s.J~,R/*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.246560@ elevatorAngleAction: -0.085796< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743038654.583269F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@Akh@A8?^~? AūAX]%"AAtNA"AZAbAjArAzAAAK%4@APU tAh@Aa;Ap=A%u]?A?A ?Aؼ*A0:?2ACս:Al=BA0:?JACսRAl=٘i)I9h@Y G JӼJJJJE&K Y]~?y IAEZ7耢9)B[[+?[]~?[۔[[[[BZYY i) ڼI I?i aIJ 5"?)) 5"?5"?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038654.603165 s, next control iter: 1743038654.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12153, header.stamp.nsec: 00 temperature: 13.567489* salinity: 33.375469, density: 1025.000000* values[0]: 0.573902F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038655.003165 s.z J~,U4/*AAR@Aw~@AR^~? AnA%"AAtNA"AZAbAjArAzAAAqBQ4@A9tAH&h@A~A<Aڬ=AGfb?A`kS?A ?Aw߼*Ac=:?2AlԽ:A =BAc=:?JAlԽRA =٘i)I9&h@YJ G JۼB=JJJJE&K Y]~?yxHAE{7{79,B)BE[[,D1?[]~?[U[[[[ZZ¸BZYY i¸Rd=) ͼI? I?iCG ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038655.043165 s, next control iter: 1743038655.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038655.423165 s.uJ~,/*AJ"J*J2J:JBJnJvJA{G@AF};Լ@Ae^~? A庫A0%"AAtNA"AZAbAjArAzAAAx\&5@A$=J^ tAhg@Apd<A[c=A9ug?A(?AfB?A)*A6:?2AԽ:A =BA6:?JAԽRA =٘i)I9hg@Y G JC=JJJJE&K Yj]~?y優HAEj7}9)B[["7?[]~?[[[[[ZZBZYY i) II?is/ ?))??SYYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038655.443165 s, next control iter: 1743038655.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12154, header.stamp.nsec: 00 temperature: 13.567714* salinity: 33.375469, density: 1025.000000* values[0]: 0.573099F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038655.843165 s.J~,/*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038655.843290F (some fields omitted in printout)Ap= @A~ @APx^~? A@A%"AAUtNA"AZAbAjArAzAAA&^5@Az\TrtAf@A<A q=AVl?A`k?A8?A*A=:?2Afս:Aup<BA=:?JAfսRAup<٘i)I9f@YW G J JJJJE&K Y"^~?yQ~GAEb77H9+B)BE[[ Y^~?y-w4GA r?E)7ŧ79*B)BE[[B?[&^~?[}[[[[ZZBZYY i) =IlH?iدa N?))N?N?yê=ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038656.303165 s, next control iter: 1743038656.663178 s, wait time: 0.360013 s6tReceived state from Gazebo (printed only once in a while):62 header.stamp.sec: 121556, header.stamp.nsec: 060 temperature: 13.5680076* salinity: 33.3754736, density: 1025.0000006* values[0]: 0.5721716F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038656.683165 s.l J~,+0*AA(\@A2Ƈu@A^~? AAG~%"AA#uNA"AZAbAjArAzAAAn>ui5@AUytAd@A/Apv=AÂw?AH?A >?Au*AJ:?2Atgֽ:A[<BAJ:?JAtgֽRA[<٘i)I9d@YJ G J C=JJJJE&K Y-#^~?y pFAEj7j7݉9)B[[7FH?[ ;^~?[w[[[[ZZBZYY i) UIH?i;ԡ ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038656.683165 s, next control iter: 1743038657.083183 s, wait time: 0.400018 s rAdjusting time to match Gazebo time: 1743038657.103165 s.J~,ȚF0*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038657.103316F (some fields omitted in printout)AQ@AUE@A ^~? AA%"AA>uNA"AZAbAjArAzAAAI#h6@A*sAd@AJuA2=Ag|?A??A5?Auμ*Af[:?2Aս:A7;BAf[:?JAսRA7;٘i)I9d@Y G JJJJJE&K Y3^~?yhfFA E779%B)B E[[=N?[.O^~?[$q[[[[ZZBZYY i) g咼IH?i羉CD ?))??AzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038657.143165 s, next control iter: 1743038657.503183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743038657.523165 s.J~,{a0*AAHz@Aغ@A-^~? AAg%"AAXuNA"AZAbAjArAzAAAEly56@AbvqsAG}c@A͢?A<A;?A?As?Ab*AW:?2A ս:A:BAW:?JA սRA:٘i)I9}c@Yt G JXJJJJE&K Y6D^~?yaEA E7)7s9"B)B[[QS?[b^~?[j[[[[ZZBZYY i) ~9IH?iZm ?))??Ye%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038657.563165 s, next control iter: 1743038657.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12156, header.stamp.nsec: 00 temperature: 13.568295* salinity: 33.375488, density: 1025.000000* values[0]: 0.571295F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038657.943165 s.[dJ~,O]|0*AJ"J*J2J:JBJnJvJAq= #@AZ@A^~? ASA%"AAruNA"AZAbAjArAzAAA 6h6@AJ OsAlb@A(A=<Aq?A`?A1?A*A,O:?2AZս:A,FBA,O:?JAZսRA,F٘i)I9b@Y$ G JÛJJJJE&K YT^~?yZEAE)7ŧ7=9!B) B E[[Y?[fv^~?[c[[[[ZZBZYY i) wIH?i ?))??koYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038657.983165 s, next control iter: 1743038658.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038658.363165 s.%J~,>0*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084176< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038658.363301F (some fields omitted in printout)AY@A4`L@A>^~? AA Z%"AAȋuNA"AZAbAjArAzAAAZ6@A`sAb@A_;AλA ?AX?A`O~?APB*AC:?2AZֽ:AALBAC:?JAZֽRAALY?S? ?yLλ;ٓH?l?`b??@y? ??)?S? I٘i)I9b@Y G JmJTFJJJE&K7w> Yb^~?yREA ?E779) B[[_?[6^~?[\[[[[ZZBZYY i@~=) 9dI_H?iS» _?))_?_?(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038658.383165 s, next control iter: 1743038658.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12157&, header.stamp.nsec: 0&0 temperature: 13.568478&* salinity: 33.375507&, density: 1025.000000&* values[0]: 0.570696&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038658.783165 s.U+J~,0*AJ"J*J2J:JBJnJvJA(\@AP@A(^~? AA&%"AA?uNA"AZAbAjArAzAAAH6@A sAoRb@A/\<AʬA?A`]R?A@?Ao*A4:?2Aֽ̡:A}BA4:?JAֽ̡RA}٘i)I9Rb@Y G J"JJJJE&K Y q^~?yUKEAE777Ӓ9B) BE[[ e?[^~?[U[[[[ZZBZYY ivQ=) [QIwH?i%Ի a?))a?a?s)YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038658.823165 s, next control iter: 1743038659.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038659.203165 s.3J~,&0*AAQž@A@A^~? AA5T%"AAuNA"AZAbAjArAzAAAo6@ATcsAA2b@A]C<AG AH?A?A?AzEɺ*A+:?2A3ֽ:A ̼BA+:?JA3ֽRA ̼٘i)I92b@Y G J?JJJJE&K Y4^~?yCEAEŧ7ŧ79) B[[k?[^~?[N[[[[BZYY i) ~>IH?i1TL F?))F?F?9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038659.243165 s, next control iter: 1743038659.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038659.623165 s.Y9J~,e0*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: 0.072909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743038659.623300F (some fields omitted in printout)AG@A:w@A_~? A~}A+%"AACuNA"AZAbAjArAzAAA\&7@A}sA'6b@A|;A y7Apڍ?AQ?ARW?AqQ;*A!:?2A3ֽ:AjBA!:?JA3ֽRAj٘i)I96b@Y G J~:JJJJE&K Y\^~?y <EAEb7b7h9) B[[q?[S^~?[VG[[[[BZYY i) ٞ+IֿH?i|; ~2?))~2?~2?yOޖ=v*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038659.663165 s, next control iter: 1743038660.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12158 , header.stamp.nsec: 0 0 temperature: 13.568507 * salinity: 33.375526 , density: 1025.000000 * values[0]: 0.570480 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038660.043165 s.@J~,1*AA= ף0@AQԙ#@AZ_~? AvAU%"AAuNA"AZAbAjArAzAAAdZ"R7@A)HsA Zb@AлA\Ad?A ?AΚ?At;*AJ:?2AUYֽ:ABAJ:?JAUYֽRA٘i)I9Zb@Y G JK;JJJJE&K Y^~?yf4EAE)7)739B)BE[[w?[u^~?[?[[[[BZYY i) IUH?idCU ]$?))]$?]$?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038660.083165 s, next control iter: 1743038660.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038660.463165 s.YGJ~,1*AJ"J*J2J:J?BJ?nJ&5vJAfffff@AF ^Y@A+_~? ApA%"AAuNA"AZAbAjArAzAAA( 3~7@A8_bsA2b@A#1\A{A?A3?A@_?Aj<<*A:?2Au@ֽ:Ao BA:?JAu@ֽRAo Yn? ?yF{\ٓH&)?.](n#?A?@שl? `?)n? I٘i)I9b@Y G J<JPJJJE&Kw> Y^~?y\,FA ?Eb779B)BE[[p|}?[^~?[-8[[[[BZYY i3vi=) I H?iQ] ?))??F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038660.483165 s, next control iter: 1743038660.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12159, header.stamp.nsec: 00 temperature: 13.568388* salinity: 33.375526, density: 1025.000000* values[0]: 0.570663F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038660.883165 s.yMJ~,I81*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056997< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200962 time: 1743038660.883390F (some fields omitted in printout)A(@A!O!@AM9_~? A"iA^%"AAvNA"AZAbAjArAzAAAob>7@Ad ?vsAb@AW^AA&?A _c?AY?Am<*A :?2Aiֽ:A,LBA :?JAiֽRA,L٘i)I9b@Y G JS<JJJJE&K Y^~?yR$lFA!E7ț9B)BE[[??[^~?[e0[[[[BZYY i) (IH?i^i v?))v?v?(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038660.903165 s, next control iter: 1743038661.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038661.303165 s.PTJ~,^gS1*AJ"J*J2J:JBJnJvJAѿ@AˠĿ@AF_~? A-bA%"AAk)vNA"AZAbAjArAzAAA좙7@ARE6sA`c@AڻA’A:?Ah?A`Z?A><*A- :?2Aֽ:A8]BA- :?JAֽRA8]٘i)I9`c@Yb G Jd<JJJJE&K Y=^~?yHFA$E79)B[[„?[L_~?[s([[[[BZYY i) һIH?iiY- R?))R?R?]*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038661.343165 s, next control iter: 1743038661.703174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12160*, header.stamp.nsec: 0*0 temperature: 13.568153** salinity: 33.375534*, density: 1025.000000** values[0]: 0.571131*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038661.723165 s.[J~,Hn1*AAz@AT@AnS_~? A"[Atn%"AA?=vNA"AZAbAjArAzAAA {'7@A hg^sA"c@Ao;AA?A@?A?A?<*A3 :?2AG<׽:A#BA3 :?JAG<׽RA#٘i)I9c@Y G Jђ<B=JJJJE&K Y^~?y>GA D'E7^9)B[[(̇?[=_~?[Y [[[[BZYY i=) ҲIH?iqK "?))"?"?yi=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038661.743165 s, next control iter: 1743038662.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038662.143165 s.Y/bJ~,*1*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: 0.4199952 time: 1743038662.143283F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@A Ac0@A__~? ATA%"AA\PvNA"AZAbAjArAzAAA7(h8@A !LsAY`d@AD<AeAq?A`M?A?AT1<*AA:?2AE׽:A` BAA:?JAE׽RA` ٘i)I9`d@Y G Ju<C=JJJJE&K Yb^~?y5 iGA)E7(9B)BE[[!؊?[_~?[[[[[BZYY i) *I:wH?i*x{ ?))??yi=q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038662.163165 s, next control iter: 1743038662.543178 s, wait time: 0.380013 sb^~?)5  rAdjusting time to match Gazebo time: 1743038662.563165 s.hJ~, 1*AA3333s@A]lZ)f@Ak_~? ALA%"AAbvNA"AZAbAjArAzAAA<'Xp@8@A3#,sAd@Af<AAC?A`c?A ?Aj<*A:?2Ay׽:A+ BA:?JAy׽RA+ Y? ?yRf<ٓH?b z=J?y ?@n?Ì?`?)? I٘i)I9d@YQ G Jc<B=J JJJE&Kx> YC^~?yGA ?,Eb779)B[[ލ?[B+_~?[[[[[BZYY i) .jI,iH?i!F' ?))??y"|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038662.583165 s, next control iter: 1743038662.963188 s, wait time: 0.380023 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12161, header.stamp.nsec: 00 temperature: 13.567864* salinity: 33.375546, density: 1025.000000* values[0]: 0.571765F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038662.983165 s.oJ~,1*AJ"J*J2J:JBJnJvJA\@A@Aw_~? AEA%"AAqtvNA"AZAbAjArAzAAA&Ic8@AցsAve@A8<AzɛAҢ?A[#?A(@?A <*A:?2A5׽:A"^ BA:?JA5׽RA"^ ٘i)I9ve@Y G J<C=JJJJE&K Y#^~?y~:HA/E77{79)B[[?[\8_~?[_[[[[BZYY i)  .IZH?iFOn.  elevatorAngleAction: 0.066455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038663.403286F (some fields omitted in printout)AQ@A0@A_~? A1>Am%"AAgvNA"AZAbAjArAzAAA]T+8@A?sAf@AڢA AU?AF?Ar?AS<*A*:?2A+ֽ:A BA*:?JA+ֽRA ٘i)I9f@Y G J<B=JJJJE&K Y^~?y"HA2E9B)BE[[w?[D_~?[[[[[BZYY i) BI^KH?iٌI4 ?))??N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038663.423165 s, next control iter: 1743038663.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12162", header.stamp.nsec: 0"0 temperature: 13.567518"* salinity: 33.375549", density: 1025.000000"* values[0]: 0.572468"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038663.823165 s.|J~,>1*AJ"J*J2J:J?BJ?nJ5vJAGz@A2Tq@Ay_~? A6Aj0%"AAvNA"AZAbAjArAzAAA=ܣ8@AsA6f@A,A4tAۧ?Ah?A@?A]<*A:?2AUֽ:A BA:?JAUֽRA ?I٘i)I9f@Y[ G J<C=JJJJE&K Y^~?y IA4EE77S9B)ٯBE[[?[P_~?[[[[[BZYY i) ,WI;H?if8 X?))X?X?/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038663.843165 s, next control iter: 1743038664.223184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743038664.243165 s.J~,m2*AAףp=J@A=`2=@Aq_~? AO/A%"AA(vNA"AZAbAjArAzAAA/8@Am*sA4g@AShA.AYo?Ag?A?A`y<*A:?2A5ֽ:ABA:?JA5ֽRA٘i)I94g@Y G Jw<JJJJE&K Y_~?ymsIA7E77779)ԯB[[%?[\_~?[<[[[[BZYY i) 8I,H?i뒿\< n?))n?n?*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038664.263165 s, next control iter: 1743038664.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038664.663165 s.J~,q*2*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: 0.4200132 time: 1743038664.663290F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12163, header.stamp.nsec: 00 temperature: 13.567193* salinity: 33.375549, density: 1025.000000* values[0]: 0.573200F (some fields omitted in printout)A@AKr@A_~? A'A0T%"AAvNA"AZAbAjArAzAAA48@A3sAOg@A*A4A~?A u?A ?A\<*A:?2Aֽ:ABA:?JAֽRAY"?U.?y!}:n+ٓH`?<}j)?? ݆z?D_?)"? I٘i)I9g@Y G J<B=Jw<JJJE&K{x> Y_~?y٩IA.?:Ej7j7諢9)ϯB[[8?[f_~?[[[[[[BZYY i) J:IH?iĘC R?))R?R?x*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038664.683165 s, next control iter: 1743038665.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038665.083165 s.DJ~,SE2*AA)\µ@Aڎ@A_~? A- A%"AAvNA"AZAbAjArAzAAAtR 8@AsA5Xh@AC&A‘A-ȯ?A`s?AQ)?Ay<*A:?2A4׽:ABA:?JA4׽RA٘i)I9Xh@Yh G J(<C=JJJJE&K Y _~?y;ѩ;JA elevatorAngleAction: 0.066455< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743038665.923308F (some fields omitted in printout)A{G!@A^}<@AV_~? AA%"AAvNA"AZAbAjArAzAAAo5+9@AKJnsAbi@Af<A}=A6#?A`T?Auw?AQ<*A:?2A׽:Ae*BA:?JA׽RAe*٘i)I9bi@Y G J<JJJJE&K Y,_~?y KABEb77H9)B[[1?[P_~?[ɩ[[[[BZYY i) y;IG?iyR ql@))ql@ql@}*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038665.943165 s, next control iter: 1743038666.323182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038666.343165 s.J "J *J 2J :J ?`@?m?Q?)m.? I٘i)I9]j@YG J&<C=JJE<JJJE&Kx> Y#_~?yKA:?GEŧ7b7޴9B)BE[[Ƭ?[H_~?[a[[[[BZYY i8=) s;IyG?iتsZ y@))y@y@9*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038666.803165 s, next control iter: 1743038667.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038667.183165 s.˲J~,2*AJ"J*J2J:J,?BJ,?nJR5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743038667.183329F (some fields omitted in printout)A(\@A;@A,_~? ApA%"AAvNA"AZAbAjArAzAAA㌆k9@AAGsAj@AWٻAÈAǼ?AQC?Ah?Am͖<*AG:?2Aտֽ:ABAG:?JAտֽRA٘i)I9j@YG J<JJJJE&K Y&_~?yLAJEj7j79)B[[?[_~?[[[[[BZYY i) do;IG?iӮr_ g @))g @g @Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038667.203165 s, next control iter: 1743038667.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038667.603165 s.94J~,2*AAQ@A F@A_~? AA?s%"AAwNA"AZAbAjArAzAAAC|9@AysA Yk@A[A߇AoU?Ai?A?A<*A :?2Aֽ:AdBA :?JAֽRAd٘i)I9Yk@Y<G Jd<JJJJE&K Y*_~?y2|LALE777s9)B[[s ?[__~?[q[[[[BZYY i) Lp;IG?ic  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038667.623165 s, next control iter: 1743038668.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12166 , header.stamp.nsec: 0 0 temperature: 13.566293 * salinity: 33.375580 , density: 1025.000000 * values[0]: 0.575199 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038668.023165 s.ZJ~,{3*AJ"J*J2J:J@?BJ@?nJg5vJAHz.@A~;!@A_~? AAa %"AAwNA"AZAbAjArAzAAA~Xc9@A +sAk@AVAs釽A?A`Ŋ?A ?At<*A:?2Aֽ:AtBA:?JAֽRAt٘i)I9k@YG J}<JJJJE&K YW-_~?ysLAOE>9)B[[(3?[R_~?[ݙ[[[[BZYY i)  elevatorAngleAction: 0.076697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038668.443289F (some fields omitted in printout)Aq= c@AV@Ae_~? AA,%"AAbwNA"AZAbAjArAzAAAs5G*59@Ai֧5ˇsA"Ll@A»AҮA?A?AC#?Ae<*A:?2A׽:ABA:?JA׽RA٘i)I9Ll@YG J<JJJJE&K Y0_~?y6MARE779B)BE[[J[?[_~?[;[[[[BZYY i) :73*AJ"J*J2J:JBJnJvJA@A\@A_~? A٪AC%"AAlwNA"AZAbAjArAzAAAVAxm9@AFBsAl@A|`;A2AQ?Aw?A7?A<*A;9?2AY׽:AxBA;9?JAY׽RAxY;?JH?y72;ٓH7h?*'k? ?ދ?kFB? q?`G?);? I٘i)I9l@YG JՊ<B=J"JJJE&Kx> Y1_~?y䂩MAH?TEb7ӽ9)B[[?[_~?[[[[[BZYY i) * elevatorAngleAction: 0.076697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038669.703295F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Ay@A_~? AɪA{&"AA)wNA"AZAbAjArAzAAA4Ó 9@A/%ysA elevatorAngleAction: 0.076697< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038670.963305F (some fields omitted in printout)Affff@Aip[@A_~? AA1S&"AA4wNA"AZAbAjArAzAAAwz9@Aj荙fjsAo@A'4Aq施AE5?A`?Au?Aeǡ<*A9?2Axֽ:A]/BA9?JAxֽRA]/YC?O?y䖽 5ٓHi wr`=?EC@%ز?gF?)C? I٘i)I9o@YG J<JqJJJ E&K'x> Y0_~?yVkOAO?bEj7Z7Ƣ9)B[[Y?[_~?[U[[[[BZYY i) ww`sA5p@A0#A,Ao?A`?A}?A<*A9?2Aֽ:A\BA9?JAֽRA\٘i)I95p@Y2G J<B=JJJJE&K Y"+_~?yZE6PAgE77^ʢ9)B[[?[m_~?[NB[[[[BZYY iƯ=) n elevatorAngleAction: 0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743038672.223310F (some fields omitted in printout)AzG@A 7:@A_~? APAM,&"AA8wNA"AZAbAjArAzAAA 롒9@AtN[sAsp@AcLAgA#?ApA}?A-<*A9?2A׽:AoBA9?JA׽RAo٘i)I9p@YG Jԧ<C=JJJJE&K Y(_~?y<PAjE)̢9){B[[e?[_~?[8[[[[BZYY i) q Y _~?y,+kQA[?oE{7j7Ϣ9B)qBE[[C?[ҡ_~?[%[[[[BZYY i) T elevatorAngleAction: 0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743038673.483330F (some fields omitted in printout)A\@Aq@A_~? AAx&"AA 6wNA"AZAbAjArAzAAA 9@A$cD'LsAbr@A <<A㥢A?A,ALn?A4<*A9?2AA-׽:A^=BA9?JAA-׽RA^=٘i)I9br@YG Jɦ<JJJJE&K Y_~?y"QArE777Ѣ9)mB[[s?[_~?[i[[[[BZYY i) 1RAwE77բ9)dB[[?[:_~?[+[[[[BZYY i)  elevatorAngleAction: 0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743038674.743327F (some fields omitted in printout)Aףp=@A ~1}@AN_~? AhA&"AA+wNA"AZAbAjArAzAAA69@AX>sA/t@A_APA?AܷAH?A<*A#9?2A8ֽ:ABA#9?JA8ֽRA٘i)I9/t@YG J<JJJJ"E&K Y _~?ySAzE7֢9B)_BE[[V?[؈_~?[[[[[BZYY i) ?AAM7?A<*A'9?2Az]ֽ:AUBA'9?JAz]ֽRAUYjV?b?yo&#SٓH@#Uҿ ??Tҿ `W?K?)jV? I٘i)I9t@YG J<B=JJJJ%E&Kx> Yo_~?y,SAb?}E~77آ9)ZB[[C2?[_~?[-[[[[BZYY i)  elevatorAngleAction: 0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200572 time: 1743038676.003327F (some fields omitted in printout)AR+@A,y@A_~? A QA &"AAwNA"AZAbAjArAzAAAn^59@Ah/sA$'v@Aˣ;A7 A?A`A ?A<*A?9?2Aq׽:A{BA?9?JAq׽RA{٘i)I9'v@YG J<JJJJ*E&K Y7^~?ySuTAE7)7Iܢ9B)OBE[[?['n_~?[q[[[[BZYY i) 0jT@A_~? A#IAK &"AAPwNA"AZAbAjArAzAAAi9@AH4*sA:v@A>O<AӲAZ?A ÿA?A<*A29?2AK׽:A%4BA29?JAK׽RA%4٘i)I9v@Y7G JN<JJJJ-E&K Y^~?yTAEb7b7ޢ9B)KB E[[G?[c_~?[5٨[[[[BZYY i)  elevatorAngleAction: 0.085828< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743038677.263272F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AvQ@A_~? Ak9A_ &"AA=wNA"AZAbAjArAzAAA"a9@ANQ !sA2*x@A';A0A8?A {<ǿA Ѻ?AJ%<*Aߝ9?2Aֽ:A0BAߝ9?JAֽRA0Y%^?rj?y/9;ٓHoؿ?Vp?7ؿ ED?`҂~? a?)%^? I٘i)I9*x@Y G Jh<J&JJJ2E&K*x> Y/^~?y[֨UAj?E9)AB[[?[L_~?[Ǩ[[[[ZZZZ¸>BZYY i¸>&U) 9)6B[[6@[/3_~?[:[[[[ZZZZBZYY i) ʿ5*AA@AkGq@A_~? AAq&"AA&vNA"AZAbAjArAzAAAqGG8@A J sA,|@A"ݏ:A0A1@A"пA?A2<*A9?2Ayֽ:A罻BA9?JAyֽRA罻YaT?V0@y0n:ٓH Z޿)C?W#?@b޿* ? Q?_?)aT? I٘i)I9,|@Y{G JW<Jl=JJJ@E&Kv> Y^~?yWA0@E779)$BE[[@[_~?[p[[[[ZZZZBZYY iyj) I٘i)I9|@YG J]<JJJJBE&K Y^~?yX8XAEj7j7i9)B[[ԇ@[^~?[[[[[ZZZZBZYY i)  5vJAGz@Am@A_~? AoA*&"AAfvNA"AZAbAjArAzAAA;)R8@A^rA}@AZC<A;A@A`ҿA?A%e&<*Aq9?2Acֽ:A /~<BAq9?JAcֽRA /~<٘i)I9}@Y^G JR<JJJJHE&K Y:w^~?yҖXAEj7j79)B[[b @[^~?[Ă[[[[ZZZZBZYY i) x^  ;@)) ;@ ;@ytYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038680.643165 s, next control iter: 1743038681.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12179 , header.stamp.nsec: 0 0 temperature: 13.383572 * salinity: 33.391624 , density: 1025.000000 * values[0]: 0.710150 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038681.043165 s.J~,B6*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082853< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743038681.043296F (some fields omitted in printout)A= ף@AW@A}_~? AA'&"AAvNA"AZAbAjArAzAAActPwu8@A)ծZrA}@AJ(;Aݝ<Ag @A!ӿAM?Ar;*A9?2Aēֽ:AL<BA9?JAēֽRAL<٘i)I9}@YG J$<JJJJKE&K Yi^~?yXAE9 B)E[[}= @[l^~?[z[[[[ZZZZBZYY i) hc5vJAffff@Ao^@Aq_~? AA]J&"AA,vNA"AZAbAjArAzAAA\BS8@ARfrA}@ADAW=A @A͍ԿA?AΒ ;*Aִ9?2Aֽ:AmC<BAִ9?JAֽRAmCJJJME&KYx> YY^~?y‡XA @EZ7SI79)[[f @[^~?[s[[[[BZYY i l) 8Q@));8>@;8>@yɪ0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038681.503165 s, next control iter: 1743038681.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12180, header.stamp.nsec: 00 temperature: 13.383490* salinity: 33.391624, density: 1025.000000* values[0]: 0.710572F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038681.883165 s. zJ~,x6*AA(@A!@AOf_~? AA/&"AAmvNA"AZAbAjArAzAAA; 08@Ah }rA}@A dAi0=Av @A iտA?A*A9?2Aֽ:A^<BA9?JAֽRA^<٘i)I9}@YG Jl9JJJJPE&K YI^~?yuXAE777_9 B)BE[[F`@[1^~?[pk[[[[BZYY iq) Tu@5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067600< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743038682.303291F (some fields omitted in printout)AQ@AQ1D@A9Z_~? AgߩAd&"AA\vNA"AZAbAjArAzAAA޳c 8@A{ rAo}@AKAKW=AW @A@AֿA%?AQڻ*AЦ9?2AAֽ:A(<BAЦ9?JAAֽRA(<٘i)I9}@YG J‚JJJJSE&K Y:^~?y)ygXAE77)9)B[[@[ȋ^~?[c[[[[BZYY i) `.`? ,?@?)-@ I٘i)I9|@YG J ~J=JJJ[E&KUw> Y'^~?ycWA3@Ej7j79B)(BE[[ڔ@[N^~?[N[[[[BZYY iD k) *l;I{D?i& > F@))F@F@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038683.603165 s, next control iter: 1743038683.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12182, header.stamp.nsec: 00 temperature: 13.383676* salinity: 33.391659, density: 1025.000000* values[0]: 0.709873F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038683.983165 s.J~,6*AJ"J*J2J:JBJnJvJA\(@AKp@AO%_~? AéA҆&"AAX vNA"AZAbAjArAzAAA #j7@AU>)rAk|@Ac<Ae=Ap@A@ٿA`?Ad*A9?2Aֽ:A%=BA9?JAֽRA%=٘i)I9k|@YG JJJJJ]E&K Y]~?y]NWAEb77T9),B[[@[39^~?[G[[[[BZYY i) ;ID?i9 G@))G@G@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038684.023165 s, next control iter: 1743038684.383181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038684.403165 s.&ƍJ~,7*AAQ^@A-Q@A_~? A߼AE &"AAuNA"AZAbAjArAzAAAAt?7@A?*7 rAO{@Ad;A=A@AsPڿAn?A*A9?2Auֽ:A-J=BA9?JAuֽRA-J=٘i)I9{@YOG JOJJJJ`E&K  9Y]~? 9yRVVAE79B)4BE[[H@[`#^~?[TA[[[[BZYY i) B;IĊD?i3 I))II@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038684.443165 s, next control iter: 1743038684.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12183", header.stamp.nsec: 0"0 temperature: 13.383906"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.708895"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038684.823165 s.J "J *J 2J :J z5?BJ z5?nJ J>5vJ ̍J~,l47*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038684.823327F (some fields omitted in printout)AGz@A֌ r@A+_~? A;A&"AAuNA"AZAbAjArAzAAA"D7@Ad@rAU{@AtA=A!@AۿA(?AS몼*A9?2Aֽ:AcG =BA9?JAֽRAcG =٘i)I9U{@YG JxB=JJJ7FJcE&K Y]~?yOVAEb79B):BE[[0@[, ^~?[:[[[[BZYY i) -k;I:|D?i,  }G)) }GJ@ytIk֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038684.863165 s, next control iter: 1743038685.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038685.243165 s.ӍJ~,`O7*AAףp=@A72@A^~? AA&"AA/uNA"AZAbAjArAzAAAnem6@ArARz@A@JA?E=APz@A ۿA?A*A9?2A׽:AH=BA9?JA׽RAH=٘i)I9z@YG J*C=JJJJeE&K Y]~?yH+VAE77{79B)@BE[[@[]~?[4[[[[BZYY i) };IinD?id$ E))E,L@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038685.283165 s, next control iter: 1743038685.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038685.663165 s.ڍJ~,qj7*AJ"J*J2J:J-5?BJ-5?nJ=5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12184, header.stamp.nsec: 00 temperature: 13.384180* salinity: 33.391663, density: 1025.000000* values[0]: 0.707723F (some fields omitted in printout)A@Aa@AG^~? A=A&"AA̳uNA"AZAbAjArAzAAA+w6@AkirA?4z@A,*mAS=AT@A`ܿA,?A>*A9?2A׽:A&=BA9?JA׽RA&=Yf @@yoO=mٓH`9^EQ\ YK]~?yBUA@Eŧ7b79B)FBE[[;@[]~?[.[[[[BZYY i) %A;I`D?iz lD))lDM@7ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038685.683165 s, next control iter: 1743038686.063180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038686.083165 s.DJ~,S7*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057382< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038686.083302F (some fields omitted in printout)A)\5@AA(@A1^~? A䢩A &"AAěuNA"AZAbAjArAzAAAl,6@A x1rAϢy@AAXY=A@A4kݿA'L?AFQ*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9y@YG J*JJJJkE&K Y ]~?y<]UAE)7)7I9)KB[[@[ ]~?[([[[[BZYY i>) ;ISD?irr* B))B:O@5ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038686.123165 s, next control iter: 1743038686.483180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038686.503165 s.J~,n47*AJ"J*J2J:JBJnJvJARk@ATȕz^@A^~? AAׅ&"AAuNA"AZAbAjArAzAAA(R6@AXjarAy@A:A=AiR@A!'޿A?Aь*A9?2A%ֽ:Ad.<BA9?JA%ֽRAd.<٘i)I9y@YG JJJJJmE&K Ŷ]~?ym6TAEb7b7 9B)QBE[[ED @[A]~?[J#[[[[BZYY i) ^А:IkGD?ih ^A))^AP@ ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038686.523165 s, next control iter: 1743038686.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12185, header.stamp.nsec: 00 temperature: 13.384439* salinity: 33.391674, density: 1025.000000* values[0]: 0.706529F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038686.923165 s.8J~,7*AA{G@A;@A̷^~? AA&"AAiuNA"AZAbAjArAzAAA>&6@Ag斡rAx@A .<A[=A,@Ak޿Ak?AS*A&9?2A:Lֽ:A'<BA&9?JA:LֽRA'<٘i)I9x@Y?G JǫJJJJpE&K Yn]~?yK0TAE{7{7 9B)WBE[[!@[2]~?[[[[[BZYY i) H@9I;D?i[A `?))`?UGR@}ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038686.963165 s, next control iter: 1743038687.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038687.343165 s.n<A=A@Aw߿A`?A*A9?2AMֽ:At<BA9?JAMֽRAt<٘i)I9w@YG JJJJJsE&K YMZ]~?y)*(TAE7777 9B)]BE[[B#@[]~?[[[[[BZYY i) FAI0D?i9MW !T>))!T>S@y*2YFFF]f:Waiting for Gazebo time sync: latest Gz time: 1743038687.383165 s, next control iter: 1743038687.743173 s, wait time: 0.360008 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12186&, header.stamp.nsec: 0&0 temperature: 13.384711&* salinity: 33.391697&, density: 1025.000000&* values[0]: 0.705378&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038687.763165 s.6J~,7*AA @A/<A=A1@A$A ?A*An9?2AZֽ:AG<BAn9?JAZֽRAG Y#D]~?y$SA<@E{7j7t9B)cB޹E[[$@[g]~?[[[[[BZYY i) g9ݺI%D?i|E; <))<NU@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038687.803165 s, next control iter: 1743038688.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038688.183165 s.J~,^ 8*AJ"J*J2J:Jn4?BJn4?nJ2=5vJA(\B@Au5@A^~? AA]&"AAduNA"AZAbAjArAzAAA~5@AȲrAv@A8ä:A=A+@A}A@_?A9*A9?2ATֽ:AN<BA9?JATֽRAN<٘i)I9v@YKG JJJJJxE&K Y-]~?y;rSAE77?9 B)hB۹E[[B&@[M]~?[[[[[BZYY i) ,ID?i;oQ N;))N;V@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038688.203165 s, next control iter: 1743038688.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038688.603165 s.64 J~,&8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066526< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743038688.603305F (some fields omitted in printout)AQx@APoFk@AIp^~? AA&"AAtNA"AZAbAjArAzAAAX02F5@AFMrA yv@AA=A @A ]A`?A]*A9?2Ag*׽:AY<BA9?JAg*׽RAY<٘i)I9yv@YG JJJJJ{E&K Y]~?ySAE7777 9)lB[['@[4]~?[ [[[[BZYY i) #.kIjD?i0P 9))9SX@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038688.623165 s, next control iter: 1743038689.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12187 , header.stamp.nsec: 0 0 temperature: 13.384987 * salinity: 33.391685 , density: 1025.000000 * values[0]: 0.704297 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038689.023165 s.ZJ~,{A8*AJ"J*J2J:JBJnJvJAHz@AZ @At]^~? AsyA2<&"AA~tNA"AZAbAjArAzAAAGţ 5@A4.YrAv@A kA=A4"@A*Al?AƂ*Ac9?2A1=׽:AN<BAc9?JA1=׽RAN<٘i)I9v@YG JyJJJJ~E&K Y]~?yMRAE779!B)qBعE[[9)@[']~?[[[[[BZYY i) zI D?iV"^ϻ MK8))MK8hY@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038689.043165 s, next control iter: 1743038689.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038689.443165 s.8J~,B]\8*AAq= @A=@ABJ^~? AsA &"AAtNA"AZAbAjArAzAAALw4@ArAu@AIA=A#@A\}A(Z?Aif*A9?2AE׽:AT<BA9?JAE׽RAT<٘i)I9u@Y|G JB=JJJJE&K Y}\~?yaRAE)7b79$B)wBԹE[[&*@[]~?[r[[[[BZYY i ) ᳻ID?irƻ 6))6S[@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038689.463165 s, next control iter: 1743038689.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12188, header.stamp.nsec: 00 temperature: 13.385212* salinity: 33.391705, density: 1025.000000* values[0]: 0.703366F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038689.863165 s.+J~,>w8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743038689.863307F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ajt @A6^~? AnA&"AA]tNA"AZAbAjArAzAAA5]n4@AS@PrA.u@AovAe=AN$@A`A?Ac*A9?2Aֽ:Ab<BA9?JAֽRAb Y\~?y  RA$@Eb77j9){B[[+,@[p\~?[a[[[[BZYY i)  _ӻIcC?i &S M5))M5\@PYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038689.903165 s, next control iter: 1743038690.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038690.283165 s.:R$J~,8*AA(\O@ARB@A"^~? AriAx&"AAtNA"AZAbAjArAzAAA ;[4@AE3!rAt@A;A =A&@A@?A O?Aw7*A9?2Avֽ:A<BA9?JAvֽRA<٘i)I9t@YG J`JJJJE&K YԻ\~?y^QAEŧ7b749&B)BѹE[[-@[.\~?[[[[[BZYY i) xIC?i] I3))I3lO^@ಪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038690.303165 s, next control iter: 1743038690.683180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12189., header.stamp.nsec: 0.0 temperature: 13.385415.* salinity: 33.391712., density: 1025.000000.* values[0]: 0.702460.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038690.703165 s.Ժ*J~,8*AJ"J*J2J:J3?BJ3?nJ<5vJAQ@Ax@A^~? A\dAF&"AA!ltNA"AZAbAjArAzAAA6H4@A`rrAPt@A`<An3=A#M'@A@EgA-?A*A9?2ARֽ:An=BA9?JARֽRAn=٘i)I9Pt@YG JńB=JJJJE&K Y\~?y\QAE779'B)BιE[[/@[Ͳ\~?[[[[[BZYY i) ( IqC?i㾉鑻 S2))S2_@y\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038690.723165 s, next control iter: 1743038691.103177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038691.123165 s.41J~,P8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038691.123283F (some fields omitted in printout)AG@AY8֭@A ]~? Ag_Av?&"AABMtNA"AZAbAjArAzAAA3@AFrA>s@Aa]<A=A0(@AAl?Av*A9?2Aoֽ:As=BA9?JAoֽRAs=٘i)I9s@YnG JDC=JJJJE&K Y,\~?yQAE77779)B)B˹E[[0@[a\~?[t[[[[BZYY i) PIC?ipƾ~ 0))0%Ga@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038691.143165 s, next control iter: 1743038691.523178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038691.543165 s.I8J~,8*AJ"J*J2J:J3?BJ3?nJq<5vJA= ף@A@A.]~? AZA&"AA-tNA"AZAbAjArAzAAAxV3@A|4rAos@Ai;A'=A)@A OA`?AWO*Af9?2Aÿֽ:AS=BAf9?JAÿֽRAS=٘i)I9os@Y)G JJJJJE&K YXt\~?y*PAE9)B[[1@[}\~?[=[[[[BZYY i)  (IC?iKS _/))_/b@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038691.563165 s, next control iter: 1743038691.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12190, header.stamp.nsec: 00 temperature: 13.385652* salinity: 33.391727, density: 1025.000000* values[0]: 0.701549F (some fields omitted in printout)Xt\~?)* rAdjusting time to match Gazebo time: 1743038691.963165 s.}>J~,8*AAffff&@AZ@A]~? AUA%&"AA tNA"AZAbAjArAzAAAI`3@AFF0rAIs@A/ҎA꾉=AGJ+@ACA?A!*A9?2A׽:A"=BA9?JA׽RA"=YT?@wE+@y= %ٓH`ܿ @T?pq?4 Bq`f?)T?@ I٘i)I9s@YG JJ<JJJE&KZx> Y[\~?y6RPAE+@E_ 9*B)BȹE[[o3@[c\~?[/[[[[BZYY i) #8IC?i)s9 b-))b-S9d@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038691.983165 s, next control iter: 1743038692.363181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038692.383165 s.EJ~,M9*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076199< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199452 time: 1743038692.383286F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A`O@A]~? ATQAV&"AAsNA"AZAbAjArAzAAAqK3@AB;irA)r@AMAb=A,@A`A ?A*Ae9?2AG׽:Ao=BAe9?JAG׽RAo=٘i)I9r@YG JHJJJJE&K YA\~?yBOAEŧ7b7*"9-B)BĹE[[4@[ H\~?[V[[[[BZYY i) GIC?ire n,))n,2e@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038692.403165 s, next control iter: 1743038692.783178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12191&, header.stamp.nsec: 0&0 temperature: 13.385842&* salinity: 33.391720&, density: 1025.000000&* values[0]: 0.700645&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038692.803165 s.zALJ~,g39*AA@A @A]~? ALA@&"AAsNA"AZAbAjArAzAAAb2@A6ڶrA r@AgA=AV-@A`A[A?A7*A89?2A5׽:A.'=BA89?JA5׽RA.'=٘i)I9 r@Y]G JJJJJE&K Y(\~?yNOAE7777#9/B)BE[[rO6@[-\~?[[[[[BZYY i) *WIC?i;8 *))*'g@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038692.823165 s, next control iter: 1743038693.203179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038693.223165 s.gSJ~,HN9*AJ"J*J2J:JBJnJvJAz@A}@A]~? AHAD&"AAsNA"AZAbAjArAzAAAnG2@A7wXrAةq@AAQ =A6/@Aq A]r?AGI*Ab9?2Aֽ:A2[ =BAb9?JAֽRA2[ =٘i)I9q@YG JJJJJE&K Y^\~?yZ Y[~?yDzNA1@E77T)91B)BE[[:@[[~?[ߧ[[[[BZYY i) 0IhC?i; &))&k@DѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038694.083165 s, next control iter: 1743038694.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038694.483165 s.|_gJ~,9*AA\h@Ax[[@AJ]~? A<A&"AAEsNA"AZAbAjArAzAAAufn@yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038694.943165 s, next control iter: 1743038695.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038695.323165 s.vtJ~,%9*AAGz@Aho@Ah]~? A]5A)&"AArNA"AZAbAjArAzAAA^?1@A% WrAo@A.:A,=A5@A+AA?A6P*A}9?2Aiֽ:A9=BA}9?JAiֽRA9=٘i)I9o@YyG JJJJJJE&K Y[~?y֧GMAE{7j7.95B)BE[[>@[n[~?[ڧ[[[[BZYY i) YIkC?i">: 7J"))7J"~o@Q۪YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038695.343165 s, next control iter: 1743038695.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12194*, header.stamp.nsec: 0*0 temperature: 13.386609** salinity: 33.391747*, density: 1025.000000** values[0]: 0.697621*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038695.743165 s.#W{J~,9*AJ"J*J2J:J2?BJ2?nJD;5vJAףp= @A+C3@A]~? A1Aa&"AArNA"AZAbAjArAzAAA>'0@A}XYBrA xn@Ai A=A5 7@A_AF`?AT*A)9?2A\-׽:A=BA)9?JA\-׽RA==I٘i)I9xn@Y#G JJJJJE&K Y.r[~?yӧLAE77709)¯B[[%@@[~o[~?[٧[[[[BZYY i) 8꠼IC?i`k>k;  )) Cq@{ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038695.763165 s, next control iter: 1743038696.143184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743038696.163165 s.v}J~,q :*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199772 time: 1743038696.163303F (some fields omitted in printout)A@@A)*2@A \~? A.A &"AA?rNA"AZAbAjArAzAAA&0@AUW/D~rAm@A:jA=AD_8@A֐A}?A$*A9?2AS;׽:A=BA9?JAS;׽RA=YF*@4L8@y}=kٓHп*Ԅ?6F|? %[@L?)F*@ I٘i)I9m@YG JB=J<JJJE&K+x> YV[~?yuѧrLAL8@E)7ŧ7J297B)ȯBE[[A@[2T[~?[ا[[[[BZYY i) LI]C?i> 3; o))or@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038696.183165 s, next control iter: 1743038696.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038696.583165 s.戎J~,R%:*AJ"J*J2J:Js2?BJs2?nJ;5vJA)\u@A=h@A \~? A+AF &"AA rNA"AZAbAjArAzAAA)0Fg0@A}_|rAfVm@A@A6=A 9@A,A?Am*Ap9?2A^ֽ:A%=BAp9?JA^ֽRA%=٘i)I9Vm@YsG J:C=JJJJE&K Y;[~?y.ϧLAEb7b7499B)ίBE[[B@[ 9[~?[ק[[[[BZYY i) fIC?i>bU; ))t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038696.623165 s, next control iter: 1743038696.983176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12195 , header.stamp.nsec: 0 0 temperature: 13.386881 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.696499 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038697.003165 s.w J~,H4@:*AAR@A;y@Aܼ\~? A(AQ &"AAorNA"AZAbAjArAzAAAw0@A>zrA)l@ACAH=A:@A`AM?A/$*A19?2AVֽ:A1=BA19?JAVֽRA1=٘i)I9l@YG JJJJJE&K Yh [~?y̧KAE77{759:B)ԯBE[[`LD@[[~?[֧[[[[BZYY i)  I'C?i/>e|; 2))2u@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038697.023165 s, next control iter: 1743038697.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038697.423165 s.uJ~,[:*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038697.423272F (some fields omitted in printout)A{G@A;@A|\~? A%A &"AAJrNA"AZAbAjArAzAAA/@AHxrAl@A;A@=A(<@A`A1?AtƼ*Aq9?2A,ֽ:A=BAq9?JA,ֽRA=٘i)I9l@YG JJJJJE&K Y%[~?yʧ$KA E7779;B)ۯBE[[SE@[![~?[u֧[[[[BZYY i) CnI\C?i>wΓ; /))/v@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038697.463165 s, next control iter: 1743038697.823176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12196, header.stamp.nsec: 00 temperature: 13.387160* salinity: 33.391731, density: 1025.000000* values[0]: 0.695335F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038697.843165 s.ݜJ~,u:*AAp= @A< @A\~? A*#A+ &"AA%rNA"AZAbAjArAzAAAt{N3/@AD8-?@A`V`A?AҼ*AV9?2A)ֽ:Ah=BAV9?JA)ֽRAh=Ym0@>@yT=+W<ٓHkx`Ŀ`p VX? ܔ?@KCG?A?)m0@ I٘i)I9j@YG JgмJl<JJJE&Kw> Y Z~?yƧ=JA>@E7?;9^Hu@AZZ\~? ATAQ!&"AAqNA"AZAbAjArAzAAAPZ-@Af #HtrAqj@Au];Asl=A@@AA@??A_:Ҽ*AƉ9?2A-ֽ:A#=BAƉ9?JA-ֽRA#=٘i)I9j@YtG J}ҼJJJJE&K Y0Z~?yŧIAE)7b7 =9)B[[I@[Z~?[է[[[[BZYY i) @<ԼI D?i?]; V))V_${@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038698.683165 s, next control iter: 1743038699.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038699.103165 s.J~,:*AJ"J*J2J:JBJnJvJAQ@A F@ATA\~? A%AB~!&"AAqNA"AZAbAjArAzAAACqN-@AbJrrA"_i@AAd=AZqA@AAsa?Aм*Ag9?2A/ֽ:A%=BAg9?JA/ֽRA%=٘i)I9_i@YG JѼJJJJE&K Y[Z~?y"ħMIAE{7j7>9=B)BE[[)K@[,Z~?[֧[[[[BZYY i) OqۼIjD?i/? ; ))|@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038699.143165 s, next control iter: 1743038699.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038699.523165 s.J~,|:*AAHz@A*1 @A,(\~? A Af!&"AAqNA"AZAbAjArAzAAA#A,@A(}qrAh@AiSAf=A+B@AA?A8м*A(9?2A#׽:A?<=BA(9?JA#׽RA?<=٘i)I9h@Y G JмJJJJE&K YzZ~?y§HAE77{7@9>B)BE[[ jL@[}Z~?[q֧[[[[BZYY i) ID?iO@?(; '3))'3}@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038699.563165 s, next control iter: 1743038699.923184 s, wait time: 0.360019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12198, header.stamp.nsec: 00 temperature: 13.387814* salinity: 33.391750, density: 1025.000000* values[0]: 0.692659F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038699.943165 s.WdJ~,>]:*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085479< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038699.943278F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@A⏢@A\~? ADAf!&"AAhqNA"AZAbAjArAzAAAXo,@AR|prA~g@AOdA q=AD@AOA?AIӼ*A9?2A ׽:A-=BA9?JA ׽RA-=٘i)I9g@Y2 G JѼJJJJE&K Y^Z~?yT^HAE{7jB9?B)BE[[ּM@[cZ~?[֧[[[[ZZ¸BZYY i¸8=) +ּI)D?iCS?)5< c))cRN@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038699.963165 s, next control iter: 1743038700.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038700.363165 s.ŎJ~,>;*AAY@AٕL@A|[~? AAH!&"AAeBqNA"AZAbAjArAzAAA~˃+@APcorA-Lg@AA`=A\E@AWA@?A4ؼ*A9?2ACֽ:Ar=BA9?JACֽRAr=YRK7@tQE@yo_=ٓH:J`x#Э?@Md䶿 }?)RK7@ I٘i)I9Lg@Y G JYռB=J;JJJE&Kw> Y}BZ~?yGAQE@EZ7Z75D9)BE[[}O@[dIZ~?[ק[[[[ZZBZYY i) ʼI!5D?ie_?< o))oW@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038700.403165 s, next control iter: 1743038700.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12199&, header.stamp.nsec: 0&0 temperature: 13.388125&* salinity: 33.391735&, density: 1025.000000&* values[0]: 0.691346&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038700.783165 s.XˎJ~,2;*AJ"J*J2J:JBJnJvJA(\@A=S@A[~? AA"&"AAqNA"AZAbAjArAzAAA(0M*@AnnrADf@Ah);A=A F@A A?A=*A9?2AJֽ:Aܺ<BA9?JAJֽRAܺ<٘i)I9f@YI G JC=JJJJE&K YY&Z~?yMhGA E77E9@B) BE[[gP@[K/Z~?[~ا[[[[ZZBZYY i) ȀIAD?iGm?< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038700.823165 s, next control iter: 1743038701.183177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038701.203165 s.ӎJ~,M;*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038701.203300F (some fields omitted in printout)AQ@A ^@Ah[~? AA,"&"AA&pNA"AZAbAjArAzAAA.M*@AWmrAe@A:<A#=A7G@A A$?AA<*AK9?2A7 ֽ:A璺<BAK9?JA7 ֽRA璺<٘i)I9e@Y G J JJJJE&K Y3 Z~?yɿFA D#Eb7G9)BE[[tQ@[oZ~?[٧[[[[ZZBZYY i) JnIzOD?i|?!< ))@yQ=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038701.243165 s, next control iter: 1743038701.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038701.623165 s.[َJ~,mg;*AJ"J*J2J:JBJnJvJAG@A @A[~? AmADF"&"AARpNA"AZAbAjArAzAAA )@A`mrAGd@Ac<Ar=AjHA2AKd?A@B*Aw9?2A.ֽ:AAm<BAw9?JA.ֽRAAm<٘i)I9d@Y; G J1JJJJE&K YY~?yErFA%Eŧ7b7I9AB)BE[[{S@[Y~?[ڧ[[[[ZZBZYY i) \I^D?i#?,< R ))R zf@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038701.663165 s, next control iter: 1743038702.023181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12200, header.stamp.nsec: 00 temperature: 13.388548* salinity: 33.391743, density: 1025.000000* values[0]: 0.689771F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038702.043165 s.J~,Â;*AA= ף0@Arp#@A[~? A^A\"&"AA^pNA"AZAbAjArAzAAAi~s)@Az_lrAd@A.<A6-=AGA@CAI?AѼ*A99?2ACKֽ:Ao;BA99?JACKֽRAo;٘i)I9d@Y G JJJJJE&K YY~?y¾EA(Ej7j7_K9)!B[[TT@[Y~?[ۧ[[[[ZZBZYY i) .JImD?i?.9< u ))u @sYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038702.063165 s, next control iter: 1743038702.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038702.463165 s.VJ~,褝;*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082833< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743038702.463272F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A[Y@A/u[~? AyAo"&"AALpNA"AZAbAjArAzAAABx(@A RkrA^c@A<Ac<ATFA`RAkڲ?A@*AZ9?2ANֽ:AdBAZ9?JANֽRAdYM=@FUFyX<IٓH@ץ?`m7ѥ`$cTs?)M=@ I٘i)I9^c@Ya G JJJJJE&Kv> YY~?y"EAUF+E{7*M9)&BE[[٥U@[Y~?[ݧ[[[[ZZBZYY i߸=) (I}D?iԖ?.A< [ ))[ -Ã@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038702.503165 s, next control iter: 1743038702.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12201, header.stamp.nsec: 00 temperature: 13.388906* salinity: 33.391727, density: 1025.000000* values[0]: 0.688204F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038702.883165 s.yJ~,+;*AA(@Au@AO[[~? AA"&"AA!YpNA"AZAbAjArAzAAA '@At`krAb@Ay4A\*<AeEA ^A &?Adt*A 9?2A4ֽ:AL'BA 9?JA4ֽRAL'٘i)I9b@Y G JJJJJE&K YXY~?yEA.E77{7N9BB)+BE[[V@[Y~?['ߧ[[[[ZZBZYY i =) 'ID?iܝ?aJ< '= ))'= Gq@OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038702.903165 s, next control iter: 1743038703.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038703.303165 s.TJ~,og;*AJ"J*J2J:JBJnJvJA@A.Y@AcA[~? A+AԌ"&"AA1pNA"AZAbAjArAzAAA̕>'@AjWkrAb@AzAACA@iA?A?'*A9?2A!ֽ:ABA9?JA!ֽRA٘i)I9b@Y G JMJJJJE&K Y}Y~?y㿧EA0E77P9).BE[[xAX@[Y~?[[[[[ZZBZYY i) vID?i?)T< ))@p )YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038703.323165 s, next control iter: 1743038703.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12202., header.stamp.nsec: 0.0 temperature: 13.389145.* salinity: 33.391735., density: 1025.000000.* values[0]: 0.687295.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038703.723165 s.J~,H;*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038703.723284F (some fields omitted in printout)Az@A¦Σ@An'[~? AA"&"AA pNA"AZAbAjArAzAAA@q&@ADjrAWb@AF}@AA^pBAoAݝ?Av*A˥9?2A7ֽ:A"mBA˥9?JA7ֽRA"m٘i)I9Wb@Y G JJJJJE&K Y`Y~?yCnEA3ER9CB)0B}E[[{Y@[ ~Y~?[[[[[ZZBZYY i) :bITD?i?\_<  )) ˅@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038703.743165 s, next control iter: 1743038704.123183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038704.143165 s.W/J~, * <*AJ"J*J2J:J/?BJ/?nJl85vJA ףp=@APi0@Ar [~? AA"&"AA3oNA"AZAbAjArAzAAAzpA&@AC'1jrARAb@AAkAxAAsA@?AX*AS9?2Axֽ:A%μBAS9?JAxֽRA%μ٘i)I9Ab@Y G JWJJJJE&K YDY~?yKEA6E{7UT9)1BzE[[Z@[eY~?[[[[[BZYY i) fMI D?i?k< /))/ x@r3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038704.163165 s, next control iter: 1743038704.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038704.563165 s.J~,R $<*AA3333s@A(f@AsZ~? ApAA"&"AAлoNA"AZAbAjArAzAAAPCf%@A-0 ,jrA2Eb@A<A3AI?A=uAMAT,;*A89?2A'ֽ:A @BA89?JA'ֽRA @YyHD@?yS3!<ٓH@ix?0?h¿`Y? W`?@? ?)yHD@ I٘i)I9Eb@Y G J:JX'JJJE&KBx> Y(Y~?yEA?8E77 V9)wE[[L\@[=MY~?[<[[[[BZYY ig=) u<*AJ"J*J2J:J/?BJ/?nJf85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056641< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743038704.983292F (some fields omitted in printout)A\@At @AtZ~? AAE"&"AAjoNA"AZAbAjArAzAAANڣ$@Au jrAkbb@A9f<A ZAx>A@sALA';*A9?2A6ֽ:ABA9?JA6ֽRA٘i)I9bb@Y G J+;JJJJE&K Y Y~?y-çEA;E{7Z7W9DB)tE[[e]@[5Y~?[[[[[BZYY iՆ=) ,ID?i4?k|< 1))1Bχ@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038705.023165 s, next control iter: 1743038705.383177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038705.403165 s.&J~,Y<*AAQ@A@AyZ~? AA"&"AAmoNA"AZAbAjArAzAAA6+$@AnjrATb@AmK<AyA,=AoA冟AM-<*A9?2Aֽ:APaBA9?JAֽRAPa٘i)I9b@Y G J<JJJJE&K YX~?yrħFA>E777Y9)/B[[0^@[?Y~?[([[[[BZYY i) 6IE?i?8< /))/x@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038705.423165 s, next control iter: 1743038705.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12204", header.stamp.nsec: 0"0 temperature: 13.389251"* salinity: 33.391735", density: 1025.000000"* values[0]: 0.687124"F (some fields omitted in printout):X~?):rħ rAdjusting time to match Gazebo time: 1743038705.823165 s.J~,%t<*AJ"J*J2J:JBJnJvJAGz@Ayn@AZ~? A2A"&"AAEoNA"AZAbAjArAzAAA[0#@A֐ krA#b@A!;AۯAi;A iANA6'e<*A$9?2ATiֽ:AD BA$9?JATiֽRAD ٘i)I9b@Y G JG<JJJJE&K YX~?yŧ elevatorAngleAction: 0.065838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743038706.243281F (some fields omitted in printout)Aףp=J@AR1=@AZ~? AA#"&"AAVoNA"AZAbAjArAzAAA_Rn"@A04gkrA;Yc@AһAnA:A`A}ЮAN<*A9?2Aֽ:As_BA9?JAֽRAs_٘i)I9Yc@Y^ G J|<JJJJE&K YX~?yƧxFACE77J]9))BnE[[1a@[X~?[[[[[BZYY i) N0I5E?i1?'؎< OU))OU@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038706.263165 s, next control iter: 1743038706.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038706.663165 s.*J~,q<*AJ"J*J2J:J0?BJ0?nJ85vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12205, header.stamp.nsec: 00 temperature: 13.389133* salinity: 33.391708, density: 1025.000000* values[0]: 0.687760F (some fields omitted in printout)A@Amr@AqZ~? AAp"&"AAnNA"AZAbAjArAzAAAauS"@AukrAc@A`AA;c9AUA A*Az֝<*A9?2Aս:A`BA9?JAսRA`YJ@R9yꯗȞ`ٓH ?9?`Ͽ Qs???)J@ I٘i)I9c@Y G Jl<JJJJE&K]w> Y&X~?y!ɧFAR9FE7777_9)&BkE[[Nub@[yX~?[[[[[BZYY i) ԻIsNE?i9?۳< ))\@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038706.683165 s, next control iter: 1743038707.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038707.083165 s.D1J~, S<*AA)\µ@A}b@AWZ~? AjAp"&"AAnNA"AZAbAjArAzAAAԂ/jζ!@AzV|glrA_d@AaA*gA8AyHAA8<*AӚ9?2At ֽ:AYBAӚ9?JAt ֽRAY٘i)I9_d@Y G J<JJJJE&K YāX~?yF˧DGAHE7`9)!BhE[[c@[X~?[[[[[BZYY i) 1IgE?i?n< sH))sH@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038707.123165 s, next control iter: 1743038707.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038707.503165 s.7J~,U4<*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: 0.065838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743038707.503304F (some fields omitted in printout)AR@AsV{@A>Z~? A{A]"&"AA¨nNA"AZAbAjArAzAAA!Hw!@A mrAHd@A<)ڻA6Az6A8A`ºAa <*A(9?2A iֽ:A{BA(9?JA iֽRA{٘i)I9d@YU G J9<JJJJE&K Y`fX~?yjͧGAKE77{7b9)BeE[[d@[(X~?[[[[[BZYY i) YI E?i?< ;));̝@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038707.543165 s, next control iter: 1743038707.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12206, header.stamp.nsec: 00 temperature: 13.388918* salinity: 33.391697, density: 1025.000000* values[0]: 0.688745F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038707.923165 s.8>J~,<*AA{G!@A1=@Ac$Z~? AA?G"&"AAnNA"AZAbAjArAzAAA~ @AFmrA5e@A;A𯝽Awd5A&A񔾿Aݏ<*A9?2Aֽ:A6 BA9?JAֽRA6 ٘i)I9e@Y G J<JJJJE&K YJX~?yϧHANE777ud9)BbE[[H5f@[ X~?[[[[[BZYY i) m&tI*E?iJ?w< L))L<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038707.943165 s, next control iter: 1743038708.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038708.343165 s. elevatorAngleAction: 0.065838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038708.763282F (some fields omitted in printout)Ǎ@A'h@ACY~? AA"&"AA4nNA"AZAbAjArAzAAA>d>g@A`)ΚorAf@Akl<A4A2A}A ÿAm׭<*A9?2Ax׽:A?BA9?JAx׽RA?YKQ@2y0Pm<ٓH`L?@?տ`B?`:?`8? U?)KQ@ I٘i)I9f@Ya G Jڭ<J}JJJE&K,x> YX~?yԧHA2SEb77 h9)B[[h@[hX~?[ [[[[BZYY i) : I E?i@,< sY))sY~y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038708.783165 s, next control iter: 1743038709.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038709.183165 s.RJ~,kK=*AJ"J*J2J:JBJnJvJA(\@A?@AY~? A`AC!&"AA nNA"AZAbAjArAzAAA95A]@A1prA:g@A<AAKv1AAĿA=}<*Aڰ9?2Aֽ:ABAڰ9?JAֽRA٘i)I9:g@Y G J<JJJJE&K YW~?yקGIAVE)7)7i9) B]E[[i@[(SX~?[[[[[BZYY i) =}IE?i @o< ))뿩@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038709.203165 s, next control iter: 1743038709.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038709.603165 s.74YJ~,f=*AAQ@A+MF@AY~? A@AR!&"AAmNA"AZAbAjArAzAAAs *@A%HnqrAg@AAA50A AFƿA<*A 9?2A;hֽ:AW=BA 9?JA;hֽRAW=٘i)I9g@Y G J<JJJJE&K YW~?yڧIAXEŧ7k9)BZE[[&k@[ >X~?[~ [[[[BZYY i) 0 XIF?i @9< gj))gj鿩A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038709.623165 s, next control iter: 1743038710.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12208 , header.stamp.nsec: 0 0 temperature: 13.388493 * salinity: 33.391685 , density: 1025.000000 * values[0]: 0.690921 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038710.023165 s.Z`J~,{=*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038710.023291F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A|G !@AdY~? AIAK!&"AAmNA"AZAbAjArAzAAAT9K@A0H srAMdh@A1Au핽A.A@ɥAȿA<*A9?2A*ֽ:AZBA9?JA*ֽRAZ٘i)I9dh@Yp G J<JJJJE&K YpW~?yݧJA[Ejm9)BWE[[_l@[x)X~?[_[[[[BZYY i)  b:I0F?i@< O))O濩Q@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038710.063165 s, next control iter: 1743038710.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038710.443165 s.5fJ~,5]=*AAq= c@AbۢV@A[Y~? AzA1!&"AAȚmNA"AZAbAjArAzAAA( @AH`trAh@ASnA5A -A@:AnʿA\<*A9?2A,ֽ:A^+BA9?JA,ֽRA^+٘i)I9h@Y G J<JJJJE&K YW~?yJA^E77{75o9)BTE[[+m@[7X~?[X[[[[BZYY i) ‰:IQF?i{@V< '))'俩@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038710.463165 s, next control iter: 1743038710.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12209, header.stamp.nsec: 00 temperature: 13.388272* salinity: 33.391678, density: 1025.000000* values[0]: 0.692060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038710.863165 s.+mJ~,>=*AJ"J*J2J:J*1?BJ*1?nJ95vJA@Aȑ@AxsY~? A AS!&"AAtmNA"AZAbAjArAzAAA'E@AKurA‰i@Ak.A ㏽AW,AbA*D̿AXG<*A9?2Amֽ:A]BA9?JAmֽRA]Y9W@[K,yu.ٓH ?X^?`pۿ``i?U?@T?)9W@ I٘i)I9i@Y"G JM<B=Jnj<JJJ E&Kx> YsW~?yJAK,aEŧ7b7q9)B/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #75q/K^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) .2;)**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038710.903165 s, next control iter: 1743038711.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038711.283165 s.6RtJ~,=*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.065838< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743038711.283284F (some fields omitted in printout)A(\@ANP@AZY~? AT#A#!&"AAUOmNA"AZAbAjArAzAAA;+Yp@A%1KWwrAj@AAA*A@/<AοA=<*A9?2Aֽ:AEBA9?JAֽRAE٘i)I9j@YvG J}<C=JJJJ E&K YxW~?yZCKAcE{7{7r92B)BQE[[p@[W~?[[[[[BZYY i) lo;IrF?i{@Y< ש߿)) ש߿e%@-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038711.303165 s, next control iter: 1743038711.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12210., header.stamp.nsec: 0.0 temperature: 13.388041.* salinity: 33.391655., density: 1025.000000.* values[0]: 0.693154.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038711.703165 s.ӺzJ~,=*AJ"J*J2J:JBJnJvJAQ@A@A3BY~? A &A &"AA)mNA"AZAbAjArAzAAA~bF@AxrAj@AqK<AA)A6A``пA&<*A:?2A߹½:AqBA:?JA߹½RAq*AAG:@At%-@A)Y~? A(At &"AAmNA"AZAbAjArAzAAALyg`a@A2,zrAk@A4sx<AΜA()A AIпA}<*A+:?2AŽ:A)BA+:?JAŽRA)񼙘٘i)I9k@YG Jє<C=JJJJE&K Y$EW~?yLAiE7)7`v92B)ٯBLE[[pr@[W~?[q%[[[[BZYY i9=) M+;IҷF?i#@< ڿ))ڿqZ@Q*YنYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038712.163165 s, next control iter: 1743038712.523181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038712.543165 s.IJ~,">*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038712.543291F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@AöEc@AY~? A+AU &"AAlNA"AZAbAjArAzAAA 6J@A= [|rAk@A|O<AJUA"(A oA@ѿA <*Ag:?2A*ƽ:ABAg:?JA*ƽRA񼙘٘i)I9k@Y\G J<JJJJE&K Y+W~?yeLAkEb77+x9)կBIE[[s@[гW~?[)[[[[BZYY i) ;IF?i|'@a< rؿ))rؿS@*Y`YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038712.583165 s, next control iter: 1743038712.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12211, header.stamp.nsec: 00 temperature: 13.387848* salinity: 33.391647, density: 1025.000000* values[0]: 0.694143F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038712.963165 s.{J~,=>*AAffff@A$[@AZX~? A.AG &"AA lNA"AZAbAjArAzAAAWR@A]Jj~rAl@A];AㆽA'A"A^BҿA<*A8:?2A&Eɽ:A36BA8:?JA&EɽRA36YC]@R'y↽ ^;ٓH5;?)?`C1`O?@=ٰ?k? 1?)C]@ I٘i)I9l@YG JՍ<JL+<JJJE&KH> YZW~?yLLA'nEb7y91B)ѯB[[t@[?W~?[.[[[[BZYY i)  ;IG?i*@J<  ֿ)) ֿk@ݷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038713.003165 s, next control iter: 1743038713.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038713.383165 s.ؕJ~,'X>*AJ"J*J2J:JBJnJvJA(@AϚ@A_X~? A 2A &"AAlNA"AZAbAjArAzAAA<&@A~\A_rAn{l@A'AJhA%A #A`!ӿA]<*A:?2A˽:ABA:?JA˽RA٘i)I9{l@YG J#<JJJJE&K YV~?yMAqE{7j7{9)ͯBFE[[R v@[W~?[E3[[[[BZYY i)  *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038713.803290F (some fields omitted in printout)A@AWv@AX~? Au5A{&"AAarlNA"AZAbAjArAzAAA^D@AZ`]hrAl@A~sAdA$A_A`*ӿAJ<*A:?2A5ͽ:A~8BA:?JA5ͽRA~8٘i)I9l@Y7G Jq<JJJJE&K YV~?y;tMAsE777}9)ɯBCE[[9w@[G}W~?[8[[[[BZYY i) ^*AAzG@A~:@AX~? A8AB&"AArNlNA"AZAbAjArAzAAA `@A9prA(om@AghAA:#Al.AԿAܧ<*A:?2Aн:AlBA:?JAнRAl٘i)I9om@YG J<JJJJE&K YNV~?yMAvEŧ7b7U9)ůB@E[[hx@[kW~?[<[[[[BZYY i) LK(*AA ףp}@Adp@AX~? A<AAD&"AA*lNA"AZAbAjArAzAAA 5W @AӻrAm@A ǻA7A!A/A sտA3<*AU{:?2AB'ҽ:AEBAU{:?JAB'ҽRAE٘i)I9m@YG Jא<JJJJ"E&K YV~?y* *NAyEb77 9)B[[y@[ZW~?[A[[[[BZYY i) 7*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075232< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038715.063287F (some fields omitted in printout)J"J*J2J:JBJnJvJA3333@AQ(@AX~? AN@Al&"AAlNA"AZAbAjArAzAAA(o^{ @AZ܋rA`n@A(;AB#A| A@AJֿAo<*Aq:?2Aӽ:ABAq:?JAӽRAY$c@q y";ٓH`@?Ԫ? ?Š?Ou?q?)$c@ I٘i)I9`n@YG J<J JJJ$E&K(x> Y/V~?yaNA {E)7낣90B)B=E[[z@[JW~?[F[[[[BZYY i) .OG*AA\@A.=@AlX~? A5DA&"AAkNA"AZAbAjArAzAAAԁ~P@A'XhrA)n@Ag`<ApAA@ A ׿AK<*A=h:?2Aս:ABA=h:?JAսRA٘i)I9n@Y]G J#<JJJJ'E&K YlV~?yNA~E77{791B)B;E[[X{@[9W~?[L[[[[BZYY i) V*AJ"J*J2J:JBJnJvJAQ@A@AVX~? A@HAFd&"AA8kNA"AZAbAjArAzAAAq+@A~/:rANo@Au<AAAbGA׿A|ΐ<*A_:?2A3ս:A+BA_:?JA3սRA+٘i)I9No@YG J<JJJJ*E&K YmV~?yFOAE7790B)B8E[[I}@[)W~?[8Q[[[[BZYY i4=) $&f elevatorAngleAction: 0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038716.323309F (some fields omitted in printout)AGzT@A"uqG@A?X~? ApLA&"AA"kNA"AZAbAjArAzAAA @AfLrorAo@A <AzAAAؿAȗ<*AhW:?2ARս:ABAhW:?JARսRA٘i)I9o@YG J<B=JJJJ,E&K YVV~?yOAE777K9)B[[mG~@[W~?[yV[[[[BZYY i) u?{A2?)42j@ I٘i)I9p@YG Jm<JvJJJ2E&K{> Y9+V~?y'*kPAEZ7Z79/B)B1E[["M@[V~?[8a[[[[BZYY i)  elevatorAngleAction: 0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038717.583291F (some fields omitted in printout)A)\@Ab@AVW~? AYA/&"AAl elevatorAngleAction: 0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038718.843307F (some fields omitted in printout)Ap= @Apu@A˿W~? AfhA&"AAjNA"AZAbAjArAzAAA SKI,?A`ʀrA-s@Af*<AAA`ZA_mݿAc<*A9:?2A׽:AȻBA9:?JA׽RAȻ٘i)I9s@YG J<JJJJ?AC ]rA«s@A0|<AA]CAr A,޿Ak,<*A :?2A/׽:ArBA :?JA/׽RArYkp@*Xyt }<ٓH`cM?]8?ܻWL?`Y ??O?)kp@ I٘i)I9s@YNG J<JYJJJ?E&Ky> YU~?y\HzRAXE777֔9)B)E[[.@[V~?[H}[[[[BZYY i) 놯 elevatorAngleAction: 0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038720.103288F (some fields omitted in printout)AQ8@AF+@AMW~? A%xA3&"AAہjNA"AZAbAjArAzAAA"n?AC,3rAt@A\b1;A]AWAiA߿A<*AI:?2Ay׽:Al BAI:?JAy׽RAl ٘i)I9t@Y G Jv<JJJJDE&K Y U~?ytU\SAEŧ77k9)B'E[[S@[V~?[[[[[BZYY i) 6TAEŧ7b79)}B[[u@[V~?[ǔ[[[[BZYY i)  W@*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084085< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038721.363287F (some fields omitted in printout)A@As`@ALW~? AAp&"AA+jNA"AZAbAjArAzAAAR]_:ؿAN5{brAv@AaARA AjA A<*AQ9?2Aֽ:A 6BAQ9?JAֽRA 6YHw@ yMbٓHe??`+@ϯ?B?@g>0?)Hw@ I٘i)I9v@YJG J7<J:JJJME&Kx> YhU~?yiTA E77˝9.B)wB!E[[[@[yV~?[њ[[[[BZYY i) l9?2As׽:ABA>9?JAs׽RA٘i)I9Tx@Y$G J<JJJJRE&K YGU~?ywUAEb7`9)lBE[[,)@[cV~?[[[[[ZZZZ¸>BZYY i¸>w) Q YU~?yVAGEb7b79)YB[[؈@[5FV~?[[[[[ZZZZBZYY i) ᭫5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083724< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743038725.143302F (some fields omitted in printout)A ףp@A?d@AV~? A[AQC&"AACIiNA"AZAbAjArAzAAAyAmsrAJW}@AAOAAzڿÄ́AMl<*A9?2Atֽ:A,<BA9?JAtֽRA,<٘i)I9W}@Y1G J<C=JJJJeE&K YDT~?y"XAE77뭣9)@B[[@[#V~?[Ҩ[[[[ZZZZBZYY i) LSzJJJgE&Kw> YT~?y-XAEŧ779)=BE[[R@[V~?[c٨[[[[ZZZZBZYY id#{) tg5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072187< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038727.663314F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12226, header.stamp.nsec: 00 temperature: 13.384630* salinity: 33.391418, density: 1025.000000* values[0]: 0.710138F (some fields omitted in printout)A@A<@AiV~? A.A&"AAhNA"AZAbAjArAzAAAxtA YUrAC|}@A!,AJ]{=AxA@(տAA0*An9?2A&׽:A=BAn9?JA&׽RA=Y%j@yZ{=AqٓH`WԿV?F`bXԿ1`Nf@u偿@D?)%j@ I;I٘i)I9|}@YGG JJ7>JJJuE&Kwx> YěT~?yܨWAE9)=B[[k@[U~?[[[[[BZYY i$i)  5vJARk@A({^@ARSV~? AA&"AAhNA"AZAbAjArAzAAAiTc AR9rA|@AMPAQx=A89A3mӿA@aA:뇼*A9?2A׽:A[ =BA9?JA׽RA[ =٘i)I9|@YG JtJJJJzE&K YʼnT~?ycVWAE7)7A9(B)BBE[[憏@[uU~?[=[[[[BZYY i) ;Ii̋@2= 盁))盁ᨨ@ʪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038728.543165 s, next control iter: 1743038728.903177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12227, header.stamp.nsec: 00 temperature: 13.384729* salinity: 33.391426, density: 1025.000000* values[0]: 0.709687F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038728.923165 s.9J~,;B*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057027< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038728.923294F (some fields omitted in printout)A{G@A~!<@AHV~? A#Atm&"AAUhNA"AZAbAjArAzAAA(Ē A,NXrAH|@ADA>=A+A ҿAA*A9?2ANֽ:Ae=BA9?JANֽRAe=٘i)I9H|@YG J-JJJJ}E&K YƀT~?yWAEŧ77 9)FBE[[@[U~?[ [[[[BZYY iڦ) h;Ii@d4= ~))~5@yiҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038728.943165 s, next control iter: 1743038729.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038729.343165 s.5vJAp= @A@A>V~? AA&"AAhNA"AZAbAjArAzAAARj A/HsAH{@AO;A=A3AѿA`sAJ*A:9?2Ah\ֽ:A^=BA:9?JAh\ֽRA^=٘i)I9{@Y7G J7JJJJE&K YwT~?yVAEZ7SI7ֿ9)JB[[,@[iU~?[y[[[[BZYY i) a;Ii>@B6= mz))mz'©@yj֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038729.363165 s, next control iter: 1743038729.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12228&, header.stamp.nsec: 0&0 temperature: 13.384932&* salinity: 33.391384&, density: 1025.000000&* values[0]: 0.708899&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038729.763165 s.6J~,pB*AA @A@A(5V~? AAJ&"AA}hNA"AZAbAjArAzAAAr A=sAS({@A~5f<A=AةAпAA*A9?2A6ֽ:A\=BA9?JA6ֽRA\=Y&@y=Kf<ٓH %̿3?`!T~\̿ Hqƌ?=?)&@ I٘i)I9({@YG JRJl=JJJE&Kw> YqT~?yDVAE7779)OB[[(-@[mU~?[$[[[[BZYY i) ry;Ii@76= v))v#O@yתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038729.783165 s, next control iter: 1743038730.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038730.183165 s.ˢJ~,xB*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038730.183305F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A+f5@A,V~? AAQ&"AAohNA"AZAbAjArAzAAAhF{NA"~ sAEz@APBd<A =A ADϿA`A훶*Aj9?2Ak\ֽ:Ahj =BAj9?JAk\ֽRAhj =٘i)I9z@YG J7JJJJE&K YRkT~?yCUAE77kã9'B)RBE[[@[U~?[![[[[BZYY i) m=;Ii>@Z7= q))q۪@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038730.203165 s, next control iter: 1743038730.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038730.603165 s.84J~,B*AAQx@A{Ek@A}#V~? AMA"&"AA1bhNA"AZAbAjArAzAAA~Au(S%&sAy@A9^;A䂚=A^A+οAAAk*A79?2A"ֽ:A =BA79?JA"ֽRA =٘i)I9y@Y"G JƵJJJJE&K YeT~?yrUAE{7{76ţ9)WBE[[dF@[U~?[([[[[BZYY i) Pf;Ii@Y8= ;m));m_h@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038730.623165 s, next control iter: 1743038731.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12229 , header.stamp.nsec: 0 0 temperature: 13.385179 * salinity: 33.391403 , density: 1025.000000 * values[0]: 0.707886 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038731.023165 s.J "J *J 2J :J 75?BJ 75?nJ >5vJ ZJ~,|B*AAHz@A*1 @AjV~? A&A~ &"AAUhNA"AZAbAjArAzAAAj/AsAay@A>̏A=AݿA -̿A4hA{*A9?2AE׽:Ag=BA9?JAE׽RAg=٘i)I9ay@YG J)JJJJE&K Y^T~?yn  UAE77ǣ9)\B[[qҒ@[U~?[-/[[[[BZYY i) Ċ:Ii@k9= uh))uhl@ҪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743038731.043165 s, next control iter: 1743038731.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038731.443165 s.7öJ~,>]B*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038731.443309F (some fields omitted in printout)Aq= @A$d @AV~? A.A &"AAIhNA"AZAbAjArAzAAA-{'$MAʎsAx@AgTAgv=AڿA SʿAfAΧ*AE9?2AS׽:A'=BAE9?JAS׽RA'=٘i)I9x@YpG JB=JJJJE&K YXT~?y)TAEb7b7ȣ9)`B[[^@[;U~?[5[[[[BZYY i) S9Ii@ ;= E~d))E~d@<ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038731.463165 s, next control iter: 1743038731.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12230, header.stamp.nsec: 00 temperature: 13.385435* salinity: 33.391376, density: 1025.000000* values[0]: 0.706852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038731.863165 s.+J~,>B*AJ"J*J2J:JBJnJvJA@Aph @A V~? A6A_ &"AA>hNA"AZAbAjArAzAAA\iAcNsAFx@AqAr=AXؿAyȿAԭA~*A]9?2A F׽:A<<BA]9?JA F׽RA< Y?UT~?y1AL &"AA94hNA"AZAbAjArAzAAABbA(Q$sAw@AAx=AտARƿA`|A*A39?2Aֽ:A*<BA39?JAֽRA*<٘i)I9w@YG J JJJJE&K YQT~?y:SAE77j7ạ9)iB[[mv@[WU~?[HC[[[[BZYY i) Iiƒ@;= [))[h@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038732.303165 s, next control iter: 1743038732.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12231., header.stamp.nsec: 0.0 temperature: 13.385637.* salinity: 33.391376., density: 1025.000000.* values[0]: 0.705911.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038732.703165 s.ԺʐJ~,-C*AJ"J*J2J:J4?BJ4?nJ}=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038732.703283F (some fields omitted in printout)AQ@APx@A<V~? A.FA1. &"AA*hNA"AZAbAjArAzAAA\R;A=>(sA2w@A:Ao=AlIӿAĿAA⤼*A9?2Apֽ:A9=BA9?JApֽRA9=٘i)I92w@YsG JLJJJJE&K YuNT~?y=CuSAEb77,Σ9&B)mB E[[J@[U~?[I[[[[BZYY i) _-Ii`@<= \W))\WE$@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038732.723165 s, next control iter: 1743038733.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038733.123165 s.6ѐJ~,XGC*AAG@AͰQ֭@AU~? ANAY &"AA!hNA"AZAbAjArAzAAAv}A5j-sA"v@AB:<A?C=AпA¿A@DAߤ*Ah9?2Afֽ:A2=BAh9?JAfֽRA2=٘i)I9v@YG JJJJJE&K YKT~?yKSAEj7j7ϣ9)qB[[Ս@[U~?[P[[[[BZYY i) BjIi)@P== US))USЯ@ ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038733.143165 s, next control iter: 1743038733.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038733.543165 s.IؐJ~,bC*AJ"J*J2J:J?BJ?nJ5vJA= ף@A@AU~? AVA &"AAhNA"AZAbAjArAzAAAGA <Ê2sAv@AX?u<A=A/οAA`A*A9?2Agֽ:A=BA9?JAgֽRA=٘i)I9v@YG JףJJJJE&K YGT~?yTRAE{7{7ѣ9'B)vBE[[@[HU~?[dW[[[[BZYY i) DIi @>=  N)) N:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038733.563165 s, next control iter: 1743038733.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12232, header.stamp.nsec: 00 temperature: 13.569046* salinity: 33.374985, density: 1025.000000* values[0]: 0.577420F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038733.963165 s.ސJ~,}C*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066236< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038733.963307F (some fields omitted in printout)Affff&@Ax[@A;U~? A]A^ &"AAhNA"AZAbAjArAzAAA3A,Wf7sAu@A(.<Aұ=A˿As`A%/AΛ*A9?2Aֽ:A<BA9?JAֽRA Y%GT~?y]QRAr˿E777ӣ9)zB[[@[U~?[^[[[[BZYY i&) Ii.@\>= UIJ))UIJƯ@ʽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038734.003165 s, next control iter: 1743038734.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038734.383165 s.J~,C*AJ"J*J2J:JBJnJvJA(\@A}O@AFU~? AeA&"AA7 hNA"AZAbAjArAzAAAW@ ACN'G YbGT~?yPAkE7ܣ9)B[[ʾ[ U~?[[[[[BZYY i) &Ii@dmA= 4))44'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038736.083165 s, next control iter: 1743038736.463182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743038736.483165 s._J~,$D*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201252 time: 1743038736.483416F (some fields omitted in printout)A\h@Atb[@AoU~? A/AT&"AAgNA"AZAbAjArAzAAAϨVlmAiڱTsAr@A;AXA=A\ỿA AwA<*A9?2A9sֽ:AW=BA9?JA9sֽRAW=٘i)I9r@YG J4JJJJE&K YIT~?yO%PAE77Lޣ9)BE[[[U~?[B[[[[BZYY i) |V6Ii,@A= w+0))w+0w+0\ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038736.503165 s, next control iter: 1743038736.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12235, header.stamp.nsec: 00 temperature: 13.569803* salinity: 33.374989, density: 1025.000000* values[0]: 0.575644F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038736.903165 s. J~,9D*AJ"J*J2J:JBJnJvJAQ@Aݳ@AU~? ABA&"AAxgNA"AZAbAjArAzAAArYA+YsAXr@ADk<A =AUAӍA&{AYҗ*A9?2ALֽ:Au =BA9?JALֽRAu =٘i)I9Xr@YG JÔJJJJE&K YLT~?yOAEŧ7b79)B[[p[8U~?[ꌩ[[[[BZYY i) EIij@dA= #+))#+#+tŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038736.943165 s, next control iter: 1743038737.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038737.323165 s.tJ~,TD*AAGz@A6Ko@A`U~? AVAv&"AAgNA"AZAbAjArAzAAA%v=A0^sAq@A7`<Aޔ=AAa6?A@|A*A9?2Aoֽ:Au =BA9?JAoֽRAu =٘i)I9q@Y1G JBJJJJE&K YlNT~?yܣjOA E7{79)B[[E[U~?[[[[[BZYY i) LUIiח@a[B= 3z'))3z'3z'KȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038737.363165 s, next control iter: 1743038737.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12236*, header.stamp.nsec: 0*0 temperature: 13.570054** salinity: 33.374981*, density: 1025.000000** values[0]: 0.575071*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038737.743165 s.WJ~,moD*AJ"J*J2J:J7?BJ7?nJ^5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743038737.743302F (some fields omitted in printout)Aףp= @AR1@AU~? AkA/&"AAgNA"AZAbAjArAzAAAK(DAǾcsA Vq@AB;AY=A@ A??AzAp*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9Vq@YG JJJJJE&K YPT~?y OA E779(B)BE[[[U~?[*[[[[BZYY i) dIir@!C= ##))####ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038737.783165 s, next control iter: 1743038738.143177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038738.163165 s.w}"J~,qD*AA@@A#32@AqU~? A~At;&"AA_gNA"AZAbAjArAzAAA2nLAAshsAp@AꝥA=ATA D?A@fvA{*A9?2A-'׽:AE =BA9?JA-'׽RAE =Y@`y=&ٓH|?s?ג?^}?^`!`t@?)@ I٘i)I9p@YG JJI<JJJE&Kdx> YUT~?yKNA`E{7{7w9,B)BE[[K[*U~?[à[[[[BZYY i) lsIi$@B= ))ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038738.183165 s, next control iter: 1743038738.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038738.583165 s.(J~,RD*AJ"J*J2J:J#?BJ#?nJI5vJA)\u@A,h@AU~? AAԝ&"AAgNA"AZAbAjArAzAAA[SAJ*zmsASp@AqCYA=AVA ]?AoA*A<9?2A~W׽:A =BA<9?JA~W׽RA =٘i)I9Sp@YDG JB=JJJJE&K Y)[T~?yDNAEj7j7A9)B[[=±[U~?[Z[[[[BZYY i) Ii@•B= t))ttЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038738.623165 s, next control iter: 1743038738.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12237, header.stamp.nsec: 00 temperature: 13.570285* salinity: 33.374973, density: 1025.000000* values[0]: 0.574467F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038739.003165 s.v 0J~,D4D*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076535< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743038739.003267F (some fields omitted in printout)AR@ANA~@AU~? AAa&"AA\gNA"AZAbAjArAzAAAZ9_A{4ersAo@AmA=AoA`j?A`bfA利*A9?2A?׽:AvC =BA9?JA?׽RAvC =٘i)I9o@YG JfC=JJJJE&K Y[`T~?yƩMAEb77 9)B[[[[U~?[ꭩ[[[[BZYY i$) 0Ii@B= ))vӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038739.023165 s, next control iter: 1743038739.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038739.423165 s.u6J~,D*AJ"J*J2J:J?BJ?nJ5vJA{G@A!=@A U~? AƪA+c&"AAgNA"AZAbAjArAzAAA'I}ElAgNwsASJo@AA=A|AL?AZAH*A9?2A^ֽ:A =BA9?JA^ֽRA =٘i)I9Jo@YG JjJJJJE&K YeT~?yAϩ{MAE79)B[[j[YU~?[t[[[[BZYY i) ɐIiQ@B= ))7֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038739.443165 s, next control iter: 1743038739.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12238, header.stamp.nsec: 00 temperature: 13.570513* salinity: 33.374981, density: 1025.000000* values[0]: 0.573866F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038739.843165 s.ֽ:Ab=BA09?JA>ֽRAb=٘i)I9n@YNG JJJJJE&K YjT~?yשMAE)7b79-B)BE[[?[U~?[[[[[BZYY i) LcIi@~C= Go ))Go Go ٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038739.883165 s, next control iter: 1743038740.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038740.263165 s.DJ~,E*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199742 time: 1743038740.263299F (some fields omitted in printout)AL@AM?@AhU~? A֪A)&"AAUhNA"AZAbAjArAzAAAȇ#AƝsAA-n@AOC<AwE=AyAZǺ?A;AV*AT9?2A[6ֽ:A׆=BAT9?JA[6ֽRA׆=Y@9[yB=gC<ٓH ??ʅ?n* ? . i? Y?)@ I٘i)I9-n@YG JܬJL<JJJE&Kx> YrT~?yYLA[Ej7j7l9.B)BE[[[:U~?[q[[[[BZYY i) ֟IiA@/B=  ))  y܌RܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038740.303165 s, next control iter: 1743038740.663178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12239., header.stamp.nsec: 0.0 temperature: 13.570781.* salinity: 33.374981., density: 1025.000000.* values[0]: 0.573209.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038740.683165 s.lJJ~,Z+E*AA(\@ApYu@A\U~? AުA%"AA hNA"AZAbAjArAzAAA᱐(A-6sA m@Au<A=Ar桿A?A (AeA*A9?2A%5ֽ:A8=BA9?JA%5ֽRA8=٘i)I9m@YG JڲJJJJE&K YzT~?y@LA DEŧ7b779)B[[馿[U~?[ǩ[[[[BZYY i) KIi@KB= +))++ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038740.683165 s, next control iter: 1743038741.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743038741.103165 s.QJ~,FE*AJ"J*J2J:J?BJ?nJ5vJAQ@A\sG@AU~? AA%"AA@hNA"AZAbAjArAzAAA&-ܸABъsAl@A|2'<A=A$>A x&?AA*AG9?2A}ֽ:Aq=BAG9?JA}ֽRAq=٘i)I9l@Y=G JLJJJJE&K YT~?y;KA"EZ7Z79)ƯBE[[[V~?[UΩ[[[[BZYY i) OIiӗ@VB= wk))wkwkYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038741.143165 s, next control iter: 1743038741.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038741.523165 s.WJ~,{aE*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038741.523297F (some fields omitted in printout)AHz@A0 @AU~? AAV%"AAfhNA"AZAbAjArAzAAA24|A~#sAcl@A몵8Azr=AeA` ?A@AA*A89?2Aֽ:Aց=BA89?JAֽRAց=٘i)I9cl@YG JNJJJJE&K YT~?yiKA$E779)˯B[[[V~?[ԩ[[[[BZYY i) 3Ii@3jB= '))''&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038741.543165 s, next control iter: 1743038741.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12240, header.stamp.nsec: 00 temperature: 13.571047* salinity: 33.374989, density: 1025.000000* values[0]: 0.572525F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038741.943165 s._d^J~,_]|E*AJ"J*J2J:J?BJ?nJ5vJAq= #@AdϞ@A]V~? ApA%"AAY!hNA"AZAbAjArAzAAA.9AJwsAk@A$A=AЙA@?A`A*Ao9?2A 8׽:A=BAo9?JA 8׽RA=٘i)I9k@YG JJJJJE&K YT~?yJA'Eb779/B)ѯBE[[/f[:V~?[۩[[[[BZYY i) gIi @B= y))yᄅyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038741.963165 s, next control iter: 1743038742.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038742.363165 s.eJ~,>E*AAY@A L@AiV~? AJA"%"AA*hNA"AZAbAjArAzAAA<[AVhKBsA&.k@A8sA﷬=AM(A/?A@/A?*A9?2A~B׽:A˩=BA9?JA~B׽RA˩=Yj8@|Qy =vtٓH*?d?kh?`3{R?'Տr?)j8@ I٘i)I9.k@Y"G J3Jl<JJJE&KPx> Y[T~?yA JAQ*EZ7Z7a9)֯B[[;[V~?[k[[[[BZYY i) ļIiu@A= f))f澩fOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038742.403165 s, next control iter: 1743038742.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12241&, header.stamp.nsec: 0&0 temperature: 13.571309&* salinity: 33.374985&, density: 1025.000000&* values[0]: 0.571785&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038742.783165 s.UkJ~,E*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038742.783281F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AsCS@A V~? AA%"AA3hNA"AZAbAjArAzAAAY4AsAj@A:BAK`=A>A ?AA\*A9?2AJֽ:A}=BA9?JAJֽRA}=٘i)I9j@YG JJJJJE&K Y T~?yeJA,E777,90B)ۯBE[[[KV~?[[[[[BZYY i) :̼Ii@=A= ޾))޾޾YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038742.803165 s, next control iter: 1743038743.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038743.203165 s.sJ~,E*AAQ@A@A V~? A A%"AA=hNA"AZAbAjArAzAAA rJA)m~ĢsAwi@A)A ı=A?A@x?AA/ʼ*A9?2Aֽ:A{=BA9?JAֽRA{=٘i)I9i@Y\G JżJJJJE&K YT~?yIA/E77{791B)B!E[[㙿[$V~?[[[[[BZYY i) EӼIi@@= nnվ))nnվnnվDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038743.223165 s, next control iter: 1743038743.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038743.623165 s.TyJ~,PE*AJ"J*J2J:J2?BJ2?nJL5vJAG@A@AV~? AAZ%"AAHhNA"AZAbAjArAzAAAHF1BA~zsA:i@AD<A䰳=AWAC?A@R]A֟Ӽ*A9?2A&ֽ:Aj=BA9?JA&ֽRAj=٘i)I9:i@Y G JμJJJJE&K YmT~?y"-IA2E{7j79)B[[[,V~?[2[[[[BZYY i) /ڼIi@@= .̾)).̾.̾YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038743.643165 s, next control iter: 1743038744.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12242 , header.stamp.nsec: 0 0 temperature: 13.571594 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.571079 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038744.043165 s.J~,F*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085762< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200482 time: 1743038744.043326F (some fields omitted in printout)A= ף0@A #@A#V~? AAAG%"AAThNA"AZAbAjArAzAAA-iAQ5S)sAUh@Ab$m<A =AA6?A@M7Aټ*A9?2Aս:A=BA9?JAսRA=:I٘i)I9h@Y G JּJJJJE&K YT~?y*HA4E7)79)B[['[5V~?[a[[[[BZYY i) Ii@@= ľ))ľľYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038744.063165 s, next control iter: 1743038744.443181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038744.463165 s.WJ~,F*AJ"J*J2J:J?BJ?nJ15vJAfffff@A xaY@A?,V~? A$A.%"AAWahNA"AZAbAjArAzAAA\e2IAޥϰsAg@AZ<A=A'sA2?AA56ܼ*A9?2Aq*ֽ:AK=BA9?JAq*ֽRAK=Yy@PLy=Z<ٓH@G?`>??@E?`tB??)y@ I٘i)I9g@Y G J>ۼB=J.<JJJE&Kw>  9YhT~? 9y2?HAL7Eŧ7b7W92B)B%E[[^[=V~?[[[[[ZZ¸BZYY i¸rƫ=) rּIi@?= .[)).[.[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038744.503165 s, next control iter: 1743038744.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12243, header.stamp.nsec: 00 temperature: 13.571872* salinity: 33.374981, density: 1025.000000* values[0]: 0.570288F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038744.883165 s.yJ~,@8F*AA(@Ai @AO5V~? Ao,A%"AAnhNA"AZAbAjArAzAAA-F cn Ai.msA*g@A^T;Aq=AA?A@rA&ۼ*A9?2Aeֽ:A^=BA9?JAeֽRA^=٘i)I9g@Y G J4ܼC=JJJJE&K YT~?yU:GA:E{7Z7"9)B[[s2[xFV~?[[[[[ZZBZYY i) >ɼIi@>= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038744.923165 s, next control iter: 1743038745.283180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038745.303165 s.PJ~,^gSF*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743038745.303269F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A"8.@A>V~? A3A%"AA|hNA"AZAbAjArAzAAA?ˠ7 A'sAKf@AкA=A;A`?A`'A}*A9?2ADֽ:A<BA9?JADֽRA<٘i)I9Kf@Y) G JJJJJE&K YT~?yBKGA= .))..=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038745.323165 s, next control iter: 1743038745.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12244., header.stamp.nsec: 0.0 temperature: 13.572197.* salinity: 33.375019., density: 1025.000000.* values[0]: 0.569432.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038745.723165 s.J~,HnF*AAz@Az@AHV~? A^;Au%"AAhNA"AZAbAjArAzAAAx Az,݊sAqe@A`A=AVA?AA~-*A9?2AV ׽:A<BA9?JAV ׽RA<٘i)I9qe@Y G JJJJJE&K Y>T~?yIFA?E7793B)B(E[[֌[RYV~?[[[[[ZZBZYY i) ᱼIiJ@ == ;));;y=pӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038745.743165 s, next control iter: 1743038746.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038746.143165 s.S/J~,)F*AJ"J*J2J:JBJnJvJA ףp=@Ad0@AsSV~? ABA2%"AA$hNA"AZAbAjArAzAAA{t AbW sAd@AarATu=AxAy?A@?QAA9*A;9?2Aֽ:A>X<BA;9?JAֽRA>X<٘i)I9d@Y% G J"JJJJE&K Y U~?yQWFABE77794B)B)E[[[[@cV~?[[[[[ZZBZYY i) ԥIi+@G== ))YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038746.163165 s, next control iter: 1743038746.543176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038746.563165 s.J~,c F*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083875< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038746.563297F (some fields omitted in printout)A3333s@A)f@Ax^V~? A JAU%"AArhNA"AZAbAjArAzAAA3 A@sA&c@AH A2=A\zAW?A`Aϼ*A9?2A ֽ:A;BA9?JA ֽRA;Y0@tzy2=i ٓH`??0?t? @s>)@?)0@ I٘i)I9c@Y G JfJݽJJJE&Kx> YRU~?yXFAtzDE77L 95B)B,E[[ z[mV~?[[[[[ZZBZYY is)=) UIi"@iU<= ~ȏ))~ȏ~ȏyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038746.583165 s, next control iter: 1743038746.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12245, header.stamp.nsec: 00 temperature: 13.572539* salinity: 33.374992, density: 1025.000000* values[0]: 0.568448F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038746.983165 s.J "J J~*J2J:J?,F*ABJ?nJ5vJA\@A/-@AiV~? AEQA%"AA{hNA"AZAbAjArAzAAApAɳ4sA?c@A ;A<A?uAJ4?A Aڭ*A9?2Aֽ:ABA9?JAֽRA٘i)I9?c@YN G Jq¼JJJJE&K Y*U~?y<`EAGE 9)B[[7J[xV~?[b$[[[[ZZBZYY i) 8IiH@u>;= & ))& & ;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038747.003165 s, next control iter: 1743038747.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038747.403165 s.&J~,F*AAQ@Ay@AuV~? AmXAX;%"AA>hNA"AZAbAjArAzAAA[2NAg{GsA8b@A6<Am{<A'pA[?A Aqp*A9?2Aiֽ:A BA9?JAiֽRA ٘i)I9b@Y G J؝JJJJE&K Y9U~?ygEAJEŧ7ŧ7 96B) B/E[[[ V~?[5*[[[[ZZBZYY i) hIi@~c:= ||))||||FsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038747.423165 s, next control iter: 1743038747.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12246", header.stamp.nsec: 0"0 temperature: 13.572824"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.567715"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038747.823165 s.J~,BF*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.073810< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743038747.823328F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@AV p@AdV~? A_A6%"AAhNA"AZAbAjArAzAAAhL Aa鋚sAXb@A"|e<AQAjA`6?A xA;*A9?2Aqֽ:AGgBA9?JAqֽRAGg٘i)I9Xb@Y G JjJJJJE&K YIU~?ynhEALE{7j79)#B[[恿[VV~?[/[[[[ZZBZYY iQ=) 9uIi!@9= ?A w<A˻*A9?2Anֽ:AIBA9?JAnֽRAI٘i)I9b@Y G JJJJJE&K YYU~?y/v,EAOEŧ7b7w98B)'B3E[[gg[V~?[5[[[[ZZBZYY i) _IiՐ@b9= 0^Y))0^Y0^Yy=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038748.263165 s, next control iter: 1743038748.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038748.663165 s.ʑJ~,q*G*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12247, header.stamp.nsec: 00 temperature: 13.572946* salinity: 33.375004, density: 1025.000000* values[0]: 0.567300F (some fields omitted in printout)A@Ajr@AV~? ApmA%"AAiNA"AZAbAjArAzAAA(EAQsAa@AEAaeA`A?A`A*A9?2A`Oֽ:A7?ͼBA9?JA`OֽRA7?ͼY@``y^eEٓH`,s??@J`u?@!?ꫠ?H`?)@ I٘i)I9a@Y G J}J[9JJ8FJE&Kv> YkU~?y|YEA`RE77B9)(B[[?{[֥V~?[V;[[[[BZYY iyk=) O1NIi@7= G))GGyOp=1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038748.683165 s, next control iter: 1743038749.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038749.083165 s.DёJ~,SEG*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057489< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038749.083298F (some fields omitted in printout)A)\µ@A g@AyV~? AFtA%"AAWiNA"AZAbAjArAzAAANFTA9GsAb@A8,A4As[A W?A`0A\;*A9?2Aֽ:ABA9?JAֽRA򼙘٘i)I9b@Y G J;:JJJJE&K Y}U~?yEAUE{7{7 9)6E[[v[V~?[@[[[[BZYY ips=) 2A3vAQA@?A@6A-;<*A9?2A%ֽ:AL BA9?JA%ֽRAL ٘i)I9kb@Y G Je <JJJJE&K YU~?yREAZE7779:B):E[[m[V~?[K[[[[BZYY i) Ii @4= ))yY= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038749.943165 s, next control iter: 1743038750.323179 s, wait time: 0.380014 s&U~?)&R rAdjusting time to match Gazebo time: 1743038750.343165 s. elevatorAngleAction: 0.067603< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038750.343276F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W@AuI@AV~? A@A%"AA ^iNA"AZAbAjArAzAAAUKNA ZxsAb@AAꆽADKA ?AA=cc<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9b@Y G JN<JJJJE&K YU~?y FA]Eb7b7l9;B)%B=E[[`i[V~?[^Q[[[[BZYY i) Ii@ 4= @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038750.363165 s, next control iter: 1743038750.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12249&, header.stamp.nsec: 0&0 temperature: 13.572732&* salinity: 33.375038&, density: 1025.000000&* values[0]: 0.567630&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038750.763165 s.6J~,ذG*AǍ@A1~@AV~? AA%"AABuiNA"AZAbAjArAzAAApMV[As<6jsA(c@AL<AݏAVTFA`{?AڤA&Q<*A9?2AXֽ:AN BA9?JAXֽRAN Y=@kyFy܏<ٓHq?`Fb?W?`4??}x??)=@ I٘i)I9(c@Y@ G Jr<JJJJ E&K,x> Y&U~?yDmFAyF_ESI7SI779)"B[[d[9V~?[V[[[[BZYY iWl=) LIiL@2M2= ]߽))]߽]߽X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038750.783165 s, next control iter: 1743038751.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038751.183165 s.J~,VG*AJ"J*J2J:JBJnJvJA(\@A@AV~? AAk%"AA"iNA"AZAbAjArAzAAAmكTAe[MsAc@Ag<AA/AA=?AYAM<*A˗9?2A|׽:A BA˗9?JA|׽RA ٘i)I9c@Y G J<JJJJ E&K YQU~?ynFAbE{7{79 elevatorAngleAction: 0.057825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200632 time: 1743038751.603325F (some fields omitted in printout)AQ@ANG@AyW~? AYA%"AAiNA"AZAbAjArAzAAAc`8AGJ sAd@A\Q<A;A;A@?A A[<*A9?2Aֽ:A! BA9?JAֽRA! ٘i)I9d@Y G J<JJJJE&K Y~U~?y.GAeE779)BCE[[S%\[W~?[$a[[[[BZYY i) 紻Ii@/= )))*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038751.643165 s, next control iter: 1743038752.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12250 , header.stamp.nsec: 0 0 temperature: 13.572472 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.568178 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038752.023165 s.ZJ~, |H*AJ"J*J2J:JBJnJvJAHz.@A;s !@AGW~? AA%"AAȾiNA"AZAbAjArAzAAAn^E Ao͹sAd@AΗ;AAj6Aϴ?A Amh<*Ar9?2ADֽ:A BAr9?JADֽRA ٘i)I9d@Y( G Jե<JJJJE&K YV~?y°GAgEŧ7b7 9>B)BDE[[W[W~?[Hf[[[[BZYY i) ",IiM@&w.= Mj))MjMjy.m=*YFFF]: Waiting for Gazebo time sync: latest Gz time: 1743038752.063165 s, next control iter: 1743038752.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038752.443165 s.0J~, ]H*AAq= c@AbۢV@A{(W~? AAG&%"AAiNA"AZAbAjArAzAAAZhvAgtA :e@AQ»AiǜAT1A @j?AnAյ<*AR9?2Ah4ֽ:Az< BAR9?JAh4ֽRAz< ٘i)I9:e@Y G JK<B=JJJJE&K YV~?y춪GAjE7{7b"9)BGE[[7AS[UW~?[[k[[[[BZYY i) nIi@.-= #))##*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038752.483165 s, next control iter: 1743038752.843175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12251, header.stamp.nsec: 00 temperature: 13.572107* salinity: 33.375034, density: 1025.000000* values[0]: 0.568846F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038752.863165 s.+ J~,>7H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.057825< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038752.863308F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Au_@A:W~? AA%"AAiNA"AZAbAjArAzAAAbAlpX5tAe@AZArA,A?AAz<*AM9?2Amֽ:AJ BAM9?JAmֽRAJ Yp~@r,y菚[ٓH@Z?`? 㩿?q?`KM?` ]?)p~@ I٘i)I9e@Y G Jf<C=JKJJJE&Kw> Y.V~?yjWHAr,mEŧ77-$9)B[[;N[E.W~?[Pp[[[[BZYY i)  2Ii%@+= ̸))̸̸*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038752.903165 s, next control iter: 1743038753.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038753.283165 s.4RJ~,RH*AA(\@ArCQ@A LW~? AWA=%"AA jNA"AZAbAjArAzAAAT&ؿAB\tApf@A"aAAd'A@g?AgAU<*A#9?2A3ֽ:AXlBA#9?JA3ֽRAXl٘i)I9pf@Y@ G J<JJJJE&K YDV~?yHAoE{7j7%9?B) BJE[[?fJ[=W~?[5u[[[[BZYY i`=) Iḯ@p)= 2))22*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038753.323165 s, next control iter: 1743038753.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12252., header.stamp.nsec: 0.0 temperature: 13.571752.* salinity: 33.375034., density: 1025.000000.* values[0]: 0.569634.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038753.703165 s.ӺJ~,mH*AJ"J*J2J:JBJnJvJAQ@AS@Ah^W~? AA%"AAM)jNA"AZAbAjArAzAAA!ǂ:yĿA@C tA_g@AAxA'"A?A5sAȉ<*A9?2Aֽ:AtBA9?JAֽRAt٘i)I9g@Y G Jl<B=JJJJE&K Y [V~?yfǪ&IArE77'9@B)BME[[E[+MW~?[ z[[[[BZYY i) rhIi@(= G<))G<G<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038753.723165 s, next control iter: 1743038754.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038754.123165 s.4!J~,PH*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038754.123298F (some fields omitted in printout)AG:@Ab'-@A%qW~? AAG^%"AAcEjNA"AZAbAjArAzAAANP?AɮtAg@AXp;Am1AؿA?A@A¢<*A}9?2Azֽ:AQBA}9?JAzֽRAQ٘i)I9g@Y G J<C=JJJJE&K YqV~?y̪IAuEŧ7b7)9)BPE[[WxA[]W~?[~[[[[BZYY i) @7Ii@A'= <))<<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038754.163165 s, next control iter: 1743038754.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038754.543165 s.I(J~,âH*AJ"J*J2J:JBJnJvJA= ףp@Ac@A?W~? A%īA%"AA bjNA"AZAbAjArAzAAAxL?q?A}tAh@AqI<A֊AcA"i?A߿A}<*A/9?2A!׽:A,BA/9?JA!׽RA,𼙘٘i)I9h@YD G J<JJJJ!E&K Y*V~?y`ҪIAwEZ7Z7W+9BB)BRE[[?<[XmW~?[[[[[BZYY i) jx:Ii@|@&= 9A=))9A=9A=y YV~?y%תQJAdzE77"-9)BUE[[8[}W~?[[[[[BZYY i) 0:Ii3@\$= ?=))?=?=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038754.983165 s, next control iter: 1743038755.363183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038755.383165 s.5J~,4H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743038755.383313F (some fields omitted in printout)J"J*J2J:JBJnJvJA(@AD @AW~? AΫAj %"AAjNA"AZAbAjArAzAAA2?Aw,tAni@Aӫ<AFoA A ?A@޿Aח<*A9?2Aֽ:A!BA9?JAֽRA!9٘i)I9i@Y G Jr<JJJJ&E&K YV~?y۪JA}EZ7SI7.9CB)BXE[[ 4[zW~?[[[[[BZYY i) :;Iif}@,"= `=))`=`=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038755.423165 s, next control iter: 1743038755.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12254", header.stamp.nsec: 0"0 temperature: 13.571064"* salinity: 33.375088", density: 1025.000000"* values[0]: 0.571047"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038755.803165 s.wA elevatorAngleAction: 0.075376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038756.643293F (some fields omitted in printout)A ףp}@A gp@AW~? AݫAe%"AAEjNA"AZAbAjArAzAAA%?Af!tAC|j@A!oAAA@?AۿAE<*A9?2AgLֽ:AoBA9?JAgLֽRAo٘i)I9|j@YG J}<JJJJ.E&K YV~?y6KAE77M49DB)B^E[[?&[W~?[[[[[BZYY i)  ;Iiv@= p6 >))p6 >p6 >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038756.663165 s, next control iter: 1743038757.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12255, header.stamp.nsec: 00 temperature: 13.570746* salinity: 33.375103, density: 1025.000000* values[0]: 0.571679F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038757.063165 s.PJ~,k DI*AJ"J*J2J:JBJnJvJA3333@A)@AW~? AjA%"AAkNA"AZAbAjArAzAAA`.ɱ?A#w $tA}j@A2A#AA2?A  ۿA <*A9?2AJֽ:AYBA9?JAJֽRAYY@תy!z2ٓH`x??@uܿ?j?fA?C?)@ I٘i)I9j@YG J<J;JJJ1E&K+x> Y'W~?y4LAE)7ŧ769)BaE[["[aW~?[Ɲ[[[[BZYY i) R;Iir@@=  0>)) 0> 0>2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038757.103165 s, next control iter: 1743038757.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038757.483165 s._WJ~,^I*AA\@AYNB@A{X~? AA?%"AA79kNA"AZAbAjArAzAAA?v?ApCN'tA`ak@AyAAGAx?A@ڿA$(<*A9?2Aֽ:AEBA9?JAֽRAE٘i)I9ak@YAG J<<JJJJ4E&K YU0W~?y1nLAEj7j779FB)BeE[[w[zW~?[֡[[[[BZYY i) Ҁ;Iio@!g= A.>))A.>A.>yB=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038757.503165 s, next control iter: 1743038757.883184 s, wait time: 0.380019 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12256, header.stamp.nsec: 00 temperature: 13.570415* salinity: 33.375080, density: 1025.000000* values[0]: 0.572311F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038757.903165 s.#]J~,yI*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743038757.903327F (some fields omitted in printout)AQ@A-|}@A2)X~? AtAb%"AAYkNA"AZAbAjArAzAAA]}"@AObd*tAk@Al<AJA>۾A)?AqٿA1|<*A9?2A'׽:ABA9?JA'׽RA٘i)I9k@YG J<JJJJ6E&K YIW~?y/LAE7799)B[[_[W~?[ҥ[[[[BZYY i) &y ))m@>m@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038757.943165 s, next control iter: 1743038758.303185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038758.323165 s.wdJ~,)I*AAGzT@A[nG@A4?X~? AA%"AA{kNA"AZAbAjArAzAAA9@ALT,tAR6l@Aj<AAоA@?AؿA{<*A_9?2A:׽:ABA_9?JA:׽RA٘i)I96l@YG J{<JJJJ9E&K YbW~?y,MAE{7{7w;9GB)BhE[[_d[ X~?[[[[[BZYY i) /))R>R>.*YFFF]j:Waiting for Gazebo time sync: latest Gz time: 1743038758.343165 s, next control iter: 1743038758.723180 s, wait time: 0.380015 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12257*, header.stamp.nsec: 0*0 temperature: 13.570112** salinity: 33.375118*, density: 1025.000000** values[0]: 0.572880*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038758.743165 s.WkJ~,mI*AJ"J*J2J:J?BJ?nJ5vJAףp=@A{9}@A}UX~? AA>%"AAkNA"AZAbAjArAzAAAvq!@A/_2/tAGl@AI<AA ƾA))e>e>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038758.763165 s, next control iter: 1743038759.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038759.163165 s.u}rJ~,qI*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038759.163315F (some fields omitted in printout)A@A4f@A lX~? AA%"AAkNA"AZAbAjArAzAAA|oD@AZħ1tA>m@Aatx;AArA`x?A ֿA<*A]9?2Aֽ:A~BA]9?JAֽRA~Y|C@yUr y;ٓH? ?!`/ֿ`L?൦? ㍱?`o??)|C@ I٘i)I9m@YHG JX<C=JlFJJJ>E&K#x> YEW~?yVMAEj7Z7 ?9HB)߯BnE[[E [1X~?[3[[[[BZYY i) &Y;))'w>'w>7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038759.183165 s, next control iter: 1743038759.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038759.583165 s.J "J *J 2J :J ?BJ ?nJ 5xJ~vJ,RI*AA)\@A5@AقX~? AAD%"AAkNA"AZAbAjArAzAAAzXm @A%@N4tA=m@AܻAr`AhAk?A'ֿA<*A9?2AYֽ:As BA9?JAYֽRAs 9I٘i)I9m@YG J<JJJJAE&K YW~?y1NAE77{7@9)ܯBqE[[w[#EX~?[ȴ[[[[BZYY i) J))ȴ>ȴ>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038759.603165 s, next control iter: 1743038759.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12258, header.stamp.nsec: 00 temperature: 13.569804* salinity: 33.375126, density: 1025.000000* values[0]: 0.573476F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038760.003165 s.u J~,@4J*AAR+@A+z@AX~? AAV%"AAlNA"AZAbAjArAzAAAޯœ @AcO6tAn@A}NaA͑A>A;?A@GQտA}<*AӺ9?2A/ֽ:AF BAӺ9?JA/ֽRAF ٘i)I9n@YG J˕<JJJJDE&K YW~?yNAEŧ77B9)دB[[[XX~?[G[[[[BZYY i) `9Z))>>o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038760.023165 s, next control iter: 1743038760.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038760.423165 s.uJ~,J*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075376< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743038760.423325F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga@A}$%=T@A0X~? A0A%"AA&lNA"AZAbAjArAzAAA:,^@AA8tAn@A^AƓAϝAb ?A@vԿA<*A"9?2ANֽ:A BA"9?JANֽRA ٘i)I9n@Y-G Jb<JJJJGE&K YSW~?y NAE7mD9)ԯBtE[[=[lX~?[[[[[BZYY i+ˬ=) i))y>y>(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038760.443165 s, next control iter: 1743038760.823180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12259, header.stamp.nsec: 00 temperature: 13.569459* salinity: 33.375126, density: 1025.000000* values[0]: 0.574136F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038760.843165 s.݌J~,5J*AAp= @AН`@AX~? AA%"AA$JlNA"AZAbAjArAzAAAE(9@A%>:tA o@AI̻AmAA T?AӿAj<*A9?2Aȥֽ:A BA9?JAȥֽRA ٘i)I9 o@Y~G J<JJJJIE&K YW~?yLOAEb7b78F9IB)ЯBwE[[["X~?[[[[[BZYY i)  y))c>c>q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038760.863165 s, next control iter: 1743038761.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038761.263165 s.J~,PJ*AJ"J*J2J:JBJnJvJA@A{¿@AtX~? A A%"AAmlNA"AZAbAjArAzAAA(S @A5cR YX~?yVOAqEŧ7H9KB)ίB{E[[ [dX~?[#ª[[[[BZYY i) ))A>>"*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038761.283165 s, next control iter: 1743038761.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12260., header.stamp.nsec: 0.0 temperature: 13.569106.* salinity: 33.375145., density: 1025.000000.* values[0]: 0.574809.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038761.683165 s.lJ~,ckJ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.250002> elevatorAngleAction: 0.084372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038761.683268F (some fields omitted in printout)A(\@A;@AiX~? A AH%"AAlNA"AZAbAjArAzAAA5v@A;X̋>tACp@A8,N<Ao8A{A@?A`ѿAk<*A9?2A8׽:AD BA9?JA8׽RAD ٘i)I9p@YG J<JJJJOE&K Y'6X~?yPAE{7j7I9)ʯB~E[[eT߾[X~?[2Ū[[[[BZYY i) ))) Q˲>Q˲>yе=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038761.683165 s, next control iter: 1743038762.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038762.103165 s.J~,J*AJ"J*J2J:J>?BJ>?nJe5vJAQ8@APoF+@AY~? AA %"AAlNA"AZAbAjArAzAAA|@A=;^@tA>p@Ah<A腝AlfA?A=пA<*Ak9?2Aֽ:A0IBAk9?JAֽRA0I٘i)I9p@YlG J<JJJJQE&K YeQX~?y}PAEj7Z7K9)ƯBE[[ ־[׾X~?[)Ȫ[[[[BZYY i) E))>>?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038762.123165 s, next control iter: 1743038762.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038762.523165 s.J~,{J*AAHzn@A a@A(Y~? AA%"AAIlNA"AZAbAjArAzAAAv@AHKFBtADq@A!<AAyRA ?A@& пA<*A+9?2Aս:ABA+9?JAսRA٘i)I9q@YG J<JJJJTE&K YlX~?yKPAE{7{7bM9)¯B[[Y̾[X~?[˪[[[[BZYY i) ؚ))]n>]n>.*Y?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038762.563165 s, next control iter: 1743038762.923179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12261, header.stamp.nsec: 00 temperature: 13.568748* salinity: 33.375164, density: 1025.000000* values[0]: 0.575504F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038762.943165 s.XdJ~,B]J*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038762.943267F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף@A}zl˖@AtAY~? AA%"AAOmNA"AZAbAjArAzAAA5j>@A֧CtAq@A|AxZAg>A5?A'QοA °<*A9?2ADս:A~BA9?JADսRA~٘i)I9q@YG J <JJJJWE&K YX~?yIQAEZ7-O9)BE[[Mþ[rX~?[ͪ[[[[BZYY i) j))>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038762.983165 s, next control iter: 1743038763.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038763.363165 s.J~,>J*AA@A|%@A%ZY~? A!Aj%"AA%mNA"AZAbAjArAzAAA ai@Ac:JEtADr@AS8AJA*AZ?A`T̿A<*A9?2Aiս:ABA9?JAiսRAYL@x)yJG8ٓHt?`{>?(ſۍ?0?? ` @+?)L@ I٘i)I9Dr@YsG J<J*JJJYE&Keu> YX~?yQA)Eb77P9)BE[[[X~?[_Ъ[[[[BZYY i) ?ǩ))%-|>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038763.383165 s, next control iter: 1743038763.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12262&, header.stamp.nsec: 0&0 temperature: 13.568360&* salinity: 33.375183&, density: 1025.000000&* values[0]: 0.576266&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038763.783165 s.WJ~,J*AJ"J*J2J:JBJnJvJA(\@AI*S@ArY~? AAh:%"AAKmNA"AZAbAjArAzAAA&v0@A~`FtA r@ApA1A0;A`}?A`<ʿA'<*A9?2Afս:Ap^BA9?JAfսRAp^٘i)I9r@YG JN<JJJJ\E&K YX~?y)RAE)7b7R9LB)BE[[y[sY~?[Ҫ[[[[BZYY i) #@< =u>)) =u>=u>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038763.823165 s, next control iter: 1743038764.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038764.203165 s.ÒJ~, K*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038764.203270F (some fields omitted in printout)AQE@A:W8@AY~? AAR %"AApmNA"AZAbAjArAzAAAH6Je@AxHtA3s@A]T*AwA}gAɡ?A ȿA{o<*A 9?2AqԽ:ABA 9?JAqԽRA٘i)I9s@Y7G JL<JJJJ_E&K Y_X~?yRAE{7{7T9)BE[[=A[c*Y~?[Aժ[[[[BZYY i) ~))y>y>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038764.223165 s, next control iter: 1743038764.603174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038764.623165 s.\ɒJ~,q'K*AJ"J*J2J:JBJnJvJAGz@Am@A$Y~? AAQ%"AAߖmNA"AZAbAjArAzAAAXV@ARGZY\ItA*t@A,A^AlؽA@>?A@* ǿAq<*A9?2Af6ս:A:BA9?JAf6սRA:٘i)I9*t@YG J<JJJJaE&K Y4X~?yk SAE777XV9)BE[[}ȝ[@Y~?[ת[[[[BZYY i) ۿ))9W>9W>2*YxYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038764.663165 s, next control iter: 1743038765.023177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12263 , header.stamp.nsec: 0 0 temperature: 13.567951 * salinity: 33.375187 , density: 1025.000000 * values[0]: 0.577113 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038765.043165 s.ВJ~,BK*AA= ף@A@AiY~? A A`%"AAmNA"AZAbAjArAzAAAiL)@AwbJtA$t@AԨ<AAzA?AG4ſAi<*Ar9?2AZս:ARBAr9?JAZսRAR٘i)I9t@YG J<JJJJdE&K Y Y~?y zSAEŧ7b7#X9TB)BE[[B[WY~?[٪[[[[BZYY i) 7))>>t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038765.083165 s, next control iter: 1743038765.443179 s, wait time: 0.360014 s Y~?)  rAdjusting time to match Gazebo time: 1743038765.463165 s.VגJ~,]K*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038765.463299F (some fields omitted in printout)Affff@Ap$`@AY~? Au"A%"AAsmNA"AZAbAjArAzAAA]@AI|KtA,tu@Ajl<AδA$A?A`VXÿAH<*AE9?2Aֽ:A BAE9?JAֽRA Y@Oym<ٓH@%?Ga?j@@ [?$@?ɛ?@?)@ I٘i)I9tu@YdG Jc<B=J'3JJJgE&K u> Y3/Y~?yr!SAE77{7Y9)B[[؊[gmY~?[۪[[[[BZYY i) t elevatorAngleAction: 0.084372< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038766.723290F (some fields omitted in printout)Az@Az]z@A$Z~? A&A?%"AAWnNA"AZAbAjArAzAAAE} @AXH4NtA{w@AXA!AǻA@@7?AA<*A9?2A Խ:ABA9?JA ԽRA٘i)I9{w@YG J6<JJJJoE&K YY~?y+#TUAE7)7M_9)BE[[Kg\[Y~?[[[[[BZYY iv=) &Z~? A'A[(%"AA~nNA"AZAbAjArAzAAAGvT!@A87#NtA4x@ACcAA[<A` G?AA<*Aؼ9?2ATԽ:ABAؼ9?JATԽRA٘i)I94x@YG JE<JJJJrE&K YȟY~?y#UAE77a9)BE[[[I[eY~?[[[[[ZZZZ¸>BZYY i¸>٨) + YY~?yo#EVA=Eb9)BE[[5[Y~?[[[[[ZZZZBZYY i) Asy?AȨuA꼨<*AA9?2A'Խ:A+;BAA9?JA'ԽRA+;Y_@J >yIټ<ٓH?nC,ÙQ:?@Ҵ?}`>?P??)_@ I٘i)I9|@YG J<J0>JJJE&K t> YHZ~?y!QXAJ >E77j7k9)lBE[[-[WZ~?[[[[[ZZZZBZYY iӌ) A z?A`Bk?Ae<*Ak9?2Aeeս:AǞ<BAk9?JAeeսRAǞ<٘i)I9C}@Y%G J<JJJJE&K YdZ~?yuXAE77m9QB)gBE[[vځ[oZ~?[N[[[[ZZZZBZYY i) AA8{?Ac?A :<*A:?2A ӽ:A"h<BA:?JA ӽRA"h<٘i)I9}@Y`G Jh<JJJJE&K YڀZ~?yXAEj7Z7mo9)dBE[[n4[VZ~?[[[[[ZZZZBZYY i) "yAw?A@6"?A;*A:?2Alӽ:A<BA:?JAlӽRA<٘i)I9}@YG J <JJJJE&K YZ~?ytXAEb778q9PB)aBE[[W>ɼ[Z~?[[[[[ZZZZBZYY i) &eAp?Ao?A:*AU :?2ABԽ:A(<BAU :?JABԽRA(<٘i)I9~@YG J|;B=JJJJE&K YZ~?yDXAE777s9)`BE[[^&[Z~?[[[[[BZYY i) vPAg?Ac?AL:*A9?2AvԽ:A5<BA9?JAvԽRA5y/=kٓH ?Ϳk]?`?  ?@qi?Ccվ u?)5y< I٘i)I9~@YG J3C=J)>JJJE&Kr> YvZ~?y8XAo>E77t9OB)_BE[[Qal<[AZ?A8?Aq*A9?2A~Խ:A=BA9?JA~ԽRA=٘i)I9}@YG J̝JJJJE&K YZ~?y,mXAE)7b7v9)`B[[t! =[Z~?[[[[[BZYY ir熽) .Q)@A lNtA?}@As<A|v=A>AN?A`?A?*A :?2Aҽ:A] =BA :?JAҽRA] =٘i)I9}@Y^G JJJJJE&K Y} [~?y2XAE77cx9)bBE[[4[=[[~?[[[[[BZYY i) A=?A?Al*A:?2Aӽ:A =BA:?JAӽRA =٘i)I9G}@Y'G JvUJJJJE&K Y'[~?yWAEŧ7b7.z9NB)dBùE[[ꍖ=[[~?[[[[[BZYY i)  A@+?A@\!?A>*A:?2Aӽ:Aj=BA:?JAӽRAj=٘i)I9|@YG Jj|JJJJE&K YB[~?yWAEj7j7{9)gBƹE[[u=[5[~?[`[[[[BZYY i) d;Ii?o< `?))`?`?y!ĪY?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038773.463165 s, next control iter: 1743038773.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12272, header.stamp.nsec: 00 temperature: 13.564838* salinity: 33.375320, density: 1025.000000* values[0]: 0.582826F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038773.863165 s.+]J~,>wM*AJ"J*J2J:J4?BJ4?nJs5vJA@A- @A[~? A#A^%"AApNA"AZAbAjArAzAAAI*@AVULtAg|@Ah A=AD>A*?A ?AGʑ*A:?2AԽ:AAo =BA:?JAԽRAAo =YH-=>y=ٓH&?տ`?@ ?9? 3ß? :~?)H-= I٘i)I9g|@YG JJ=JJJE&Kr> Y4][~?y$XWA>Eb77}9KB)hBȹE[[=[N[~?[[[[[BZYY i) ;Ii?Qx< Z f?))`rZ f?Z f?{ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038773.883165 s, next control iter: 1743038774.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038774.283165 s.2RdJ~,M*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.237268@ elevatorAngleAction: -0.065871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038774.283314F (some fields omitted in printout)A(\O@AO7PB@Ac[~? A"A{%"AAqNA"AZAbAjArAzAAAl+@AWKtA[{@A& eAx=A>A@?A?AV*A:?2Aս:A-= =BA:?JAսRA-= =٘i)I9{@YRG JJJJJE&K Yw[~?yA VAE7779JB)kB˹E[[MD>[g[~?[[[[[BZYY i) Q;Ii?xl<  k?)), k? k?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038774.303165 s, next control iter: 1743038774.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12273., header.stamp.nsec: 0.0 temperature: 13.564955.* salinity: 33.375336., density: 1025.000000.* values[0]: 0.582355.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038774.703165 s.պjJ~, M*AJ"J*J2J:JBJnJvJAQ@Ax@A\~? AE A0%"AAQ@qNA"AZAbAjArAzAAA%#,@AC@JtAb{@AVA ڜ=A>A`B?AI?A*A5:?2Aӽ:A[ =BA5:?JAӽRA[ =٘i)I9b{@YG JoJJJJE&K Y[~?y^ VAE77X9)nBιE[[e>[ˀ[~?[|[[[[BZYY i) 4;Ii?Sjb< Bp?)) Bp?Bp?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038774.723165 s, next control iter: 1743038775.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038775.123165 s.7qJ~,]M*AAG@A1]խ@A)\~? ASAz%"AAfqNA"AZAbAjArAzAAAC8,@A$,ItAz@AATD=A >A ?A?AV4*A?=:?2Aӽ:A =BA?=:?JAӽRA =٘i)I9z@YG JDJJJJE&K Y:[~?y|*VAE)7ŧ7#9)sB[[%y1>[[~?[1[[[[BZYY i) ڠ};Ii?sY< $nu?))$nu?$nu?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038775.143165 s, next control iter: 1743038775.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038775.543165 s.IxJ~,M*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038775.543289F (some fields omitted in printout)A= ף@Axܙ@ANB\~? A:A%"AAqNA"AZAbAjArAzAAApKFU-@A@GtA)=z@Aa;AU=At>A@?AK?A*AE>:?2ATӽ:A(T =BAE>:?JATӽRA(T =8I٘i)I9=z@YMG JJJJJE&K Y[~?yUAE7779IB)wBѹE[[JF>[>[~?[[[[[BZYY i) c@;Ii*?P< z?))z?z?٪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038775.583165 s, next control iter: 1743038775.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12274, header.stamp.nsec: 00 temperature: 13.565092* salinity: 33.375355, density: 1025.000000* values[0]: 0.581811F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038775.963165 s.z~J~,M*AAffff&@A[@A[[\~? AA%"AA$qNA"AZAbAjArAzAAAȗ,-@Ai7iFtAy@A1V<A.0=A2y>AL?A?AD*A>:?2AQԽ:A =BA>:?JAQԽRA =Y6[>T>y,=iW<ٓH`? ڿO9?@? ?nÔ?`؊?@.?)6[> I٘i)I9y@YG JIJ:<JJJE&Kr> Y[~?y]UA>E7{79HB){BԹE[[Z>[[~?[![[[[BZYY i) ;Iie?YD< ?))ibs??`تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038776.003165 s, next control iter: 1743038776.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038776.383165 s.J "J *J 2J ؅J~:J?BJ?,N*AnJ5vJA(\@A!O@ACt\~? AA@%"AAqNA"AZAbAjArAzAAAZo..@ANHDtA\y@Aff<AK=A>Ae?A`?A*A?:?2AžԽ:AL =BA?:?JAžԽRAL =٘i)I9y@YG J"JJJJE&K Y%[~?y4TAE779GB)B׹E[[o>[[~?[[ߪ[[[[BZYY i) ґ:Iix?8< {?)):탾{?{?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038776.423165 s, next control iter: 1743038776.783174 s, wait time: 0.360009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12275", header.stamp.nsec: 0"0 temperature: 13.565261"* salinity: 33.375366", density: 1025.000000"* values[0]: 0.581171"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038776.803165 s.sAJ~,jg3N*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257669@ elevatorAngleAction: -0.065871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743038776.803291F (some fields omitted in printout)A@A*q@A\~? AAsp%"AAqNA"AZAbAjArAzAAAӤ+;/@AcbCtAix@AY;Ac=A2A>A @?A?A*A_:?2A[ӽ:A[=BA_:?JA[ӽRA[=٘i)I9ix@Y1G JB=JJJJE&K Y\~?yTAE7b7N9FB)BڹE[['G>[+[~?[hݪ[[[[BZYY i) PN9Iie?.< ?)) ??1ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038776.823165 s, next control iter: 1743038777.203175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038777.223165 s.gJ~,HNN*AJ"J*J2J:JBJnJvJAz@A衺@A\~? ANAգ%"AA $rNA"AZAbAjArAzAAAI/@AS1AtAw@AFAA=A>>A?A??A*Ae:?2Arӽ:A6f=BAe:?JArӽRA6f=٘i)I9w@YG J[C=JJJJE&K Yb.\~?y TAE779)B[[ь>[I\~?[I۪[[[[BZYY i) [m0\~?[ت[[[[BZYY i) BպIiu?KC< c?))c?c?bʪY!YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12276, header.stamp.nsec: 00 temperature: 13.565446* salinity: 33.375362, density: 1025.000000F* values[0]: 0.580535F (some fields omitted in printout)FF]:Waiting for Gazebo time sync: latest Gz time: 1743038777.663165 s, next control iter: 1743038778.043179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038778.063165 s.J~,_ N*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200392 time: 1743038778.063331F (some fields omitted in printout)J"J*J2J:JBJnJvJA33333@A)&@A7\~? Al An%"AA nrNA"AZAbAjArAzAAA)76k0@A,K">tAv@AEoA=A;?A?A?Am*A?y=oٓHp|?"L'J?:??Ѩ?@@\荿?)> I٘i)I9v@Y,G JJWoJJJE&KYs> YS`\~?yUSA?E79BB)B߹E[[#>[&I\~?[֪[[[[BZYY i) pP(Ii`b?< ?))t??1ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038778.103165 s, next control iter: 1743038778.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038778.483165 s.~_J~,N*AA\h@AĮ[@A=\~? AB AO%"AArNA"AZAbAjArAzAAA00@Ay5C4[a\~?[Ӫ[[[[BZYY i) eIiP?< ?))??bĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038778.503165 s, next control iter: 1743038778.883181 s, wait time: 0.380016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12277, header.stamp.nsec: 00 temperature: 13.565557* salinity: 33.375401, density: 1025.000000* values[0]: 0.579984F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038778.903165 s.ȭJ~,͹N*AJ"J*J2J:JBJnJvJAQ@AB?S@A ]~? AAԎ%"AArNA"AZAbAjArAzAAA/h0@Ai-:tAEu@A+9A=A?A@b?A?A*A?}:?2A;ӽ:Af<BA?}:?JA;ӽRAf<٘i)I9u@YG JJJJJE&K Y\~?yRAE777C9)BE[[[7>[z\~?["Ѫ[[[[BZYY i) ;~Ii@?K; U?)) U?U? ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038778.943165 s, next control iter: 1743038779.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038779.323165 s.qJ~,N*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065871< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743038779.323276F (some fields omitted in printout)AGz@Azr@A]~? AyA%"AArNA"AZAbAjArAzAAA@JC1@AJo8tA-u@Ad%<A\=A6?Ai1?Aݓ?A<ힼ*A:?2AQӽ:A0<BA:?JAQӽRA0<٘i)I9-u@Y9G JJJJJE&K YI\~?y3ߪ2RAE{7{79)B[[>[\~?[&Ϊ[[[[BZYY i) r"Ii2?; ?))?? YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038779.363165 s, next control iter: 1743038779.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12278*, header.stamp.nsec: 0*0 temperature: 13.565704** salinity: 33.375397*, density: 1025.000000** values[0]: 0.579430*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038779.743165 s.WJ~,iN*AJ"J*J2J:JU?BJU?nJ5vJAףp= @A*3@A5]~? AA%"AAvrNA"AZAbAjArAzAAA1@ASO5tAt@An<A=A=?A3?Ae?A똜*AI}:?2A)Խ:Az<BAI}:?JA)ԽRAz<٘i)I9t@YG JJJJJE&K Y\~?yڪQAEb77ٖ9;B)BE[[>[B\~?[ʪ[[[[BZYY i) λIi}&?K; ?))??hYsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038779.783165 s, next control iter: 1743038780.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038780.163165 s.{}“J~,q O*AA@@Aй2@A.L]~? AAg]%"AA!sNA"AZAbAjArAzAAALTф1@A\xĒ3tAP(t@A9<AM=A!?A@}?A`%:?A{*Au:?2AԽ:AS<BAu:?JAԽRAS)"?yfK=V:<ٓHC?` ʯ??`?ϟ?F氿=? ?)v"> I٘i)I9(t@YG J2Jb1JJJE&Ks> Y`\~?yժvQA)"? DEZ7Z79:B)BE[[K>[\~?[Ǫ[[[[BZYY i) Ii?ϼ; @j?))msv@j?@j?VYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038780.183165 s, next control iter: 1743038780.563180 s, wait time: 0.380015 s`\~?)ժ rAdjusting time to match Gazebo time: 1743038780.583165 s.ȓJ~,S%O*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240675@ elevatorAngleAction: -0.074989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199392 time: 1743038780.583273F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@Ah@Ac]~? A:A٧%"AADsNA"AZAbAjArAzAAAe"2@A϶21tAs@A ;Af=AX'?A?A?AZݍ*A6n:?2A9ս:Ak<BA6n:?JA9սRAk<٘i)I9s@YOG JJJJJE&K Y%\~?yKЪQAE7777n9)B[[[>[\~?[5Ī[[[[BZYY i) IiK?WǦ; ?))??y@yعYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038780.603165 s, next control iter: 1743038780.983178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12279, header.stamp.nsec: 00 temperature: 13.565842* salinity: 33.375435, density: 1025.000000* values[0]: 0.578922F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038781.003165 s.x ГJ~,L4@O*AAR@Ay@Ay]~? A0A5%"AA-gsNA"AZAbAjArAzAAA[\~?[[[[[BZYY i) "Ii>; ؟?)) ؟?؟?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038781.043165 s, next control iter: 1743038781.403178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038781.423165 s.u֓J~,[O*AJ"J*J2J:JBJnJvJA{G@Aj=@A]~? AA\E%"AANsNA"AZAbAjArAzAAA3!y2@A-,tAr@AhA-=A}1?A&?A?Aږ*A3~:?2AԽ:AZK<BA3~:?JAԽRAZK<٘i)I9r@YG J%JJJJE&K Y]~?yŪfPA#Ej7SI795B)BE[[A>[' ]~?[[[[[BZYY i) %Ii>x; M?))M?M?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038781.463165 s, next control iter: 1743038781.823180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12280, header.stamp.nsec: 00 temperature: 13.565935* salinity: 33.375443, density: 1025.000000* values[0]: 0.578448F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038781.843165 s.ܓJ~,uO*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200422 time: 1743038781.843338F (some fields omitted in printout)Ap= @AZK @A0]~? AA-%"AAsNA"AZAbAjArAzAAAؖ2@A&E)tAUr@APAX=A86?A`?A ?AD*A'v:?2AXս:A=BA'v:?JAXսRA=٘i)I9Ur@Y~G JAJJJJE&K Yv3]~?y PA&E777Ο94B)BE[[?[-%]~?[[[[[BZYY i) +K5Ii>e; 7\?))7\?7\?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038781.883165 s, next control iter: 1743038782.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038782.263165 s.J~,ؐO*AJ"J*J2J:J?BJ?nJ65vJAL@Ae?@A]~? A<A%"AATsNA"AZAbAjArAzAAA']u#3@A:&tAq@AAwƍ=A;?A?AI?AO*Am:?2Aս:A|=BAm:?JAսRA|=Y?V;?yƍ=uٓH m?o? `?7?7p?#WrK?)? I٘i)I9q@Y6G JJ;JJJE&Kt> YoH]~?yOA;?(E9)B[[Q!?[<]~?[u[[[[BZYY i) DIi >@5; ?))2,y??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038782.303165 s, next control iter: 1743038782.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 122812, header.stamp.nsec: 020 temperature: 13.5660262* salinity: 33.3754692, density: 1025.0000002* values[0]: 0.5779852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038782.683165 s.lJ~,gO*AA(\@A,σu@A]~? AAE%"AA3sNA"AZAbAjArAzAAA}f.e3@A[U;$tAAeq@An;AI!=A=@?A@H?A ?A3*Ae:?2A|ս:A =BAe:?JA|սRA =٘i)I9eq@YG JגJJJJE&K Yi]]~?y۴LOA+Ec93B)BE[[Ѧ ?[T]~?[[[[[BZYY i) TIiY>C> ; V۪?)) V۪?V۪?AƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038782.683165 s, next control iter: 1743038783.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038783.103165 s.J~,O*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074989< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743038783.103291F (some fields omitted in printout)AQ@AQH@A]~? AܫAp%"AA tNA"AZAbAjArAzAAAh X3@A.a%!tAp@A:\<A0=AE?A ?A@?A*Aw:?2ARԽ:A =BAw:?JARԽRA =٘i)I9p@YG JJJJJE&K Ydr]~?yNA.E77{7.9/B)E[[48?[Yk]~?[[[[[BZYY ih) acIiQ>E: ?))??PɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038783.123165 s, next control iter: 1743038783.503177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038783.523165 s.J~,-|O*AAHz@Amɪ@A]~? AثA%"AA-tNA"AZAbAjArAzAAA3@AY/tA^p@A8(b<A =AK?AM?Aӕ?Aܑ*Aq:?2AݐԽ:A) =BAq:?JAݐԽRA) =٘i)I9^p@YKG J1JJJJE&K Y^]~?yNA0E7779)B[[`?[x]~?[̦[[[[BZYY i) rIi=J: q?))q?q?h˪Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038783.543165 s, next control iter: 1743038783.923178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12282, header.stamp.nsec: 00 temperature: 13.566171* salinity: 33.375439, density: 1025.000000* values[0]: 0.577461F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038783.943165 s.XdJ~,B]O*AJ"J*J2J:JBJnJvJAq= #@A @AF^~? AӫA]%"AAMtNA"AZAbAjArAzAAA99#4@A0%tAo@A;A=AKP?Ao?AR?A"a*Af:?2A$Qս:Ae=BAf:?JA$QսRAe=٘i)I9o@YG JJJJJE&K YY]~?y*/NA3E{7{7è9.B)BE[[w?[f]~?[ݡ[[[[BZYY i) (Ii]x=3: C?))C?C?ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038783.963165 s, next control iter: 1743038784.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038784.363165 s.J~,>P*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038784.363280F (some fields omitted in printout)AY@ATގL@A$^~? AΫAݿ%"AAltNA"AZAbAjArAzAAA;%`4@AEtASo@AkA%_=A?U?A!?A?A*A\:?2Aֽ:A =BA\:?JAֽRA =Y?U?y^=m?lٓH5n?J`0??{?!p?@]rmH?)? I٘i)I9So@YG JJI<JJJE&Ku> YO]~?yMAU?6Eb779)B[[ #?[]~?[Ӝ[[[[BZYY i) ·II?i  ?))Љ| ? ?ytѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038784.383165 s, next control iter: 1743038784.763178 s, wait time: 0.380013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12283&, header.stamp.nsec: 0&0 temperature: 13.566295&* salinity: 33.375481&, density: 1025.000000&* values[0]: 0.576900&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038784.783165 s.J "J *J 2J :J ?BJ ?nJ 5vJ b J~,2P*AA(\@AQ@A{8^~? AȫA$%"AAtNA"AZAbAjArAzAAA~ԓ&4@AG5rtAn@A%GA$=A0[?A?A@*?Am㝼*AP:?2Aֽ:Aq=BAP:?JAֽRAq=٘i)I9n@YXG JJJJJE&K YE]~?ybMA8E77Y9-B)BE[[(?[]~?[[[[[BZYY i) WGII?i 9 ,ȸ?)) ,ȸ?,ȸ?ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038784.803165 s, next control iter: 1743038785.183186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743038785.203165 s.J~, MP*AAQ@A!@AL^~? AiëA%"AAtNA"AZAbAjArAzAAA Rv4@A\tAnIn@AjA =AC`?A ~?A?AĢ*AZ:?2AJս:AQ=BAZ:?JAJսRAQ=٘i)I9In@YG JJJJJE&K Y;]~?yLA;E{7j7#9)B)BE[[].?[]~?[)[[[[BZYY i) ֗I I?iǤ ?))??ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038785.223165 s, next control iter: 1743038785.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038785.623165 s.YJ~,egP*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038785.623296F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A1]@AG_^~? AォA%"AAtNA"AZAbAjArAzAAA4ߧE5@Al9tAm@A4A=ACe?A@-?A@b?A *A6Q:?2Aս:A=BA6Q:?JAսRA=٘i)I9m@YG JJJJJE&K Y1]~?yLA>E77779)B[[_4?[]~?[[[[[BZYY i) eI I?i]1 @W?))@W?@W?ߪY&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038785.643165 s, next control iter: 1743038786.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12284 , header.stamp.nsec: 0 0 temperature: 13.566450 * salinity: 33.375450 , density: 1025.000000 * values[0]: 0.576359 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038786.043165 s. J~,ÂP*AA= ף0@AƄ#@A&r^~? AWAa%"AAtNA"AZAbAjArAzAAAiK5@A!3 tAw*m@A:A=A8j?A@?A jo?AS*AG:?2Aս:A=BAG:?JAսRA=٘i)I9*m@YXG JyJJJJE&K Y(]~?y/LA@E779(B)BE[[9?[^~?[[[[[BZYY i) II?iaZV )?)))?)?3YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038786.063165 s, next control iter: 1743038786.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038786.463165 s.U'J~,㤝P*AJ"J*J2J:JBJnJvJAfffff@AR^Y@A^~? AA%"AA-tNA"AZAbAjArAzAAA75@A.y=StAsl@AD/<A=A}9o?A@?AT?A쾼*Aw>:?2Auս:A5A=BAw>:?JAuսRA5A=Y[7?so?yi=|0<ٓH`?`R`{?@? ? ?JL? ?)[7? I٘i)I9l@YG JB=J*<JJJE&Ku> Y ^~?yx{KAso?CEj7Z79)ïB[[??[^~?[؀[[[[BZYY i) ALII?i7 ?))??1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038786.503165 s, next control iter: 1743038786.863174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12285, header.stamp.nsec: 00 temperature: 13.566648* salinity: 33.375465, density: 1025.000000* values[0]: 0.575744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038786.883165 s.y-J~,@P*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249579@ elevatorAngleAction: -0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038786.883307F (some fields omitted in printout)A(@A O@Aʖ^~? AϬAE@%"AAuNA"AZAbAjArAzAAAax5@AgtANk@AAp<AoL=Ac]t?A.?A`?Aqż*A5:?2Aս:A=BA5:?JAսRA=٘i)I9k@YG JI¼C=JJJJE&K Y^~?yctLKAFE77N9&B)ǯBE[[FE?[|0^~?[z[[[[BZYY i) I8H?ij] `?)) `?`?`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038786.903165 s, next control iter: 1743038787.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038787.303165 s.R4J~,fgP*AJ"J*J2J:JBJnJvJA@A`@A^~? AফA%"AA.6uNA"AZAbAjArAzAAA#a5@AUAz&tACk@A2<A=Ay?Ac?A l?Auȼ*A|>:?2A"ս:A=BA|>:?JA"սRA=٘i)I9Ck@Y0G JDǼJJJJE&K Yf-^~?yOmJAIE{7j79#B)ɯBE[[K?[D^~?[{t[[[[BZYY i) ?IH?i/Ǿ~ Ʌ?))Ʌ?Ʌ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038787.343165 s, next control iter: 1743038787.703174 s, wait time: 0.360009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12286., header.stamp.nsec: 0.0 temperature: 13.566857.* salinity: 33.375500., density: 1025.000000.* values[0]: 0.575059.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038787.723165 s.;J~,HP*AAz@AoH@A^~? AՠA'%"AAPuNA"AZAbAjArAzAAA]Gp%6@A+5usA=j@A1:A=A<~?A?A?Agȼ*Aw7:?2APս:A=BAw7:?JAPսRA=٘i)I9j@YG JȼJJJJE&K Y&>^~?y:fjJAKEŧ77两9"B)ͯB E[[?P?[X^~?[n[[[[BZYY i)  OļIH?iݾʍ J^?))J^?J^?YGYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038787.763165 s, next control iter: 1743038788.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038788.143165 s.V/BJ~,* Q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038788.143286F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp=@Af0@A^~? AAʞ%"AAjuNA"AZAbAjArAzAAAKsAi@AZA=A,?A 5?A ?Aȼ*A/:?2AVqֽ:A}=BA/:?JAVqֽRA}=٘i)I9i@YbG JqȼJJJJE&K YN^~?y%_IANE{7j79)үB[[׿V?[Hl^~?[ag[[[[BZYY i) ˼IuH?iC  =?)) =? =?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038788.163165 s, next control iter: 1743038788.543175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038788.563165 s.HJ~,N $Q*AA3333s@A_(f@Ab^~? AlA%"AA YC]^~?yWIA?QEZ7y9!B)֯B E[[؎\?[5^~?[`[[[[BZYY i) NҼI'H?if  ?)) ? ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038788.603165 s, next control iter: 1743038788.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12287, header.stamp.nsec: 00 temperature: 13.567057* salinity: 33.375519, density: 1025.000000* values[0]: 0.574330F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038788.983165 s.OJ~,>Q*AJ"J*J2J:J?BJ?nJ+5vJA\@AVfJ@A^~? AA%"AAuNA"AZAbAjArAzAAA{06@A9sAh@AIA_Բ=Am?A@ɵ?A@?A:ͼ*A :?2AJֽ:A^=BA :?JAJֽRA^=٘i)I9h@Y G JA˼JJJJE&K Yk^~?yP IASE7777D9)ܯB[[Gib?[Ǒ^~?[Y[[[[BZYY i) HڼIH?i̿ ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038789.023165 s, next control iter: 1743038789.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038789.403165 s.&VJ~,YQ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083846< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743038789.403286F (some fields omitted in printout)AQ@A5l@A9^~? AA%"AA,uNA"AZAbAjArAzAAA{m 6@AP$sA[g@AMzA=Aw?A@Z?A?A%]Լ*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9g@Y) G JмJJJJE&K Yy^~?ypHHAVEb779B)ݯBE[[Nh?[^~?[R[[[[ZZ¸BZYY i¸f=) μIeH?i!-ϻ ?))??LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038789.443165 s, next control iter: 1743038789.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12288", header.stamp.nsec: 0"0 temperature: 13.567294"* salinity: 33.375523", density: 1025.000000"* values[0]: 0.573580"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038789.823165 s.\J~,%tQ*AJ"J*J2J:J?BJ?nJ5vJAGz@A*dq@A _~? AA%"AAuNA"AZAbAjArAzAAA7@A69%sAf;g@A;A=Aq?A`.?A0?A ۼ*Au:?2AVֽ:AEN=BAu:?JAVֽRAEN=٘i)I9;g@Y G Jm׼JJJJE&K YY^~?y@HAYE79)B[[+=n?[^~?[hK[[[[ZZBZYY i) ¼I'H?i+ ܻ ?))??ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038789.863165 s, next control iter: 1743038790.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038790.243165 s.cJ~,uQ*AAףp=J@Aa1=@A]_~? AizA%"AAuNA"AZAbAjArAzAAA+F7@AxMsAof@AN_<Aά=A?A@oc?Ar?A*A+:?2A@Iֽ:A(<BA+:?JA@IֽRA(<٘i)I9of@Y? G JJJJJE&K Y^~?yM9GA[E{7{7ä9B)BE[[2t?[^~?[C[[[[ZZBZYY i)  I{H?i3^ D?))D?D?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038790.263165 s, next control iter: 1743038790.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038790.663165 s.jJ~,qQ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083770< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038790.663294F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12289, header.stamp.nsec: 00 temperature: 13.567568* salinity: 33.375519, density: 1025.000000* values[0]: 0.572764F (some fields omitted in printout)A@Azr@A'_~? AsA#%"AAuNA"AZAbAjArAzAAAQr7@ALݽsASe@AY<A=A:?Aۖ?A`(?Ad*A#:?2A}ֽ:A#<BA#:?JA}ֽRA# Y^~?yN1@GA?^EoŤ9)B[[z?[^~?[|<[[[[ZZBZYY i) 8|IH?iB{H r?))r?r?y=ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038790.683165 s, next control iter: 1743038791.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038791.083165 s.DqJ~, SQ*AA)\µ@Aw@A5_~? AlAg%"AALvNA"AZAbAjArAzAAAx7@AѸsA޸d@Ab;AJn=AF?A?A?A^<*A(:?2AOֽ:ABc<BA(:?JAOֽRABc<٘i)I9d@Y4 G JaC=JJJJ E&K Y_^~?yP)FAaE779Ǥ9B)BE[[p ?[^~?[4[[[[ZZBZYY i) jݞIڬH?iOK 2X?))2X?2X?LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038791.123165 s, next control iter: 1743038791.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038791.503165 s.wJ~,z4Q*AJ"J*J2J:JBJnJvJAR@AA|@ABC_~? AeAh%"AA($vNA"AZAbAjArAzAAAyL7@AR" sAc@AhA)=A?A?A`6?AZɼ*A*:?2AMֽ:As;BA*:?JAMֽRAs;٘i)I9c@Y G JJJJJ E&K Y4^~?yQ!wFAcEɤ9B)BE[[u ?[^~?[,[[[[ZZBZYY i) F=IH?i^Z E?))E?E?nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038791.523165 s, next control iter: 1743038791.903189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12290, header.stamp.nsec: 00 temperature: 13.567897* salinity: 33.375515, density: 1025.000000* values[0]: 0.571779F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038791.923165 s.9~J~,Q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083770< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200892 time: 1743038791.923390F (some fields omitted in printout)A{G!@AYLl>@ARP_~? A^A$%"AAT8vNA"AZAbAjArAzAAAX7@A?sA`c@A2aA<AG?A#?A t?A!*A':?2Aֽ:A>[BA':?JAֽRA>[7I٘i)I9`c@Yb G JJJJJE&K Y ^~?yRFAfEŧ7b7ʤ9)B[[z?[_~?[$[[[[ZZBZYY i) IH?i.c_e "9?))"9?"9?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038791.943165 s, next control iter: 1743038792.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038792.343165 s. Y ^~?yEAƞ?kEj7j7dΤ9B)BE[[!?[r#_~?[[[[[ZZBZYY iO|=) x3eI{H?iwwa ?))??S)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038792.803165 s, next control iter: 1743038793.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038793.183165 s.˒J~,KR*AJ"J*J2J:J$?BJ$?nJ=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061658< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038793.183290F (some fields omitted in printout)A(\@AH@At_~? A}IA%"AApvNA"AZAbAjArAzAAA +[8@AjC%sAVb@A.:AAd?A@$?A`!?A*AL :?2A׽:ABAL :?JA׽RA٘i)I9Vb@Y G JJJJJE&K Y;^~?yEAnE77/Ф9)B[[)?[0_~?[> [[[[ZZBZYY i^d=) jRImH?iyʹ% ?))??)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038793.223165 s, next control iter: 1743038793.583186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743038793.603165 s.44J~,fR*AAQ@Ad]F@A_~? A/BAR%"AAvNA"AZAbAjArAzAAA(J}8@AsA=b@A6<AAN ?A@?AV?Av*A:?2AJ׽:A̼BA:?JAJ׽RA̼٘i)I9=b@Y G JoJJJJE&K Yj^~?yGEAqE77Ѥ9)B[[79?[=_~?[[[[[BZYY i) ?I^H?i1+ ?))??=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038793.643165 s, next control iter: 1743038794.003176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12292 , header.stamp.nsec: 0 0 temperature: 13.568200 * salinity: 33.375511 , density: 1025.000000 * values[0]: 0.570755 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038794.023165 s.ZJ~,{R*AJ"J*J2J:J?BJ?nJ55vJAHz.@AT!@A_~? A:A%"AAvNA"AZAbAjArAzAAA3/8@Aꟛ/sACb@A.p<AX9A?A@?A@?ACM;*A9?2AO׽:A$'BA9?JAO׽RA$'缙٘i)I9Cb@Y G Jb:JJJJE&K Y^~?yEAsE77Ӥ9 B)BE[[4L?[J_~?[[[[[BZYY i) U,IOH?i䉿0  ?)) ? ?y=y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038794.063165 s, next control iter: 1743038794.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038794.443165 s.4æJ~,1]R*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072457< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743038794.443276F (some fields omitted in printout)Aq= c@AkV@Aϔ_~? A_3Atr%"AAvvNA"AZAbAjArAzAAASo"8@A2 sA"fb@A(<A^AA?AF?A?A ;*A9?2A׽:ABA9?JA׽RA٘i)I9fb@Y G Jã;JJJJ E&K Y^~?yEAvE{7j7դ9)B[[ b?[U_~?[J[[[[BZYY i) I@H?i3 ?))??E*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038794.483165 s, next control iter: 1743038794.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12293, header.stamp.nsec: 00 temperature: 13.568172* salinity: 33.375561, density: 1025.000000* values[0]: 0.570772F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038794.863165 s.+J~,>R*AJ"J*J2J:J?BJ?nJ75vJA@A @A_~? A+AH%"AAvNA"AZAbAjArAzAAA@eq8@AWsAb@At9A}Ahɫ?A@W?AM?A}_9<*A9?2Aֽ:A BA9?JAֽRA Y}?ȫ?y}ž9ٓH?@*l#@W?`G?@殿ΰ?3?J?)}? I٘i)I9b@Y G J<JJJJ#E&Kw> Y1_~?yީ9FAȫ?yEYפ9B)B[[Yr?[`_~?[}[[[[BZYY i3i=) B I0H?i; ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038794.903165 s, next control iter: 1743038795.263182 s, wait time: 0.360017 s.1_~?).ީ rAdjusting time to match Gazebo time: 1743038795.283165 s.8RJ~,R*AA(\@A/Q@Aħ_~? AO$AH%"AAvNA"AZAbAjArAzAAA۞l8@AhgssA b@A"AOKAM?A 3?A ?A\r<*A9?2A@`ֽ:ABA9?JA@`ֽRA٘i)I9b@Y& G J!T<JJJJ&E&K Y _~?yj֩FA{EZ7Z7$٤9)B[[>?[j_~?[[[[[BZYY i) I H?i{gA @))@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038795.323165 s, next control iter: 1743038795.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12294., header.stamp.nsec: 0.0 temperature: 13.568001.* salinity: 33.375561., density: 1025.000000.* values[0]: 0.571097.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038795.703165 s.պJ~, R*AJ"J*J2J:J3?BJ3?nJM5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038795.703275F (some fields omitted in printout)AQ@A*@A_~? AAf+%"AAvNA"AZAbAjArAzAAAZ9@A$XͫsAnc@AivAAܰ?Aě?A@7?Aު<*A9?2A?Jֽ:ABA9?JA?JֽRA٘i)I9nc@Yk G JS<JJJJ(E&K Y_~?yͩFA~Eb77ڤ9 B)BE[[I?[t_~?[ש[[[[BZYY i) oKջIH?igpF 9 @))9 @9 @.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038795.723165 s, next control iter: 1743038796.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038796.123165 s.4J~,PS*AAG:@A[-@A_~? AA%"AAvNA"AZAbAjArAzAAAWn*9@AsAc@AMIAA~?AV?A^?A<*A9?2AȄֽ:AJBA9?JAȄֽRAJ٘i)I9c@Y G J<JJJJ+E&K Yj_~?yAũ8GAE77ܤ9)B[[?[t}_~?[ZΩ[[[[BZYY i=) IG?iIJ 0@))0@0@yYei=!*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038796.143165 s, next control iter: 1743038796.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038796.543165 s.IȔJ~,"S*AJ"J*J2J:JF?BJF?nJa5vJA= ףp@A҈c@A|_~? AN AV%"AAvNA"AZAbAjArAzAAAk5A9@Aw5hsA[~d@A~NAA1?A?Aσ?A<*Ah9?2Aֽ:A BAh9?JAֽRA ٘i)I9~d@Y G JP<JJJJ.E&K Y_~?yGAEŧ7b7ޤ9)B[[Bڧ?[_~?[ũ[[[[BZYY i) IG?i SL @))@@y|i=+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038796.563165 s, next control iter: 1743038796.943180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12295, header.stamp.nsec: 00 temperature: 13.567731* salinity: 33.375553, density: 1025.000000* values[0]: 0.571706F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038796.963165 s.ΔJ~, =S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743038796.963313F (some fields omitted in printout)Affff@A1=a@A_~? AA%"AAvNA"AZAbAjArAzAAAWlW9@AsA e@A;AA?A Y?A 4?AU<*A9?2ARN׽:A BA9?JARN׽RA Y<ɜ?ո?yL;ٓH@#?/`@Ԧ?"?gl?\?@%?)<ɜ? I٘i)I9 e@Yg G Jk<B=JJJJ0E&Kwx> Ye#_~?yGAո?E777O9)B[[r?[7_~?[ػ[[[[BZYY i) )oIG?iIS @))@@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038797.003165 s, next control iter: 1743038797.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038797.383165 s.ՔJ~, XS*AJ"J*J2J:JBJnJvJA(@A9G@Ah_~? AA%"AAvNA"AZAbAjArAzAAA'*wk9@AqsA elevatorAngleAction: 0.066238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038798.223297F (some fields omitted in printout)AzG@Ai:@AC_~? AA%"AAtwNA"AZAbAjArAzAAA%I9@AAIsAݻf@A t;A6AL?A |?A o?Aw­<*AN9?2Aֽ:AAsBAN9?JAֽRAAs٘i)I9f@Ym G JF<C=JJJJ8E&K Y._~?y/IAE77779)ѯB[[3W?[~_~?[[[[[BZYY i) [nItG?ia_ U5 @))U5 @U5 @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038798.243165 s, next control iter: 1743038798.623183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038798.643165 s.vJ~,*S*AA ףp}@A/dp@Aj_~? AA%S%"AAwNA"AZAbAjArAzAAArM9@AxÖ#ssANg@A.AYAF7?A'?AO?ArY<*A9?2Aֽ:A$BA9?JAֽRA$٘i)I9Ng@Y G J <JJJJ;E&K Y1_~?yIAEŧ7b7y9B)˯BE[[;|?[_~?[[[[[BZYY i) a 7IG?i~8`  @)) @ @S*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038798.663165 s, next control iter: 1743038799.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12297, header.stamp.nsec: 00 temperature: 13.567131* salinity: 33.375565, density: 1025.000000* values[0]: 0.573107F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038799.063165 s.J~,V S*AJ"J*J2J:JBJnJvJA3333@A('@A_~? AުA,%"AA(wNA"AZAbAjArAzAAAt_9@AWsAUg@AE[AA?A@L?A`*?AF~<*Ah9?2A^qֽ:A;BAh9?JA^qֽRA;Yө??ysg[ٓH`%n? -?c~?,`?@|h?)ө? I٘i)I9g@Y! G J<J;JJJ>E&KVx> Y`2_~?y6IA?E{7Z7D9B)įBE[[?[_~?[][[[[BZYY i) nu:IA~G?iɳ f H@))H@H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038799.083165 s, next control iter: 1743038799.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038799.483165 s.y_J~,S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038799.483296F (some fields omitted in printout)A\@A@A._~? A֪AƉ%"AA%wNA"AZAbAjArAzAAAx^ݹ9@Ag>sAvh@AlADAY?AQƻ?A`>?Aì<*A9?2A܉ֽ:A}BA9?JA܉ֽRA}٘i)I9vh@Y{ G J2<JJJJAE&K Y3_~?yh_JAEb7b79)B[[JŽ?[_~?[[[[[BZYY i) j:IjG?iFj @))@@h*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038799.503165 s, next control iter: 1743038799.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12298, header.stamp.nsec: 00 temperature: 13.566820* salinity: 33.375576, density: 1025.000000* values[0]: 0.573830F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038799.903165 s.J~,S*AJ"J*J2J:JBJnJvJAQ@AŠS@A_~? AΪA%&"AA+wNA"AZAbAjArAzAAAi,9@AQ+{sA*i@A5VAuA?A?AO?Ar<*A 9?2Aֽ:ACBA 9?JAֽRAC٘i)I9i@Y G J٩<JJJJCE&K Y3_~?yvJAE779)B[[?[x_~?[y[[[[BZYY i) p7;IVG?i6)m _@))_@_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038799.943165 s, next control iter: 1743038800.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038800.323165 s.uJ~,!T*AAGzT@AnG@A_~? AƪAy&"AA0wNA"AZAbAjArAzAAA|9@A,vvsAi@A<9;AH挽Ar?A?AT^?A,<*A9?2A7׽:ABA9?JA7׽RA٘i)I9i@Y$G J<JJJJFE&K Y|4_~?ym'KAEj7Z79B)BE[[?[_~?[Ko[[[[BZYY i) s;IBG?iVen @))@@*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038800.343165 s, next control iter: 1743038800.723178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12299*, header.stamp.nsec: 0*0 temperature: 13.566549** salinity: 33.375591*, density: 1025.000000** values[0]: 0.574511*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038800.743165 s.W J~,m/T*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066238< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743038800.743294F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=@A0a4}@Aa_~? AAq_&"AA5wNA"AZAbAjArAzAAA!9@A0prsAa j@AOF<AъAj?A`A?Atj?A˔<*A^9?2Ap׽:AsBA^9?JAp׽RAs٘i)I9 j@YrG J<B=JJJJIE&K Y05_~?yeKAE)7ŧ7o9)B[[B?[_~?[e[[[[BZYY i) h;I.G?ign ~@))~@~@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038800.783165 s, next control iter: 1743038801.143175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038801.163165 s.w}J~,qJT*AA@A#3@A`_~? AA&"AA8wNA"AZAbAjArAzAAAH f9@A}FmsAkj@Au<A @A{ ?AҨ?A`s?AW<*A9?2AVj׽:AUBA9?JAVj׽RAUY0߶?~?y<Rv<ٓH)?c?`~@ʰ9$?`G??)0߶? I٘i)I9j@YG J}<C=J_<JJJKE&Kx> Y3_~?y9\KA?E777:9)B[[Gl?[_~?[[[[[[BZYY iF=) t;I,G?iǽr  @)) @ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038801.183165 s, next control iter: 1743038801.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038801.583165 s.J~,ReT*AJ"J*J2J:J'?BJ'?nJM5vJA)\@A^@A_~? A孪AD&"AA3;wNA"AZAbAjArAzAAAi@9@A؎+hsAk@Ag$<AA?A g1?A z?A<*Az9?2A$*׽:A}hBAz9?JA$*׽RA}h󼙘٘i)I9k@YG J<JJJJNE&K Y0_~?yqSDLAE{7j79)B[[=?[:_~?[ R[[[[BZYY i) ;IG?iu @))@@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038801.603165 s, next control iter: 1743038801.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12300, header.stamp.nsec: 00 temperature: 13.566294* salinity: 33.375599, density: 1025.000000* values[0]: 0.575102F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038802.003165 s.x J~,L4T*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038802.003279F (some fields omitted in printout)AR+@Av5y@A_~? AХA7&"AA=wNA"AZAbAjArAzAAA)#~9@AkrwNA"AZAbAjArAzAAA]9@AާM^sASk@A&)A+!A?A@jp?A?A<*A9?2Alֽ:AsBA9?JAlֽRAs٘i)I9k@YG J8<JJJJSE&K Y~,_~?yALAE7779)B[[?[q_~?[>[[[[BZYY i) uO @A_~? AAs&"AAg>wNA"AZAbAjArAzAAAa@ 9@Ak{[^YsAkl@A(vAZ,A8?A-A?AO<*A,9?2Axֽ:ABA,9?JAxֽRA٘i)I9kl@YG J<JJJJVE&K YR*_~?y9XMAE)7ŧ7d9)B[["?[c_~?[4[[[[BZYY i)  elevatorAngleAction: 0.076795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743038803.263293F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A\*ƿ@Av_~? AA&"AA=wNA"AZAbAjArAzAAA9@Aa,oTsAl@A8AAA?AiA`{?Au<*A9?2Aֽ:A;BA9?JAֽRA;Y?'?yXBٓHƿ}7?j?`ͬƿ O?<`?)? I٘i)I9l@Y-G J(<JϺJJJYE&Kbx> YK%_~?ym0MA?E77{7/9)B[[P?[_~?[ +[[[[BZYY i) LT) elevatorAngleAction: 0.076795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743038804.523275F (some fields omitted in printout)AHzn@ANB a@AY_~? A^uAC&"AAp7wNA"AZAbAjArAzAAAu{9@AVHEsA;Kn@Am<A]AT?A@0Aa?A><*An9?2Azr׽:ABAn9?JAzr׽RA٘i)I9Kn@YG J,<JJJJaE&K  9Y6_~? 9ymNAEŧ7ŧ79)B[[?[f_~?[[[[[BZYY i) sWWU*AA@AVG@AI_~? AQeA$&"AA/wNA"AZAbAjArAzAAA.`59@A ׌;sABo@A3;AꖽA ?A¹A]D?A2}<*A9?2Aֽ:A8u BA9?JAֽRA8u Y?P?y ꖽ;ٓHѿ`pԭ? ?ѿ`ñز?rs??)? I٘i)I9Bo@YG J<JjJJJfE&K Y] _~?yMOA?EZ7SI7$9B)BE[[;?[х_~?[[[[[BZYY i) rv elevatorAngleAction: 0.076795< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038805.783286F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AO7P@Ax_~? AS]Ap&"AA)wNA"AZAbAjArAzAAAcΙ{9@AVh6sAo@A ŻAFA]?A`|A2?AjL<*A9?2A~ֽ:A^%BA9?JA~ֽRA^%٘i)I9o@YG Jf<JJJJiE&K Y_~?yOAEŧ7b79)B[[j?[b}_~?[[[[[BZYY i) ΂ elevatorAngleAction: 0.085737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038807.043299F (some fields omitted in printout)A= ף@Ad@A_~? AEAW &"AAwNA"AZAbAjArAzAAA0NJ9@At(sAxq@A{AĝA{Z?A[ĿA@?ANԫ<*A=9?2Axֽ:AiBA=9?JAxֽRAi٘i)I9xq@YG Jd<JJJJqE&K Y^~?yw$QAE)7b7O 9B)vB E[[?[__~?[ը[[[[BZYY i) ֊ƿA?A֩<*A9?2A+ ׽:A׽BA9?JA+ ׽RA׽Y??yӟd;ٓH`׿Ю ??׿`.J?zl?@?)? I٘i)I9r@YNG J̪<B=J)JJJtE&KTx> Y^~?yLۨQA?E{7{7 9)rB[[M?[MT_~?[̨[[[[BZYY i)  elevatorAngleAction: 0.085737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038808.303284F (some fields omitted in printout)AQ @AiD @A_~? A.A#^ &"AA%vNA"AZAbAjArAzAAAN~?N9@A5wtsA_&s@A4q<AzxAe?A ɿA?Aƭ<*A9?2AK׽:A BA9?JAK׽RA ٘i)I9&s@YG JB<JJJJyE&K Yu^~?yʨfRAE77779B)jBE[[;@[r;_~?[[[[[BZYY i) A elevatorAngleAction: 0.085737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743038809.563328F (some fields omitted in printout)A3333 @Am( @A_~? AA"&"AARvNA"AZAbAjArAzAAA339@A;TA sAt@A1AAw@A`[ϿA ?AA<*A9?2A +ֽ:AuBBA9?JA +ֽRAuBYX?҆@ycj2ٓHǰݿT[?7?vݿ x?@8?)X? I٘i)I9t@YG JP<JJJJE&Kw> Y>^~?y۲SA@E779B)]BE[[@[_~?[[[[[BZYY i)  elevatorAngleAction: 0.085737< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743038810.823310F (some fields omitted in printout)AGz @A ףp @A_~? AeA&"AAvNA"AZAbAjArAzAAA`\p8@ADrAw@A1}ݺA ⲽA2n@A@yYҿAl?AfE<*A39?2AKֽ:A>BA39?JAKֽRA>٘i)I9w@YWG J<JJJJE&K Yր^~?yUAEb77o9)OB[[I @[^~?[ه[[[[BZYY i)  @[^~?[[[[[BZYY i) h/׽:ABAՔ9?JA>׽RAY ? @yvq<ٓH`ɡ@ܡU?@?`@>ɰG?@E??) ? I٘i)I9ax@Y+G J<J JJJE&KSx> Yd^~?yeUA @EZ79 B)FBE[[Y @[ֽ^~?[x[[[[ZZZZ¸>BZYY i¸>/) B#_@[`^~?[Qp[[[[ZZZZBZYY i) @))>@>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038812.103165 s, next control iter: 1743038812.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038812.503165 s.ǕJ~,D4 W*AJ"J*J2J:J4?BJ4?nJ=5vJARk @A;z^ @A(d_~? A<A&"AAjvNA"AZAbAjArAzAAA:ۃ)8@AFzwrAUy@A;AeAF @AտA?A=*Ag9?2Aֽ֡:AruBAg9?JAֽ֡RAru٘i)I9y@YG J<JJJ9FJE&K YD^~?y}VAEŧ7b7"9 B) Y^~?yGh!XA@EZ7SI7'9)+B[[@[L\^~?[-S[[[[ZZZZBZYY i͖) &5vJA(\B @A?5 @A=0_~? AMǩA=&"AAvNA"AZAbAjArAzAAA7@A)m7[krA|@AFAhӼAy@AٿA`?A^<*Aͺ9?2AVhֽ:Ap7:BAͺ9?JAVhֽRAp7:٘i)I9|@YG J<JJJJE&K Y^~?yva]XAE{7j7)9B)'BE[[>@[*G^~?[HL[[[[ZZZZBZYY i) !YW*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082983< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038815.863311F (some fields omitted in printout)J"J*J2J:JBJnJvJA @A' @A)^~? AAiH&"AAuNA"AZAbAjArAzAAA36@ASp[5rAA!~@A9<Aδ=A@Ae<ܿA@н?Ag:*A69?2A\ֽ:Aq<BA69?JA\ֽRAqJJJE&Kw> Y׷]~?yFXA @E77{709)[[7A@[i]~?[2[[[[BZYY iΞk) sP5vJAQ @A1 x @A ^~? A AB&"AAuNA"AZAbAjArAzAAA*"w6@A.ǶurA@}@AZ9AÛW=A@AݿA5%?A};ݻ*AΟ9?2Aֽ:Am<BAΟ9?JAֽRAm<٘i)I9}@YG JJJJJE&K Y]~?y^:XAE7749B)'BE[[IM@[{]~?[&[[[[BZYY i) -5vJA= ף @A @AH^~? AœA4&"AA"cuNA"AZAbAjArAzAAAW!d;6@A#nrAv}@A%AU=AG@A4߿Al?AZ*A9?2Aֽ:AS =BA9?JAֽRAS =٘i)I9v}@YDG Jj=B=JJJJE&K Y~g]~?y-2XA E77789B).BE[[O"@[i]~?[[[[[BZYY i) = YQ]~?yf(WA@ E{7{799)1B[[#@[v]~?[[[[[BZYY i:[k) ;ICD?iM =))=^T@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038818.003165 s, next control iter: 1743038818.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038818.383165 s.%J~,DX*AJ"J*J2J:J5?BJ5?nJs>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057460< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038818.383287F (some fields omitted in printout)A(\@A1 O@A^~? A퇩A)&"AA;.uNA"AZAbAjArAzAAAfm5@A9rA|@A"<A=Am@A`JA@h?A*A9?2APֽ:A=BA9?JAPֽRA=٘i)I9|@YG J:JJJJE&K Y;]~?y"pWAE7777;9B)7B޹E[[Q%@[]]~?[[[[[BZYY i)  ;I8D?i?D2 =<))=<U@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038818.423165 s, next control iter: 1743038818.783183 s, wait time: 0.360018 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12317", header.stamp.nsec: 0"0 temperature: 13.383916"* salinity: 33.391689", density: 1025.000000"* values[0]: 0.709045"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038818.803165 s.vA,J~,wgX*AA@A͔߄@A}^~? A,A&"AAuNA"AZAbAjArAzAAAn5@A8rAx|@As<A릛=A @A@^A@?Aǫ*A 9?2A;ս:A>o=BA 9?JA;սRA>o=٘i)I9|@YiG JJJJJE&K Y%]~?ySWAEj7Z7z=9 B)?B۹E[[B&@[D]~?[ [[[[BZYY i) ~h;I.D?i8O :)):dW@'֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038818.823165 s, next control iter: 1743038819.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038819.223165 s.g3J~,HX*AJ"J*J2J:JBJnJvJAz@Ar@Ak^~? A|A &"AAtNA"AZAbAjArAzAAAT'h65@A ǭrAqz{@AD<Aͨ=Ab!@A0A`z6?A*Aڮ9?2A8ֽ:A=BAڮ9?JA8ֽRA=٘i)I9z{@YG J<JJJJE&K Y]~?yVAE77E?9!B)FBعE[[vJ(@[R+]~?[r[[[[BZYY i) ;I`%D?iz+}ۻ 99))99X@yJnkתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038819.263165 s, next control iter: 1743038819.623175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038819.643165 s.w9J~, *X*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057460< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743038819.643281F (some fields omitted in printout)A ףp@A܄{e@A"X^~? AwA3l&"AAtNA"AZAbAjArAzAAA|u4@AirAz@A}:;A8=A"@A LA?AD*AӶ9?2Aֽ:A =BAӶ9?JAֽRA =٘i)I9z@YG J$JJJJE&K Y\~?y@LVA DEA9)JB[[)@[]~?[[[[[BZYY i)  Y\~?yp UA $@E{7j7B9$B)RBԹE[[=+@[\~?[[[[[BZYY i) ;;I D?idԼ :6)):6[@ ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038820.103165 s, next control iter: 1743038820.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038820.483165 s.y_GJ~,Y*AA\h@AZA[@A1^~? AVlA=?&"AAtNA"AZAbAjArAzAAA|Ղ4@ARZ rAy@ANlA=A$l%@AAH?A5*A9?2A}#׽:AF<BA9?JA}#׽RAF<٘i)I9y@YG JJJJJE&K Yi\~?y~UAEb77D9&B)XBѹE[[,@[\~?[[[[[BZYY ir) :I D?iC ˼4))˼4b]@ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038820.503165 s, next control iter: 1743038820.883182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12319, header.stamp.nsec: 00 temperature: 13.384464* salinity: 33.391701, density: 1025.000000* values[0]: 0.706738F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038820.903165 s.MJ~,9Y*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: -0.066625< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038820.903309F (some fields omitted in printout)AQ@AI@A ^~? A0gA&"AAtNA"AZAbAjArAzAAAl[I4@A2rAd-y@Aˆ\A"=A:&@A?A`?A>?*A9?2AS׽:A<BA9?JAS׽RA<٘i)I9-y@YG J9JJJJE&K YIJ\~?yUAE777pF9)\B[[-.@[v\~?[([[[[BZYY i) F :ID?i2 ?3))?3^@wɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038820.923165 s, next control iter: 1743038821.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038821.323165 s.uTJ~,!TY*AAGz@AGZ*o@A^~? A*bA&"AAEctNA"AZAbAjArAzAAA]H 4@AޯrAx@A ŲAt=AI'@A@ފA?Ak*A9?2A|ֽ:A2<BA9?JA|ֽRA2<٘i)I9x@YSG J,JJJJE&K Y!\~?yTA"E{7{7;H9'B)bBιE[[/@[!\~?[[[[[BZYY i) 08ID?i۾; 1))1[`@_ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038821.363165 s, next control iter: 1743038821.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12320*, header.stamp.nsec: 0*0 temperature: 13.384733** salinity: 33.391708*, density: 1025.000000** values[0]: 0.705582*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038821.743165 s.J "J *J 2J :J 4?BJ 4?W[J~nJg=5,moY*AvJAףp= @AN1@A]~? AE]A{i&"AA*DtNA"AZAbAjArAzAAA8ߖ03@AG8 Yaj\~?y&SA*@'E{7K9*B)nBȹE[[d2@[s\~?[[[[[BZYY i) IC?iV .)).Oc@"YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038822.183165 s, next control iter: 1743038822.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038822.583165 s.hJ~,SY*AJ"J*J2J:JBJnJvJA)\u@Aeh@A]~? ASA#&"AAtNA"AZAbAjArAzAAAOL3@A LrAWw@A7j<A=A+@AaAƂ?A4*A9?2A\ֽ:A<BA9?JA\ֽRA<٘i)I9w@Y`G JaJJJJE&K YFQ\~?ySA*E77j7M9)rB[[3@[X\~?[[[[[BZYY i) !2IC?ipJ8 BW-))BW-sd@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038822.603165 s, next control iter: 1743038822.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12321, header.stamp.nsec: 00 temperature: 13.385009* salinity: 33.391701, density: 1025.000000* values[0]: 0.704515F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038823.003165 s.u pJ~,@4Y*AAR@AwNy@A]~? AaOA|&"AAsNA"AZAbAjArAzAAA+(θE 3@AW8rA[v@AV;A!=A$-@AAж?AT*A9?2Aֽ:A|<BA9?JAֽRA|<٘i)I9v@YG J̔JJJJE&K Y,8\~?y7SA,Eŧ7b7eO9-B)xBĹE[[i5@[>\~?[T[[[[BZYY i) RpIC?ijB +))+,@f@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038823.043165 s, next control iter: 1743038823.403176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038823.423165 s.uvJ~,Y*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066625< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038823.423259F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A;@A]~? AKA&"AAsNA"AZAbAjArAzAAA^2@ANrAXv@ACA,=A}.@AA@?A܇*A9?2A׽:A<BA9?JA׽RA<٘i)I9v@YG JzJJJJE&K Y\~?yRA/E7770Q9.B)}BE[[6@[#\~?[[[[[BZYY i) AI1C?i-ݺ  i*)) i*g@uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038823.443165 s, next control iter: 1743038823.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12322, header.stamp.nsec: 00 temperature: 13.385225* salinity: 33.391693, density: 1025.000000* values[0]: 0.703496F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038823.843165 s.|J~,Y*AAp= @A, @A]~? AFAZ'&"AAsNA"AZAbAjArAzAAAޑ2@A[/rAu@AEA_P=A/@A@=*A@?AL*A9?2A9׽:A<BA9?JA9׽RA<5I٘i)I9u@YG JJJJJE&K Y\~?yRA2E77R90B)BE[[@8@[/\~?[j[[[[BZYY i) h[IC?iϽ s())s(B+i@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038823.863165 s, next control iter: 1743038824.243179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038824.263165 s.J~,Z*AJ"J*J2J:JBJnJvJAL@A~߿?@Akq]~? ABAhx&"AAsNA"AZAbAjArAzAAA\I^A2@AʡrADu@ArA =A$1@AThA>?A}*A9?2A3׽:Ae<BA9?JA3׽RAe Y[~?y)RA1@4Eb77T91B)BE[[9@[[~?[:[[[[BZYY i) ջIC?iw# {')){':j@౪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038824.303165 s, next control iter: 1743038824.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12323., header.stamp.nsec: 0.0 temperature: 13.385463.* salinity: 33.391724., density: 1025.000000.* values[0]: 0.702607.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038824.683165 s.lJ~,c+Z*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743038824.683318F (some fields omitted in printout)A(\@A߃u@AZ]~? A>A&"AA]sNA"AZAbAjArAzAAAYz0m1@AEevrAZt@AAŁ=Al2@AYAdi?Ac{*A9?2A+ֽ:A><BA9?JA+ֽRA><٘i)I9t@YG JzJJJJE&K Y^[~?yߧQA7EV9)B[[h;@[[~?[>ߧ[[[[BZYY i) VIC?i<@< F &))F &ol@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038824.683165 s, next control iter: 1743038825.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743038825.103165 s.J~,FZ*AJ"J*J2J:JBJnJvJAQ@A3 : !))!dp@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038825.963165 s, next control iter: 1743038826.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038826.363165 s.J~,u>Z*AAY@AA*ŎL@AS\~? A0A&"AArNA"AZAbAjArAzAAAܹa0@Av@-drAs@A|><Am}=A=7@AxA?A$*AG9?2Aq}ֽ:AM=BAG9?JAq}ֽRAM=Y)@$7@y{=|><ٓHKѿ`%Y5?@"?L vχ??))@ I٘i)I9s@YG JpJ"3<JJJE&K,x> YEg[~?yӧqPA7@BEZ7SI7]97B)BE[[#@@[d[~?[D٧[[[[BZYY i) f9IbC?ib>$; pM ))pM Eq@YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038826.383165 s, next control iter: 1743038826.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12325&, header.stamp.nsec: 0&0 temperature: 13.385906&* salinity: 33.391716&, density: 1025.000000&* values[0]: 0.700866&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038826.783165 s.XJ~,Z*AJ"J*J2J:JBJnJvJA(\@A@P@An\~? AU-A# &"AAƬrNA"AZAbAjArAzAAAo[0@A p}rAr@Ag;A=A8@A`JA ?A܋*A19?2Aֽ:A$=BA19?JAֽRA$=٘i)I9r@YG JJJJJE&K YL[~?yѧPAEEb77_98B)BE[[2B@[I[~?[>ا[[[[BZYY i) HI"C?i>)2; ))?s@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038826.823165 s, next control iter: 1743038827.183176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038827.203165 s.J~,Z*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076175< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038827.203280F (some fields omitted in printout)AQ@A w@AT\~? AJ*A` &"AAjrNA"AZAbAjArAzAAAcO0@A*i3{rA/r@A[Aɱ=Ac>:@AA7?AՋ*AM9?2AI-׽:A.=BAM9?JAI-׽RA.=٘i)I9/r@YfG JҋJJJJE&K Y0[~?yΧOAGE{7j7Pa99B)BE[[vC@[o.[~?[hק[[[[BZYY i) ,cXIC?i\>X; s))st@ŪYFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038827.223165 s, next control iter: 1743038827.603175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038827.623165 s.YJ~,eZ*AJ"J*J2J:JBJnJvJAG@A"0@A\~? Ag'A &"AAcrNA"AZAbAjArAzAAA=p00@AƁ-yrAzq@A/lA=A;@AAP?A8*A9?2ABF׽:Aw=BA9?JABF׽RAw=٘i)I9q@YG JJJJJE&K Y[~?y`̧ZOAJE7777c9:B)BE[[SD@[t[~?[֧[[[[BZYY i) gI#D?i>́; 3 ))3 v@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038827.643165 s, next control iter: 1743038828.023180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12326 , header.stamp.nsec: 0 0 temperature: 13.386135 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.699918 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038828.043165 s.J~,[*AA= ף0@A^#@A\~? A$A &"AA>rNA"AZAbAjArAzAAA Kw/@A&xrA@q@AITAa=A<@A ,A`?A*A99?2A!׽:AW =BA99?JA!׽RAW =٘i)I9@q@YG J|JJJJE&K YrZ~?yʧNAME77d9;B)BE[[0F@[Z~?[L֧[[[[BZYY iP) }bwID?i>0; ))w@rͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038828.063165 s, next control iter: 1743038828.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038828.463165 s.UǖJ~,[*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038828.463274F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@AO\Y@A\~? A"A!&"AArNA"AZAbAjArAzAAAgn.@Al/%vrAp@Af|A=A!>@ARA?Ab*A-9?2A;ֽ:AQ =BA-9?JA;ֽRAQ =Y0@>@y=l痻ٓH rſt粿ͼ???@`r^?)0@ I٘i)I9p@YG JJ<JJJE&Kx> YZ~?yȧNA>@OEb77f9B)BE[[H@[Z~?[է[[[[BZYY i) ъIwD?i)?4ι; j))jKOz@ԪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038828.903165 s, next control iter: 1743038829.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038829.303165 s.TԖJ~,ogS[*AJ"J*J2J:J2?BJ2?nJ;5vJA@AHm@AR\~? AfAd!&"AAfqNA"AZAbAjArAzAAA9g-@A$srAo@A`<Ah=A@@AALj?A*A99?2A "ֽ:Aʋ=BA99?JA "ֽRAʋ=٘i)I9o@YG JJJJJE&K YZ~?yŧMAUE77Fj9?B)BE[[%GJ@[Z~?[է[[[[BZYY i) cID?i{ ?$k; j))j{@y쮽cتYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038829.323165 s, next control iter: 1743038829.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12328*, header.stamp.nsec: 0*0 temperature: 13.386604** salinity: 33.391739*, density: 1025.000000** values[0]: 0.697969*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038829.723165 s.ۖJ~,Hn[*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038829.723298F (some fields omitted in printout)Az@Ar@A9\~? AJA!&"AAyqNA"AZAbAjArAzAAAkb-@AuZLmrrAco@A~g<A/=AA@AA`i?Ap*AĦ9?2A;ֽ:A =BAĦ9?JA;ֽRA =٘i)I9o@YG J߫JJJJE&K Y*Z~?yħeMAWEb77l9@B)ǯBE[[K@[Z~?[7֧[[[[BZYY i) JI(D?i1?J; T))Ta}@1ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038829.743165 s, next control iter: 1743038830.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038830.143165 s.[/J~,*[*AJ"J*J2J:JBJnJvJA ףp=@AHjd0@A\~? AVA\!&"AAWqNA"AZAbAjArAzAAAY)_,@AY Y.SZ~?yLAD@]E{7{7o9)ѯB[[1KN@[XZ~?[7ק[[[[BZYY i) 樼Ig>D?imP? e< ?))?0@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038830.603165 s, next control iter: 1743038830.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12329, header.stamp.nsec: 00 temperature: 13.386913* salinity: 33.391720, density: 1025.000000* values[0]: 0.696855F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038830.983165 s.J~,[*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038830.983292F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A#@A[~? AA}!&"AA5qNA"AZAbAjArAzAAAn2O+@A4~v&orAycm@AJAϨ=AE@AyA2?A+*Ac9?2AX8׽:A2=BAc9?JAX8׽RA2=٘i)I9cm@YzG JHJJJJ E&K Y7Z~?yJ!LA_Eb77pq9BB)ׯBE[[O@[>Z~?[ק[[[[BZYY i) GIYJD?i6^?7< ))@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038831.023165 s, next control iter: 1743038831.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038831.403165 s.&J~,[*AAQ@A]h@Ad[~? AtA"&"AAqNA"AZAbAjArAzAAA݈o**@AAnrAl@A|oAO=AVOG@AA`?A*A59?2A'׽:AA=BA59?JA'׽RAA=٘i)I9l@YG JJJJJ E&K YZ~?yKAbE7777;s9CB)ܯBE[[P@[$Z~?[ا[[[[BZYY i) TI"WD?im?)< =}))=} Y\Y~?y[JAFjE77x9BB)BE[[lT@[Y~?[ܧ[[[[BZYY i) ¢ͼID?i?&7< ec ))ec (^@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038832.683165 s, next control iter: 1743038833.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038833.083165 s.DJ~,SE\*AA)\µ@AIh˹@AZl[~? A6Au"&"AArpNA"AZAbAjArAzAAAP$`C(@A(̢krAi+j@A+s<A=A3EAZA?A4׼*A9?2Aս:AE =BA9?JAսRAE =٘i)I9+j@YG JԼJJJJE&K Y*Y~?yIAmE7)7fz9)BE[[3V@[MY~?[-ާ[[[[BZYY i) ԼID?i?\ @< ; )); = @uYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038833.103165 s, next control iter: 1743038833.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038833.503165 s.J~,]4`\*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085461< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038833.503299F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@A}@AtR[~? AA"&"AAKpNA"AZAbAjArAzAAAbNS'@Aן}DkrAui@A&5<A[޴=ArDAcA?Acؼ*Ab9?2AAֽ:A,=BAb9?JAAֽRA,=٘i)I9ui@YG JؼJJJJE&K YY~?yPkIAoEŧ7b71|9CB)BE[[bW@[:Y~?[ߧ[[[[BZYY i)  ܼID?iӝ?J< I))I@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038833.543165 s, next control iter: 1743038833.903181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12332, header.stamp.nsec: 00 temperature: 13.387792* salinity: 33.391716, density: 1025.000000* values[0]: 0.693202F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038833.923165 s.9J~,{\*AA{G!@A3<@A8[~? AAl"&"AAp$pNA"AZAbAjArAzAAAdc '@A;jrAeh@A+:A*r=AUCAjA΢?Aּ*A^9?2Aֽ:At=BA^9?JAֽRAt=٘i)I9h@Y G JؼJJJJE&K YqY~?yHArE}9)B[[zX@[wY~?[[[[[BZYY i) >ID?iy?U< R))Rf@fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038833.943165 s, next control iter: 1743038834.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038834.343165 s.<%J~,\*AJ"J*J2J:JBJnJvJAp= W@AI@A[~? AA"&"AAoNA"AZAbAjArAzAAA:bўk&@AljrA h@AXA\ =AAA oA?AԼ*Au9?2A׽:A=BAu9?JA׽RA=٘i)I9 h@Y: G JּJJJJ E&K YUY~?y{HAuEb779)B}E[[Z@[tY~?[[[[[ZZ¸BZYY i¸=) :׼ID?i?G=a< k))k@2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038834.383165 s, next control iter: 1743038834.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12333*, header.stamp.nsec: 0*0 temperature: 13.388114** salinity: 33.391724*, density: 1025.000000** values[0]: 0.691821*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038834.763165 s.C+J~,Qذ\*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743038834.763326F (some fields omitted in printout)Ǎ@A@A[~? AA]"&"AAoNA"AZAbAjArAzAAA+%@A:jrAYg@AcnA=A d@AqA@=z?AԼ*A9?2A׽:ACc=BA9?JA׽RACc=Y-C@gy@y=oٓH`I?/H`@ @϶g؍`?)-C@ I٘i)I9Yg@Y G JԼB=J;JJJ"E&K%x> Y9Y~?y§HAy@wE9) BzE[[\[@[s[Y~?[[[[[ZZBZYY i) )˼ItD?i?h< ))@#YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743038834.803165 s, next control iter: 1743038835.163185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743038835.183165 s.2J~,o\*AJ"J*J2J:JBJnJvJA(\@A ˂@AZ~? AA"&"AAdoNA"AZAbAjArAzAAAc Ȯ0%@AMTjrA f@A OAG=A?AYnA퀿AƊ*A_9?2Aֽ:A<BA_9?JAֽRA<٘i)I9f@YU G JC=JJJJ%E&K YY~?y<çGAzE)7b7[9DB)BwE[[ť\@[0CY~?[6[[[[ZZBZYY i) ID?i?,q< K))Ki@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038835.223165 s, next control iter: 1743038835.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038835.603165 s.F49J~,\*AAQ@A#G@AZ~? AAs"&"AA oNA"AZAbAjArAzAAA-$-$@AyVjrAe@AM퉻A5=A=AjA@AYP*A.9?2Aǝֽ:A%<BA.9?JAǝֽRA%<٘i)I9e@Y G JJJJJ(E&K YY~?yiħ GA}E{7j7&9)BtE[[]@[9+Y~?[[[[[ZZBZYY i)  IE?i?{< ))@y?=^ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038835.643165 s, next control iter: 1743038836.003190 s, wait time: 0.360025 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12334 , header.stamp.nsec: 0 0 temperature: 13.388450 * salinity: 33.391727 , density: 1025.000000 * values[0]: 0.690447 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038836.023165 s.Z@J~,|]*AJ"J*J2J:J0?BJ0?nJW95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038836.023295F (some fields omitted in printout)AHz.@Aρ!@AZ~? AA"&"AA_oNA"AZAbAjArAzAAA'#@A6>$jrA*d@A;Aav=AL<A fAcAIS*A9?2Alֽ:AUl<BA9?JAlֽRAUl<٘i)I9d@YL G J7JJJJ*E&K YX~?yŧFAEj79)BqE[[0_@[Y~?[9[[[[ZZBZYY i) }IE?i>? [< ))S@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743038836.043165 s, next control iter: 1743038836.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038836.443165 s.;FJ~,O]]*AAq= c@A&V@AǜZ~? AAΏ"&"AAi8oNA"AZAbAjArAzAAAG˶X#@ArHkrAed@A}KU<A1=AL;A _AAּ֩*A9?2Adֽ:AT;BA9?JAdֽRAT;٘i)I9d@Y G J>JJJJ-E&K YX~?yƧFAEb779)#BnE[[-r`@[]X~?[[[[[ZZBZYY i) ꚼI 3E?i?f`< #))#[@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038836.483165 s, next control iter: 1743038836.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12335, header.stamp.nsec: 00 temperature: 13.388853* salinity: 33.391727, density: 1025.000000* values[0]: 0.688844F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038836.863165 s.+MJ~,>7]*AJ"J*J2J:JX0?BJX0?nJ85vJA@A@AZ~? A=A"&"AA%oNA"AZAbAjArAzAAA "@A/HkrAtc@AZO<A<A9A VAEJAH*Aڪ9?2A'mֽ:ABAڪ9?JA'mֽRAY J@9ym <lO<ٓH`??`ꜿͿj@y?Ƞ+??) J@ I٘i)I9tc@Yn G JǼJJJJ0E&Kw> YXX~?yȧEA9Ej7Z79))BkE[[a@[X~?[[[[[ZZBZYY iz=) IJE?i?4< gF))gFA@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038836.883165 s, next control iter: 1743038837.263177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038837.283165 s.;RTJ~,R]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068593< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038837.283287F (some fields omitted in printout)A(\@A>Q@A iZ~? AAgv"&"AAnNA"AZAbAjArAzAAAɯ "@A#/lrAb@A6;A8<A/8A`KA7A肼*AǨ9?2A+`ֽ:AbBAǨ9?JA+`ֽRAb٘i)I9b@Y G JeJJJJ2E&K YӒX~?yʧEAEj7Q9)-B[[b@[X~?[[[[[ZZBZYY iWx=) DI9cE?iv?I< ))q@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038837.303165 s, next control iter: 1743038837.683183 s, wait time: 0.380018 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12336., header.stamp.nsec: 0.0 temperature: 13.389164.* salinity: 33.391720., density: 1025.000000.* values[0]: 0.687613.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038837.703165 s.ںZJ~,!m]*AJ"J*J2J:JBJnJvJAQ@ABW"@ABOZ~? A Ad"&"AAnNA"AZAbAjArAzAAAh}f!@Aª AlrAb@AFRAٻAd7A>A ָA#*A?9?2A$6ֽ:A+{BA?9?JA$6ֽRA+{٘i)I9b@Y G J[B=JJJJ5E&K YFwX~?y̧EAEŧ779)0BhE[[v?d@[X~?[[[[[ZZBZYY i) wI|E?i"?:|< 8))8A@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038837.723165 s, next control iter: 1743038838.103179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038838.123165 s.1aJ~,C]*AAG:@A -@A5Z~? A/ANP"&"AAnNA"AZAbAjArAzAAA{@֨ @A-|mrA#^b@AXAFA{6A .A@(A*A49?2A5 ֽ:A<BA49?JA5 ֽRA<񭼙٘i)I9^b@Y G JC=JJJJ8E&K Y[X~?yϧEAE7揥9)1BeE[[~e@[X~?[)[[[[ZZBZYY i) * elevatorAngleAction: 0.077378< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743038838.543281F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@AqRc@AZ~? A~A8"&"AAtnNA"AZAbAjArAzAAAgK @A璮RHnrAIb@A nANA4AA,Ax޹*A"9?2A9 ֽ:AAӼBA"9?JA9 ֽRAAӼ٘i)I9Ib@Y G JBJJJJ;E&K YC@X~?yѧcEAE7779)2BcE[[f@[X~?[[[[[BZYY i) tNIE?i?ޡ< _?))_?@"3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038838.563165 s, next control iter: 1743038838.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12337, header.stamp.nsec: 00 temperature: 13.389309* salinity: 33.391705, density: 1025.000000* values[0]: 0.687020F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038838.963165 s.wnJ~,줽]*AAffff@AA,_@AQZ~? AA"&"AANnNA"AZAbAjArAzAAAB‡A`@Aݏ-orARb@A A2A3AA@O¿A`;*Ag9?2AFֽ:AFCBAg9?JAFֽRAFCYP@z3yN2] ٓH4+S'?@&~? (տ`G3@8z?R? =`?)P@ I٘i)I9Rb@Y G J:B=J)JJJ=E&K^w> Y%X~?yӧEAz3E77{7|9)1B`E[[g@[tX~?[[[[[BZYY ifg=) =IE?ia@ < ))←Z @o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038838.983165 s, next control iter: 1743038839.363177 s, wait time: 0.380012 s2%X~?)2ӧ rAdjusting time to match Gazebo time: 1743038839.383165 s.uJ~,+]*AJ"J*J2J:J/?BJ/?nJj85vJA(@Ax'@AY~? AAq!&"AAT'nNA"AZAbAjArAzAAAk+@A?,prAtb@A`:AXA+2A@AÿAj;*A9?2Aֽ:AʻBA9?JAֽRAʻ٘i)I9tb@Y G JF;C=JJJJ@E&K Y X~?y֧EAEŧ7b7F9)0B]E[[T;i@[_X~?[[[[[BZYY iBņ=) ,I@E?i@Fީ< @))@@Q*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038839.423165 s, next control iter: 1743038839.783175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12338", header.stamp.nsec: 0"0 temperature: 13.389337"* salinity: 33.391693", density: 1025.000000"* values[0]: 0.687086"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038839.803165 s.zA|J~,g]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038839.803287F (some fields omitted in printout)A@A@AY~? AbA$!&"AAnNA"AZAbAjArAzAAAB=@ADqrA~b@AH5<AwA0A`>AMſA_,<*As9?2A)ֽ:ABAs9?JA)ֽRA4I٘i)I9b@Y G J <JJJJCE&K Y-W~?y٧FAEb779)/B[[xj@[IX~?[b [[[[BZYY i) %IF?is@< o))o꿩]@ɧ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038839.823165 s, next control iter: 1743038840.203176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038840.223165 s.gJ~,H^*AJ"J*J2J:JBJnJvJAzG@A:@AJY~? AVA!&"AAmNA"AZAbAjArAzAAA,=@AzBvrrAc@A)i<AȇA؃/AzA ǿAY<*Ad9?2Aֽ:A_BAd9?JAֽRA_٘i)I9c@Y( G JA<JJJJEE&K Y|W~?yܧSFAE{7{7ܘ9),BZE[[dk@[4X~?[7[[[[BZYY i) sU I%F?i @.< R))R迩-@y4=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038840.243165 s, next control iter: 1743038840.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038840.643165 s.wЉJ~, *)^*AA ףp}@Aarip@A3Y~? AsA!&"AA]mNA"AZAbAjArAzAAA@@A4~5srA:ec@AA!<AOA;.AAɿA<*A9?2Aֽ:AH BA9?JAֽRAH ٘i)I9ec@Ye G Jo<B=JJJJHE&K YȺW~?yߧFAE7779))BWE[[fl@[W X~?[$[[[[BZYY i) I EF?i'@˹< ))忩.@*YtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12339, header.stamp.nsec: 00 temperature: 13.389254* salinity: 33.391685, density: 1025.000000* values[0]: 0.687553F (some fields omitted in printout)FFF]:Waiting for Gazebo time sync: latest Gz time: 1743038840.663165 s, next control iter: 1743038841.043177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038841.063165 s.J~,F D^*AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038841.063294F (some fields omitted in printout)A3333@AP)@AAY~? AAyg!&"AAomNA"AZAbAjArAzAAAFpg@A0a"urAc@AvC9AA,A@pA`FU˿AP<*A9?2ANֽ:ABA9?JANֽRAY_W@6,yBD9ٓHP1?? ۿ@ ,?`?n(??)_W@ I٘i)I9c@Y G JE<C=J@JJJKE&Kw> Y:W~?ygFA,Ej7SI7q9)%BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #76q/L^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) Aֻ) *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038841.083165 s, next control iter: 1743038841.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038841.483165 s.q_J~,^^*AA\@AuV @AukY~? A$"A9!&"AAhmNA"AZAbAjArAzAAA>:@AvrA/bd@AAΛA+A|LA@ ͿA-<*AM9?2A2ֽ:A'BAM9?JA2ֽRA'٘i)I9bd@Y G J<JJJJME&K YW~?y$[GAE77<9CB) BQE[[A^o@[W~?[i[[[[BZYY i) $uIeF?i)@}< )) ࿩ѐ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038841.523165 s, next control iter: 1743038841.883174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12340, header.stamp.nsec: 00 temperature: 13.389093* salinity: 33.391682, density: 1025.000000* values[0]: 0.688397F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038841.903165 s.ȝJ~,y^*AJ"J*J2J:J:0?BJ:0?nJ85vJAQ@AF'K@ARY~? A$A5!&"AAICmNA"AZAbAjArAzAAAjK4@A/7xrA^d@A dAwA*AT"AϿA><*Aq:?2A:A >BAq:?JARA >٘i)I9d@YX G J <JJJJPE&K YnW~?yGAEb779)BNE[[ep@[W~?[[[[[BZYY i) S/I׆F?i@U< F߿))޿l@\*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038841.923165 s, next control iter: 1743038842.303186 s, wait time: 0.380021 s rAdjusting time to match Gazebo time: 1743038842.323165 s.yJ~,2^*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743038842.323321F (some fields omitted in printout)AGzT@A%vmoG@AY:Y~? A'A &"AAmNA"AZAbAjArAzAAA%'@A"$yrA;e@A` 0A_֞A*AAbпAm<*AK:?2A:A{BAK:?JARA{٘i)I9e@Y G J<JJJJSE&K YTW~?y&HAE77ѡ9)B[[sq@[W~?[ #[[[[BZYY i) wIF?i@>< "ܿ))"ܿ5@*Y&YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038842.343165 s, next control iter: 1743038842.723180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12341., header.stamp.nsec: 0.0 temperature: 13.388885.* salinity: 33.391655., density: 1025.000000.* values[0]: 0.689481.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038842.743165 s.WJ~,~^*AJ"J*J2J:J0?BJ0?nJ95vJAףp=@A52}@A!Y~? Ah*A[ &"AAlNA"AZAbAjArAzAAA[@A]?{rA'f@AAMAL)AA@DѿAݶ<*A:?2AĽ:Ad BA:?JAĽRAd ٘i)I9'f@Y G J޷<JJJJUE&K Y:W~?y]HAE9)BLE[[7r@[W~?[}'[[[[BZYY i) X;;IF?i0#@< ٿ))ٿ@*Y5]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038842.763165 s, next control iter: 1743038843.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038843.163165 s.z}J~,q^*AA@AT@A Y~? Ad-Ad &"AAlNA"AZAbAjArAzAAAP0@A۫x{}rAsf@A;AA'AjAѿA<*A0:?2Aǽ:A|GBA0:?JAǽRA|GY=\@'y;ٓH@$?@?߿@3?2?}? ?)=\@ I٘i)I9f@Yp G J̵<B=JλJJJXE&KB> Yv"W~?yHA'E{777f9) BIE[[V2t@[ W~?[,[[[[BZYY i) xIF?iN&@@< R׿))R׿&;@+*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038843.183165 s, next control iter: 1743038843.563181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038843.583165 s.渗J~,S^*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: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743038843.583290F (some fields omitted in printout)A)\@Avmo@AX~? A0A) &"AAKlNA"AZAbAjArAzAAAit@AӦ%brAbVg@A}S<AMA&AA@'ҿA<*A:?2Aʽ:ABA:?JAʽRA٘i)I9Vg@Y G J<C=JJJJ[E&K Y W~?y_IAE7719BB)BFE[[peu@[W~?[0[[[[BZYY i) I\G?i)@]< Կ))Կԓ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038843.623165 s, next control iter: 1743038843.983181 s, wait time: 0.360016 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12342, header.stamp.nsec: 00 temperature: 13.388633* salinity: 33.391655, density: 1025.000000* values[0]: 0.690664F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038844.003165 s. J~,4_*AAR+@Ay@AX~? A3A&"AAlNA"AZAbAjArAzAAAFR@A؅]rA4g@A*?<AWAF%Am}A`LӿA:<*A/:?2A~ͽ:AIBA/:?JA~ͽRAI٘i)I9g@Y% G J<JJJJ]E&K YpV~?yuIAE7)79)B[[v@[ƆW~?[z5[[[[BZYY i) `I9G?i-@^< ;ҿ));ҿLm@)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038844.043165 s, next control iter: 1743038844.403193 s, wait time: 0.360028 s rAdjusting time to match Gazebo time: 1743038844.423165 s.uƗJ~,{_*AJ"J*J2J:JBJnJvJA{Ga@AXXp?T@AX~? A#7A;&"AAflNA"AZAbAjArAzAAA_D<3@A<~nrAb}h@A^;A$Av#AXNAԿAS<*A:?2A݄Ͻ:A*BA:?JA݄ϽRA*٘i)I9}h@Y G J'<B=JJJJ`E&K YV~?y1JAE77Ǫ9)BCE[[w@[4uW~?[J:[[[[BZYY i) R:I`G?i2@< ,п)),п@**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038844.463165 s, next control iter: 1743038844.823174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12343, header.stamp.nsec: 00 temperature: 13.388433* salinity: 33.391644, density: 1025.000000* values[0]: 0.691792F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038844.843165 s.̗J~,5_*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038844.843328F (some fields omitted in printout)Ap= @A0b@AtX~? A:Ag&"AABlNA"AZAbAjArAzAAA>-d<,@ArAi@Al AԭA0"AAFԿA{<*AL:?2A!ѽ:AYBAL:?JA!ѽRAY٘i)I9i@Y G J{<C=JJJJcE&K YgV~?y/JAEj7j79AB)B@E[[Jx@[dW~?[(?[[[[BZYY i) f:IKG?i6@@< Ϳ))Ϳ @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038844.883165 s, next control iter: 1743038845.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038845.263165 s.ԗJ~, P_*AJ"J*J2J:J?1?BJ?1?nJ95vJA@A@A*X~? AT>A!&"AAqlNA"AZAbAjArAzAAA }n @Ax҇rAi@AgFAKAj!A@A5տA<*Ao:?2Aҽ:ABAo:?JAҽRAYb@[!yYGٓH @?W? '5 ?`:?ڈ?)b@ I٘i)I9i@Y2G J<JwR<JJJfE&Kw> YmV~?yN JA[!E777\9)B=E[["z@[SW~?[/D[[[[BZYY i) m-;I3G?i9@< {r˿)){r˿<3@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038845.303165 s, next control iter: 1743038845.663174 s, wait time: 0.360009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 123442, header.stamp.nsec: 020 temperature: 13.3881862* salinity: 33.3916212, density: 1025.0000002* values[0]: 0.6929552F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038845.683165 s.lڗJ~,kk_*AA(\@Ab@A|X~? A#BA&"AANkNA"AZAbAjArAzAAA$%1c @Aoz%rA4j@A0(MAAK AGAֿAW<*A:?2A"ӽ:ABA:?JA"ӽRA٘i)I94j@YG J<JJJJhE&K YsV~?yl_KAE{7{7&91B)B>E[[Q{@[ZBW~?[HI[[[[BZYY i) {k;IG?i<@F< Wɿ))Wɿʖ@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038845.683165 s, next control iter: 1743038846.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038846.103165 s.J~,_*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: 0.065806< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743038846.103295F (some fields omitted in printout)AQ8@A3ؿAOʘ<*A}:?2A ս:ABA}:?JA սRA٘i)I9Ck@Y/G J<JJJJnE&K Y|dV~?y#LAE{7j790B)֯B8E[[}@[?"W~?[S[[[[BZYY if=) m;I+H?iD@{< 7fĿ))7fĿM@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038846.563165 s, next control iter: 1743038846.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12345, header.stamp.nsec: 00 temperature: 13.387962* salinity: 33.391624, density: 1025.000000* values[0]: 0.694057F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038846.943165 s.XdJ~,B]_*AJ"J*J2J:J1?BJ1?nJO:5vJAq= ף@A|͖@A8X~? AlNA&"AA7kNA"AZAbAjArAzAAA\rZa@A rA0k@Ag6<A AmA FAoٿA<*Adx:?2ACֽ:ABAdx:?JACֽRA񼙘٘i)I9k@Y|G Jk<JJJJpE&K YMV~?y!LAE7{79)үB5E[[)~@[W~?[X[[[[BZYY i) F;IVH?iBI@= +¿))+¿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038846.983165 s, next control iter: 1743038847.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038847.363165 s.J~,h>_*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038847.363292F (some fields omitted in printout)A@A@A"X~? ARA&"AAskNA"AZAbAjArAzAAA$GFL@AqƴQrA8l@AW<Ag=AܬA`A@SٿA<*Ao:?2A\ֽ:AfaBAo:?JA\ֽRAfaYw^i@yg:BX<ٓH@/ 6?[֤?@%`N.n? (?? p?)w^i@ I٘i)I98l@YG J[<J_L<JJJsE&K|> YX8V~?y'LAE7777Q9)ίB[[@[W~?[Y^[[[[BZYY i) n;IH?iK@g= C))C @>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038847.403165 s, next control iter: 1743038847.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12346&, header.stamp.nsec: 0&0 temperature: 13.387765&* salinity: 33.391609&, density: 1025.000000&* values[0]: 0.695039&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038847.783165 s.ZJ~,_*AJ"J*J2J:J1?BJ1?nJ:5vJA(\@AP@A X~? AQWAC&"AARkNA"AZAbAjArAzAAA||?A((krA9l@AQa<A AaA kAͪڿA:<*Ag:?2Aֽ:ABAg:?JAֽRA٘i)I9l@Y G J<JJJJvE&K Y-#V~?yr-:MAEb779/B)ʯB1E[[ד@[V~?[c[[[[BZYY i)  H?iO@{= #h))#hҵ@ybX=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038847.823165 s, next control iter: 1743038848.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038848.203165 s.J~,& `*AAQE@AD8@AW~? A[A&"AA1kNA"AZAbAjArAzAAA91o?A*:.rA"m@AEA礈AA`x$A'qۿAO<*Aa_:?2ADֽ:AW{BAa_:?JADֽRAW{٘i)I9"m@YSG J<B=JJJJxE&K YV~?yH3MAE77纥90B)ǯB0E[[R(@["V~?[Zi[[[[BZYY i) a elevatorAngleAction: 0.074903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038848.623287F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A m@AoW~? A`A&"AAkNA"AZAbAjArAzAAAF\\q?AC՜rAfm@A!AzAAAr4ܿAh<*AW:?2Aֽ:A SBAW:?JAֽRA S٘i)I9m@YG J<C=JJJJ{E&K YU~?y9MAE9)ïB[[ۻ@[ V~?[n[[[[BZYY i) &AܿA]<*A P:?2A{ֽ:ABA P:?JA{ֽRA٘i)I9n@YG J*<JJJJ~E&K YU~?y>KNAEZ7Z7|9/B)B,E[[TN@[bV~?[t[[[[BZYY i) i6?Z? { ay???p?)o@ I٘i)I9n@Y4G J<B=JJJJE&Ky> YU~?ynENA+Ej7G9)B[[e@[V~?[Kz[[[[BZYY i) wE elevatorAngleAction: 0.074903< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038849.883281F (some fields omitted in printout)A(@AA @A0W~? AoAcj&"AA#jNA"AZAbAjArAzAAAWխ?AKrAo@AAAA`2As޿A<*ABB:?2Ag׽:ABABB:?JAg׽RA٘i)I9o@YG Ja<C=JJJJE&K YeU~?yK OAEŧ7b7¥9)B)E[[u@[ЯV~?[[[[[BZYY i) bU elevatorAngleAction: 0.083993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038851.143320F (some fields omitted in printout)A ףp@A[d@AkW~? A%A0&"AA4[jNA"AZAbAjArAzAAA㢴ׅAqIrAp@A8<A?AtAA`KA|<*A+:?2A ׽:AJ BA+:?JA ׽RAJ ٘i)I9p@YbG J<JJJJE&K YU~?yV_%PAEb77qǥ9)B$E[[+@[V~?[[[[[BZYY i) %ҁjNA"AZAbAjArAzAAA ͿA| trA@q@A$i;A֘A AkAA<*A":?2A<׽:A(BA":?JA<׽RA(Y{vv@ y֘Di;ٓHؠ? g?Rp)8?F?$m?%?){vv@ I٘i)I9q@YG J<B=JW]JJJE&Kx> YsU~?ycfPA E{7j7<ɥ9)B[[A@[WV~?[[[[[BZYY i) ` elevatorAngleAction: 0.083993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743038852.403269F (some fields omitted in printout)AQ^@A$CQ@AN4W~? AxA &"AADjNA"AZAbAjArAzAAA; CA$גrAr@AXMA-vA A߿AHA<*A:?2Aֽ:ABA:?JAֽRA٘i)I9r@YZG J<C=JJJJE&K Y>QU~?y|tYQAE777̥9/B)B"E[[߆@[?iV~?[棨[[[[BZYY i) {AAqAs޿AAn7<*Ax:?2A׽:AXBAx:?JA׽RAX٘i)I9Fs@YG J<JJJJE&K Yk/U~?y&RAE77{7gХ9.B)BE[[y@[TV~?[,[[[[BZYY i)  elevatorAngleAction: 0.083993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743038853.663322F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12352, header.stamp.nsec: 00 temperature: 13.386532* salinity: 33.391502, density: 1025.000000* values[0]: 0.701203F (some fields omitted in printout)A @A@AW~? AʣA&"AAiNA"AZAbAjArAzAAAa2.BATrA,s@A4x;AtAAݿA\9At|<*AZ9?2Ap׽:A BAZ9?JAp׽RA Y|@y% y;ٓH Cg r?Wߣ?Y +su??~o?|?)|@ I٘i)I9s@YmG J<JJJJE&Kx> Y U~?y!RAE)7b71ҥ9)B[[@[JV~?[m[[[[BZYY i)  elevatorAngleAction: 0.083993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038854.923328F (some fields omitted in printout)A{G @AK? @AV~? A A &"AAoiNA"AZAbAjArAzAAAJ}BArAطu@A'[;AA&AdۿA`A <*A9?2A3׽:ABA9?JA3׽RA٘i)I9u@YG J<JJJJE&K Y\T~?yĠSAEb77ץ9)B[[>@[/V~?[Xɨ[[[[BZYY i)  YT~?yFTAE)7b7'ۥ9/B)wBE[[[@[V~?[֨[[[[BZYY i)  elevatorAngleAction: 0.083993< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743038856.183280F (some fields omitted in printout)A(\B!@Aۂ5!@AV~? A(˩A3&"AAk,iNA"AZAbAjArAzAAANQAea"RrASw@AZA%AiAٿAA/8<*A9?2Auֽ:ABA9?JAuֽRA٘i)I9w@YG Jb<JJJJE&K YT~?y<HUAE77ܥ9.B)pBE[[@[XV~?[ܨ[[[[ZZZZ¸>BZYY i¸>6i) wb*ABJ4?nJ=5vJA"@Av[ "@ArV~? A*Ae&"AA`hNA"AZAbAjArAzAAAC!A!z@A)`<AnAA`nտAA<*A/9?2A,׽:A,PBA/9?JA,׽RA,PYD@ynҊ`<ٓHտU6?y?'`տc?3?@?e?)D@ I٘i)I9z@YG J<C=J.=JJJE&Kx> YT~?yrبVA E7779)XB[[!@[U~?[[[[[ZZZZBZYY i) iX<*A^9?2Afֽ:A<BA^9?JAfֽRA<٘i)I9|@YG J<C=JJJJE&K YT~?yfWA DE|9-B)GBE[[cʏ@['U~?[h [[[[ZZZZBZYY i) sm5vJA= ף"@AǞ="@AEV~? AcA(.&"AAhNA"AZAbAjArAzAAAt A.F{sA}@AAA`<AA`F4ҿA^A@5<*A9?2A׽:A9<BA9?JA׽RA9<٘i)I9}@Y G Jb<JJJJE&K YU|T~?y?XAEb77G9)DB[[V@[U~?[[[[[ZZZZBZYY i) WJJJE&K x> YuT~?yM XAE77{79)CB[[h@[oU~?[[[[[ZZZZBZYY iOu) E5vJA33333$@A '&$@A!V~? A2A\ &"AAFhNA"AZAbAjArAzAAAbA :.sA|@A/;As=A%ڿA@ɿA@ەAw*A9?2AZ~ֽ:A[=BA9?JAZ~ֽRA[=Y@ڿyr=H;ٓH@?H`u `̊1P??)@ I٘i)I9|@YG JaJ=JJJE&Kw> YWT~?y]-DWAڿ&E7779)HB[[w@[!U~?[+9[[[[BZYY iwm) ;Ii@:= ESb))ESbrŬ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038862.103165 s, next control iter: 1743038862.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038862.483165 s.v_J~,c*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057976< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743038862.483272F (some fields omitted in printout)A\h$@A[$@AE V~? A9A &"AA VA+Eŧ7b79)OB[[@[U~?[F[[[[BZYY i) ԝ;Ii @!6<= Y))Yݭ@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038862.943165 s, next control iter: 1743038863.303181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038863.323165 s.{J~,:c*AAGz$@A֌ r$@AU~? AIA &"AA(hNA"AZAbAjArAzAAAثHA\*sA{@AFVA=Az!ҿA@ĿA@/A'*Aa9?2A%׽:A =BAa9?JA%׽RA =٘i)I9{@YG JAB=JJJJE&K YtLT~?yG)VA.EZ7SI7g9+B)RB E[[WG@[gU~?[PM[[[[BZYY i) f};Iiݓ@D== E4U))E4URi@ym ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038863.343165 s, next control iter: 1743038863.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12362*, header.stamp.nsec: 0*0 temperature: 13.568091** salinity: 33.374981*, density: 1025.000000** values[0]: 0.579783*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038863.743165 s.WJ~,c*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057976< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743038863.743339F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= %@A/$@AU~? A}QAQ &"AAO hNA"AZAbAjArAzAAA(AzW/sAz@A&And=AWϿA;)¿A@ Aeư*A9?2Aֽ:A- =BA9?JAֽRA- =٘i)I9z@Y}G J%C=JJJJE&K YHT~?yHPUA1E77729)WBE[[zҕ@[U~?[T[[[[BZYY i) #@;Iiߔ@n>= -P))-Pu@d۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038863.783165 s, next control iter: 1743038864.143179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038864.163165 s.y}J~,q d*AA@%@AW<2%@AU~? AnYA &"AAhNA"AZAbAjArAzAAAu0VApqN4sAy@AAIM=A ͿA`LAAl*A9?2Aֽ:AG =BA9?JAֽRAG =YɎ@ ͿyHM=3ٓH͟?W_'ܟ*óij#@?)Ɏ@ I٘i)I9y@Y!G JB=J<JJJE&K$x> YGT~?yY`UA Ϳ3E{7{79)[B[[#^@[U~?[Z[[[[BZYY i) I;Ii@>= }L))}L@ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038864.183165 s, next control iter: 1743038864.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038864.583165 s.J~,R%d*AJ"J*J2J:JU?BJU?nJ5vJA)\u%@A_h%@AU~? AfaA &"AAhNA"AZAbAjArAzAAAQ;A~9sAXy@A8 <A=AʿA ߼A3Am4*A9?2AZֽ:A =BA9?JAZֽRA =٘i)I9Xy@YG J C=JJJJE&K 9YFT~? 9yaTA6E779)`B[[ȿ[U~?[ma[[[[BZYY i) 4:Ii@@ ?= "H))"H"H֪YFFF]W:Waiting for Gazebo time sync: latest Gz time: 1743038864.603165 s, next control iter: 1743038864.983175 s, wait time: 0.380010 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12363 , header.stamp.nsec: 0 0 temperature: 13.568382 * salinity: 33.374985 , density: 1025.000000 * values[0]: 0.579077 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038865.003165 s.} J~,a4@d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743038865.003295F (some fields omitted in printout)AR%@Agy%@AU~? AdiA&"AA hNA"AZAbAjArAzAAAwDM$AN_>sA7x@AT<AG=AǿAA EAլ*A9?2AQֽ:ABl=BA9?JAQֽRABl=٘i)I9x@YdG JظB=JJJJE&K YFT~?yjTA9E779)eB[[=kƿ[@U~?[#h[[[[BZYY i) I9Ii@4?= C))CC%ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038865.023165 s, next control iter: 1743038865.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038865.423165 s."uJ~,[d*AJ"J*J2J:J&?BJ&?nJX5vJA{G%@AF};%@AU~? AhqA&"AAGhNA"AZAbAjArAzAAA* xKA ijWDCsA$x@As-<A:=ASſAQRAUA9*A9?2Aֽ:AK=BA9?JAֽRAK=٘i)I9$x@YG JC=JJJJE&K Y2ET~?yxs!TA;E77{7]9)jBE[[>Ŀ[U~?[n[[[[BZYY i) E77'9)nB[[_¿[U~?[u[[[[BZYY i) 1ֺIi0@A= ;));;ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038865.863165 s, next control iter: 1743038866.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038866.263165 s.$J~,ؐd*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743038866.263283F (some fields omitted in printout)J"J*J2J:JBJnJvJAL&@A ?&@AU~? AAѩ&"AAgNA"AZAbAjArAzAAAOLAK7MsA w@AܻA~=AA@DAlA*A9?2A"׽:A<<BA9?JA"׽RA< YOFT~?yVSAAE79)sB[[o濿[8U~?[/|[[[[BZYY i) o(Ii@IkA= 6))66ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038866.283165 s, next control iter: 1743038866.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 123652, header.stamp.nsec: 020 temperature: 13.5689952* salinity: 33.3749732, density: 1025.0000002* values[0]: 0.5776562F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038866.683165 s.l*J~,^d*AA(\&@Auu&@AAU~? AAw &"AAgNA"AZAbAjArAzAAAWTZA]c=\RsAv@AJXNAmC=A KAAtA**Ap9?2A=׽:A<BAp9?JA=׽RA<٘i)I9v@YG JC=JJJJE&K YNHT~?y֍RACE77 9)wB[[߹[U~?[ۂ[[[[BZYY i) eIi5@2A= c2))c2c2ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038866.683165 s, next control iter: 1743038867.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743038867.103165 s.1J~,d*AJ"J*J2J:JBJnJvJAQ&@A8G&@A'U~? AAn&"AAgNA"AZAbAjArAzAAAAVsA7v@A)BAQ}=A󱺿AR͗AyA$*A9?2A׽:AU<BA9?JA׽RAU<٘i)I9v@YG J5JJJJE&K YMJT~?yRAFEb77 9){BE[[K[U~?[[[[[BZYY i) jIi}@A=  .)) . .YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038867.123165 s, next control iter: 1743038867.503178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038867.523165 s.7J~,{d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067190< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038867.523298F (some fields omitted in printout)AHz&@A&@AU~? AA2&"AAgNA"AZAbAjArAzAAAbXAgH[sA)u@A=A=A&A-A|AW*Ax9?2ADֽ:A'<BAx9?JADֽRA'<٘i)I9u@YkG JFJJJJE&K YLLT~?yg3RAIE777R 9)B[[a[tU~?[([[[[BZYY i) )3Ii@B= K)))K)K)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038867.543165 s, next control iter: 1743038867.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12366, header.stamp.nsec: 00 temperature: 13.569254* salinity: 33.374969, density: 1025.000000* values[0]: 0.577026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038867.943165 s.Wd>J~,>]d*AJ"J*J2J:J?BJ?nJ5vJAq= #'@A3m'@AU~? AˡAk3&"AA1gNA"AZAbAjArAzAAAYnW=A`sAu@A;A=AɠA f:z?A|AM%*A89?2A8ֽ:A<BA89?JA8ֽRA<٘i)I9u@YG JJJJJE&K YJNT~?y0QAKE77{79)B[[6[@U~?[Ɩ[[[[BZYY i2) λIi@TC= ]%))]%]%ɽYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038867.963165 s, next control iter: 1743038868.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038868.363165 s.EJ~,>e*AAY'@A2L'@AU~? AߩA&"AAzgNA"AZAbAjArAzAAADJtA?|esAt@AT?<A*s=AA@3?A@zA*A9?2A,iֽ:A<BA9?JA,iֽRAyp=g@<ٓH $??Pt` ?M &?D?)M@ I٘i)I9t@YG JJUJJJE&K3x> Y$ST~?yݰvQANE~779,B)BE[[ [hU~?[b[[[[BZYY i)  Y1nT~?y ܩOA[Ej7Z79)B[[1[U~?[[[[[BZYY i) DIi@^fC= _S ))_S _S xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038870.483165 s, next control iter: 1743038870.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12369, header.stamp.nsec: 00 temperature: 13.569926* salinity: 33.374981, density: 1025.000000* values[0]: 0.575316F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038870.883165 s.ymJ~,8e*AA((@Aq(@AU~? A!ڪAr%"AA hNA"AZAbAjArAzAAAϘ0Ak0sAĻq@An A.=ACA@&\?A6A+*Ah9?2A6ֽ:A3=BAh9?JA6ֽRA3=٘i)I9q@Y G J䊼JJJJ E&K YuT~?yKOA^E77{79.B)BE[[[U~?[ĩ[[[[BZYY i) % TIid@C= [))[[ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038870.923165 s, next control iter: 1743038871.283177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038871.303165 s.XtJ~,ge*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: -0.075941< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743038871.303300F (some fields omitted in printout)A(@A.Y(@A(U~? AAwJ%"AAhNA"AZAbAjArAzAAA=A.@sAAq@A9A?=A𽠿A ?A"A`*Aj9?2Aֽ:A =BAj9?JAֽRA =٘i)I9Aq@YG JBJJJJ E&K Y}T~?yNAaE77r9)B[[Gڥ[U~?[ ˩[[[[BZYY i) |cIiN@9B= ))~ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038871.323165 s, next control iter: 1743038871.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12370*, header.stamp.nsec: 0*0 temperature: 13.570141** salinity: 33.374954*, density: 1025.000000** values[0]: 0.574780*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038871.723165 s.{J~,He*AAz)@A|_\(@AU~? A A%"AAhNA"AZAbAjArAzAAADXA`(sARp@A<A=A7A?A A뜼*A9?2A}]ֽ:AWo =BA9?JA}]ֽRAWo =2I٘i)I9p@YG JʘB=JJJJE&K Y'T~?y~NAcEb7b7=9)BE[[[V~?[wѩ[[[[BZYY iﭽ) WrIih@C= ))˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038871.743165 s, next control iter: 1743038872.123179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038872.143165 s.X/J~,* f*AJ"J*J2J:J?BJ?nJ65vJA ףp=)@Ah8e0)@A U~? AA%"AAhNA"AZAbAjArAzAAA6UA>qsAt;p@A rV<A=A2Af?A A롼*A9?2APֽ:Ab=BA9?JAPֽRAb=٘i)I9;p@Y6G JyC=JJJJE&K Y͌T~?y0NAfE777!9)B[[[ V~?[ש[[[[BZYY i) .Ii@pC= F))FF:ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038872.163165 s, next control iter: 1743038872.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038872.563165 s.J~,k $f*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743038872.563343F (some fields omitted in printout)A3333s)@A(f)@AV~? AAy%"AAU&hNA"AZAbAjArAzAAAA=sA}o@A'<Ayۗ=AA?AA*A 9?2A3ֽ:A#=BA 9?JA3ֽRA#=Yқ@꘿ynٗ=b(<ٓH`q?5?`?`b Vv?@k??)қ@ I٘i)I9o@YG J֡J'V<JJJE&Kx> Y-T~?y'MA꘿iEb77"9/B)BE[[9X[V~?[.ީ[[[[BZYY i) Ii@eB= .A)).A뾩.AЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038872.603165 s, next control iter: 1743038872.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12371, header.stamp.nsec: 00 temperature: 13.570361* salinity: 33.374977, density: 1025.000000* values[0]: 0.574215F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038872.983165 s.J~,>f*AJ"J*J2J:JBJnJvJA\)@A*U)@A V~? AA\%"AA\/hNA"AZAbAjArAzAAAql-Ay*TsA+o@A>';A_j=ASAK?A@mA 8*A*9?2Akֽ:A̓=BA*9?JAkֽRA̓=٘i)I9+o@YG JdJJJJE&K YT~?yWdMAlE$9)B[[,[V~?[~[[[[BZYY i) QIi@B= Β))Β⾩ΒyFӭPԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038873.023165 s, next control iter: 1743038873.383178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038873.403165 s.&J~,Yf*AAQ)@AĬ)@AV~? A{ AG%"AA-9hNA"AZAbAjArAzAAA皯=rAXĔsAzn@AAp=A<A`]?AAA*A?9?2Ar#׽:A-=BA?9?JAr#׽RA-=٘i)I9n@Y>G JDJJJJE&K YT~?yLAnEj7Z7h&90B)BE[[[ V~?[[[[[BZYY i) ᗼIiX@¸A= Fپ))FپFپkتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038873.423165 s, next control iter: 1743038873.803175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12372&, header.stamp.nsec: 0&0 temperature: 13.570579&* salinity: 33.374989&, density: 1025.000000&* values[0]: 0.573576&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038873.823165 s.J~,%tf*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038873.823286F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz*@A/\s*@A V~? A<A%"AAChNA"AZAbAjArAzAAAQY.AkӤsAn@APNAԠ=A?A`p6?A`zvAdͤ*A9?2A9׽:AO=BA9?JA9׽RAO=٘i)I9n@YG JB=JJJJE&K YKT~?yLAqE77773(91B)B!E[[Ә[(V~?[[[[[BZYY i) sIiB@]A= v/Ѿ))v/Ѿv/ѾݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038873.843165 s, next control iter: 1743038874.223176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038874.243165 s.J~,if*AAףp=J*@Ap1=*@AV~? AA%"AA&OhNA"AZAbAjArAzAAAdwA&sAm@Aq:A ]=A`A?A "QAb*AS9?2A ׽:A=BAS9?JA ׽RA=٘i)I9m@YG J|C=JJJJE&K YT~?y&2LAtEb7b7)9)įB[[o[0V~?[8[[[[BZYY i) kIi\@A= ~Ⱦ))~Ⱦ~ȾYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038874.263165 s, next control iter: 1743038874.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038874.663165 s.J~,qf*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12373, header.stamp.nsec: 00 temperature: 13.570802* salinity: 33.374989, density: 1025.000000* values[0]: 0.572957F (some fields omitted in printout)A*@Aևr*@A(V~? A AЂ%"AAI[hNA"AZAbAjArAzAAAnŇAJtX2sAl@A,*Aç=AًAh?A`)AŚ*Ax9?2A$ֽ:A1v=BAx9?JA$ֽRA1v=Y@䋿y§=ٓH`U?h?`%?`Q s? T`Bpv?)@ I٘i)I9l@Y;G JFJ<JJJ"E&Kx> YT~?y.KA䋿vEj7j7+9)ɯB[[i|[9V~?[\[[[[BZYY i) ^Ii@e@= ѿ))ѿѿYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038874.683165 s, next control iter: 1743038875.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038875.083165 s.DJ~,Sf*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038875.083295F (some fields omitted in printout)A)\µ*@A-`*@A0V~? A1(A%"AA,hhNA"AZAbAjArAzAAASV A4'7ֲsAs`l@Anx;Aƪ=AYALL?A\Ai*A9?2APֽ:A=BA9?JAPֽRA=٘i)I9`l@YG JJJJJ$E&K YT~?y6QKAyEb77-92B)ϯB%E[[EP[AV~?[x[[[[BZYY i) vIi@?= ^!))^!^!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038875.103165 s, next control iter: 1743038875.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038875.503165 s.J~,L4f*AJ"J*J2J:JBJnJvJAR*@AS{*@A":V~? A/AY%"AAuhNA"AZAbAjArAzAAAG A1psAKk@AhD<A!?=AІA-?AACrƼ*AK9?2Aֽ:A'b=BAK9?JAֽRA'b=٘i)I9k@YyG J2¼JJJJ'E&K YT~?yW>JA|E7{7]/9)ԯB[[#[JV~?[ [[[[BZYY i) Iiy@`T?= ^l))^l^lYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038875.523165 s, next control iter: 1743038875.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12374, header.stamp.nsec: 00 temperature: 13.571047* salinity: 33.375015, density: 1025.000000* values[0]: 0.572254F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038875.923165 s.6J~,f*AA{G!+@A]4d<+@ACV~? A77A<%"AA,hNA"AZAbAjArAzAAA\?ٚ AxsAk@A K<A)=A6A?A`A.˼*A9?2A6ֽ:As=BA9?JA6ֽRAs=٘i)I9k@YG JȼJJJJ*E&K YT~?y'FpJA~E)7ŧ7(193B)ۯB(E[[I[[TV~?[[[[[BZYY i) ,nļIi6@>= n))nnYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038875.943165 s, next control iter: 1743038876.323177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038876.343165 s.<řJ~,g*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200052 time: 1743038876.343286JF (some fields omitted in printout)"J*J2J:JBJnJvJAp= W+@A^gCI+@ANV~? A>A5%"AAIhNA"AZAbAjArAzAAA ( AZՈsAhj@AA;Aw=AʼnA?A uAש̼*A9?2AXֽ:A=BA9?JAXֽRA=٘i)I9hj@YG J@̼JJJJ,E&K YU~?yMIAE777729)B[[CNj[^V~?[[[[[BZYY i) k˼Ii!@%>= V))VVYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038876.363165 s, next control iter: 1743038876.743177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12375&, header.stamp.nsec: 0&0 temperature: 13.571345&* salinity: 33.374992&, density: 1025.000000&* values[0]: 0.571533&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038876.763165 s.5˙J~,0g*AǍ+@AM+@AXV~? AEAx%"AA%hNA"AZAbAjArAzAAA!z A=;jsAi@AJA=AN}A`?AGBA$t̼*A'9?2Aֽ:A=BA'9?JAֽRA=YU@}yS=WKٓH `v?@p?`z?ѫ!?>' 7nRi ?)U@ I٘i)I9i@YAG J̼B=JkB<JJ:FJ/E&K-x> YU~?ySUIA}E{7495B)B,E[[/['hV~?[w[[[[BZYY i) ӼIi$@== M))MMYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038876.803165 s, next control iter: 1743038877.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038877.183165 s.ҙJ~,kKg*AJ"J*J2J:J6?BJ6?nJP5vJA(\+@A,σ+@AdV~? ACMA%"AAhNA"AZAbAjArAzAAAbA9} AaZvsAi@A1A>=ADxA൰?A Au̼*A9?2A׽:A =BA9?JA׽RA =٘i)I9i@Y G J̼C=JJJJ2E&K Yt U~?y\IAE77769)B[[m[rV~?[V![[[[BZYY i) %7ڼIiU@<= .))..UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038877.203165 s, next control iter: 1743038877.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038877.603165 s.84ٙJ~,fg*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084930< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743038877.603289F (some fields omitted in printout)AQ+@AVHI+@AoV~? AxTA%"AAhNA"AZAbAjArAzAAA梍qAsA'dh@ARA}~=AsA?AADPϼ*A.9?2A׽:A=BA.9?JA׽RA=٘i)I9dh@Yp G JͼB=JJJJ4E&K Y/U~?y dHAE{7j7S89)B[[>[H}V~?[+'[[[[BZYY i) nIi@;= &ۂ))&ۂ&ۂ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038877.623165 s, next control iter: 1743038878.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12376 , header.stamp.nsec: 0 0 temperature: 13.571609 * salinity: 33.374989 , density: 1025.000000 * values[0]: 0.570749 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038878.023165 s.ZJ~,{g*AJ"J*J2J:J?BJ?nJ55vJAHz.,@A)x !,@A{V~? A[A %"AAhNA"AZAbAjArAzAAA{AUP(7sA=g@A_A=AmAGb?A`[AWԼ*A9?2Aֽ:A9=BA9?JAֽRA9=٘i)I9g@Y G JxѼC=JJJJ7E&K Y[?U~?yfk!HAE777:96B)B/E[[[YV~?[,[[[[ZZ¸BZYY i¸ک=) oռIiD@8;= 9t))9t9tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038878.063165 s, next control iter: 1743038878.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038878.443165 s.HJ~,]g*AAq= c,@Ah V,@AV~? AbAr%"AAhNA"AZAbAjArAzAAAFI[ALsAf@A_e:Aw=AhA 4?A@>`ASڼ*A9?2A^ֽ:A=BA9?JA^ֽRA=٘i)I9f@Y G J׼JJJJ:E&K YNU~?yrGAEŧ7b7;97B)B0E[[wހ[V~?[2[[[[ZZBZYY i) fnɼIi@:= Lb))LbLbYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038878.463165 s, next control iter: 1743038878.843190 s, wait time: 0.380025 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12377", header.stamp.nsec: 0"0 temperature: 13.571878"* salinity: 33.375008", density: 1025.000000"* values[0]: 0.569957"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038878.863165 s.+J~,>g*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743038878.863296F (some fields omitted in printout)A,@A2⍌,@AV~? AiA%"AAIhNA"AZAbAjArAzAAA^TNAj3sA3f@AS:<Aî=AcA?A A`&*AU9?2AUֽ:A<BAU9?JAUֽRA Y`U~?yy4GAcE=98B)B3E[[_a}[hV~?[P8[[[[ZZBZYY i) ZzIiא@Of9= FQ))FQFQNYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038878.903165 s, next control iter: 1743038879.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038879.283165 s.1RJ~,g*AA(\,@A Q,@AV~? ApA5b%"AAdiNA"AZAbAjArAzAAA!AsARe@AR<A~/=A^A`?A`A(*Ai9?2Agֽ:A <BAi9?JAgֽRA <٘i)I9Re@Y G JJJJJ?E&K YWrU~?ykFAEj7j7}?9)B6E[[y[jV~?[=[[[[ZZBZYY i) Ii܏@$8= P?))P?P?y>=ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038879.303165 s, next control iter: 1743038879.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12378., header.stamp.nsec: 0.0 temperature: 13.572223.* salinity: 33.375027., density: 1025.000000.* values[0]: 0.569064.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038879.703165 s.ԺJ~,g*AJ"J*J2J:J?BJ?nJ5vJAQ-@Aʉv,@AV~? AMwA%"AA.&iNA"AZAbAjArAzAAAwWA sAwyd@A<AFs=A}YA`?AARv*As9?2AFֽ:Al<BAs9?JAFֽRAl<٘i)I9yd@Y G J8JJJJBE&K YU~?y@JFAE{7{7HA9)B[[ot[ķV~?[uC[[[[ZZBZYY i) cIi@7= P:.))P:.P:.YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038879.723165 s, next control iter: 1743038880.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038880.123165 s.8J~,ah*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082937< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038880.123278F (some fields omitted in printout)AG:-@Ac#--@AzV~? A~AX%"AA;iNA"AZAbAjArAzAAA+ĊVA5t8sAc@Ad:AG].=A/TAi?AC]A~_μ*A9?2Aaֽ:A;BA9?JAaֽRA;٘i)I9c@Y G JJJJJEE&K YU~?yEAEb77C99B)B9E[[C9p[rV~?[H[[[[ZZBZYY i) Iir@T6= ))uYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038880.163165 s, next control iter: 1743038880.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038880.543165 s.IJ~,"h*AJ"J*J2J:JBJnJvJA= ףp-@Arpc-@ARV~? AAY%"AAQiNA"AZAbAjArAzAAALA^BsA8c@A?A<ANAp3?A@Ax*A9?2A[ֽ:At+BA9?JA[ֽRAt+٘i)I9c@Y7 G JԽJJJJGE&K YU~?yꔪ_EAED9:B)!B:E[[k[sV~?[bN[[[[ZZBZYY i) Ii@@5= 0 ))0 0 YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038880.583165 s, next control iter: 1743038880.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12379, header.stamp.nsec: 00 temperature: 13.572538* salinity: 33.375015, density: 1025.000000* values[0]: 0.568144F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038880.963165 s.{J~,=h*AAffff-@AݔZ-@AV~? A'AU%"AAhiNA"AZAbAjArAzAAAA=>sAjb@A dA@<AaIA@?A@Au*A9?2AFֽ:Az&BA9?JAFֽRAz&YӨ@RIy<dٓH??@v?d??m? Ӂ [`?)Ө@ I٘i)I9b@Y G JbJ:JJJJE&Kv> YU~?y,SEAIEŧ7b7F9;B)&B=E[[clg[V~?[S[[[[ZZBZYY i=) ̓Ii@4= @))@@[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038880.983165 s, next control iter: 1743038881.363179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038881.383165 s.J~,#Xh*AJ"J*J2J:J[?BJ[?nJk5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038881.383282F (some fields omitted in printout)A(-@A$F-@AMV~? AAW%"AAiNA"AZAbAjArAzAAA@Auj*sACb@ACA7ARDA?AƈA'*Au9?2A7Iֽ:ABAu9?JA7IֽRA٘i)I9Cb@Y G JTJJJJME&K YU~?yoGEAE77{7sH9))B[[c[ZV~?[ Y[[[[ZZBZYY i=)  sIi@2= Ͻ))ϽϽ)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038881.403165 s, next control iter: 1743038881.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12380", header.stamp.nsec: 0"0 temperature: 13.572713"* salinity: 33.375038", density: 1025.000000"* values[0]: 0.567556"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038881.803165 s.zAJ~,gsh*AA.@A.@AmV~? A闫AZ%"AA iNA"AZAbAjArAzAAAe'LAHvsA b@AlAKͩATX?A`?A S=A*A9?2Arֽ:AiBA9?JArֽRAi٘i)I9 b@Y G JB=JJJJOE&K YU~?y;EAE77>J9?A@;A`*A9?2Awֽ:A^ɼBA9?JAwֽRA^ɼ٘i)I9a@Y G JjC=JJJJRE&K YU~?y/EAE7777L9)-BCE[[G$Z[W~?[xc[[[[BZYY i) LIiȉ@)]0= `))``y =2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038882.243165 s, next control iter: 1743038882.623175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743038882.643165 s.u)J~,*h*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074555< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743038882.643290F (some fields omitted in printout)A ףp}.@Aep.@AW~? ABAeg%"AA6iNA"AZAbAjArAzAAAJ ,.A%sA7a@ACJ<A5+2A4A@?A>AZ';*AM9?2Aֽ:A'BAM9?JAֽRA'⼙٘i)I9a@Y G J'9JJJJUE&K Yx V~?y6#EAEb77M9>B).BDE[[װU[7W~?[h[[[[BZYY i)  8Ii0@/= J))JJ2o*YFFtReceived state from Gazebo (printed only once in a while):F2 header.stamp.sec: 12381, header.stamp.nsec: 00 temperature: 13.572753* salinity: 33.375027, density: 1025.000000* values[0]: 0.567403F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743038882.663165 s, next control iter: 1743038883.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038883.063165 s.0J~,V h*AJ"J*J2J:JBJnJvJA3333.@A'.@AE0W~? ADA%"AA.iNA"AZAbAjArAzAAA{IښA;tAb@AF<AmXA~/A ?AMA٪;*A֖9?2Aֽ:AHkBA֖9?JAֽRAHkY@/yiXF<ٓHi?`C?Nڨ A?? ?HՈ? ?)@ I٘i)I9b@Y G J;JJJJWE&Kw> YW!V~?y̹lEA/EO9)GE[[WFQ[%W~?[m[[[[BZYY i4g=) ۃ(Ii@-= g))gg*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038883.103165 s, next control iter: 1743038883.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038883.483165 s.u_7J~,h*AA\.@Ae,.@ABW~? A+Ax|%"AAiNA"AZAbAjArAzAAA8=߿AW8tA_Lb@A;A}xAy*A /?AA"*<*A`9?2Awֽ:ABA`9?JAwֽRA٘i)I9Lb@Y G J<JJJJZE&K Y67V~?ycEAE77{7hQ9?B)-BJE[[L[5W~?[r[[[[BZYY i) 6Iib@,= q))qqc*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038883.503165 s, next control iter: 1743038883.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12382, header.stamp.nsec: 00 temperature: 13.572635* salinity: 33.375038, density: 1025.000000* values[0]: 0.567509F (some fields omitted in printout)67V~?)c rAdjusting time to match Gazebo time: 1743038883.903165 s.=J~,h*AJ"J*J2J:JH?BJH?nJV5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199002 time: 1743038883.903308F (some fields omitted in printout)AQ/@Al\/@A TW~? AA; %"AAjNA"AZAbAjArAzAAAI4MҿACP^ tAb@ApAAo%A?AզAQm<*A9?2A!ֽ:A6 BA9?JA!ֽRA6 ٘i)I9b@Y G JI<JJJJ]E&K YMV~?yĪEAEb773S9)*B[[bH[DW~?[gw[[[[BZYY i=) ZIiB@*= (-;))(-;(-;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038883.923165 s, next control iter: 1743038884.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038884.323165 s.uDJ~,!i*AAGzT/@AK!qG/@AfW~? AA2%"AA5jNA"AZAbAjArAzAAA4nAƧ tAc@A"pBAA^ A?AQAa<*A29?2AMս:ABA29?JAMսRA٘i)I9c@Y0 G J<JJJJ`E&K YbV~?yʪFFAE{7j7T9@B)'BME[[C[XTW~?[6|[[[[BZYY i) 0IiR@}_)= <))<<yqg=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038884.343165 s, next control iter: 1743038884.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12383*, header.stamp.nsec: 0*0 temperature: 13.572395** salinity: 33.375069*, density: 1025.000000** values[0]: 0.567969*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038884.743165 s.WKJ~,u/i*AJ"J*J2J:Jf?BJf?nJv5vJAףp=/@Am2}/@AvyW~? A0Aj,%"AAQjNA"AZAbAjArAzAAA^t?A_a9tAc@A1lXA7A0A`.?A߿AM&<*A!9?2Aֽ:ARBA!9?JAֽRAR٘i)I9c@Y} G J<JJJJbE&K YxV~?y&ЪFAEV9BB)%BRE[[o?[odW~?[[[[[BZYY i) ?λIi@ elevatorAngleAction: 0.065763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038885.163291F (some fields omitted in printout)A/@A#3/@AW~? AƫA%"AAnjNA"AZAbAjArAzAAAUh?AtA?d@AA/aAA@?A<߿A <*A9?2AVֽ:AsoBA9?JAVֽRAsoYU@y `WٓH7??ŭ ?Wl?k'?`BT ?)U@ I٘i)I9d@Y G J<JWJJJeE&Kw> Y\V~?yժFAE77X9)"BUE[[:[tW~?[[[[[BZYY i) bIi@iM&= a=))a=a=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038885.183165 s, next control iter: 1743038885.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038885.583165 s.XJ~,Sei*AJ"J*J2J:JBJnJvJA)\/@Ak/@A?W~? A˫AW%"AA jNA"AZAbAjArAzAAAnV?AԻ|tAwd@A:A5AyA,?A,޿AI<*A9?2Aֽ:Ay6 BA9?JAֽRAy6 ٘i)I9d@Y% G J<JJJJhE&K YV~?y٪]GAE777^Z9)B[[36[.W~?[[[[[BZYY i) A3Iiu@n$= @==))@==@== *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038885.623165 s, next control iter: 1743038885.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12384, header.stamp.nsec: 00 temperature: 13.572059* salinity: 33.375072, density: 1025.000000* values[0]: 0.568614F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038886.003165 s.y `J~,P4i*AAR+0@Ax0@A*W~? A!ѫA8%"AAjNA"AZAbAjArAzAAAa?AY=tA;/e@A+<AgAT A`"?AݿAh<*A9?2Aֽ:ABA9?JAֽRA٘i)I9/e@Y| G Jͨ<JJJJjE&K YpV~?yުGAE{7j7(\9CB)BXE[[ 2[ W~?[[[[[BZYY i) J hIi^~@"= =))==*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038886.043165 s, next control iter: 1743038886.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038886.423165 s.ufJ~,wi*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199602 time: 1743038886.423248F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Ga0@A;T0@AlW~? A1֫A %"AAajNA"AZAbAjArAzAAAԮ?AU tAĽe@A \<AFAAp?AݿA:<*A@9?2A׽:Ax{BA@9?JA׽RAx{٘i)I9e@Y G J<JJJJmE&K YV~?y+HAE8787]9)B[E[[_-[ = `>))`>`>M*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038886.863165 s, next control iter: 1743038887.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038887.263165 s.tJ~,i*AJ"J*J2J:JBJnJvJA0@AJ@L¿0@AW~? A߫A7%"AAkNA"AZAbAjArAzAAA[d?A"tAf@A9AA6VA?AaۿA<*A9?2Aqxֽ:ARBA9?JAqxֽRARY@Zy@9ٓH`GB??@ ץݿV?@X? ?=?8?)@ I٘i)I9f@Y G J<J<:JJJrE&Kx> YW~?yHAZE{7{7a9DB) B^E[[$[PW~?[r[[[[BZYY i) PYKIiv@=  >)) > >5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038887.303165 s, next control iter: 1743038887.663175 s, wait time: 0.360010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 123862, header.stamp.nsec: 020 temperature: 13.5713252* salinity: 33.3750842, density: 1025.0000002* values[0]: 0.5701052F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038887.683165 s.lzJ~,ci*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038887.683285F (some fields omitted in printout)A(\1@Aa0@A!X~? AAo%"AA&kNA"AZAbAjArAzAAAa~i?A P%tAtg@A3kAsACA`I?A ڿAz<*A9?2A8ֽ:ABA9?JA8ֽRA1I٘i)I9tg@Y G JS<JJJJuE&K Y W~?y_IAEj7Z7Sc9FB) BbE[[ [:W~?[[[[[BZYY i) 9Iis@=  $>)) $> $>L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038887.683165 s, next control iter: 1743038888.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743038888.103165 s.J~,j*AJ"J*J2J:J ?BJ ?nJ"5vJAQ81@AkF+1@AX~? A!A%"AAFkNA"AZAbAjArAzAAAI걾@A؆A|(tAEh@AFZADAA`?A:ٿA<*A9?2A/ֽ:ABA9?JA/ֽRA٘i)I9h@Y8 G Jz<JJJJxE&K Y9W~?yIAE7)7e9)BeE[[[vW~?[[[[[BZYY i) :Iip@=  '6>)) '6> '6>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038888.143165 s, next control iter: 1743038888.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038888.523165 s.J~,|!j*AAHzn1@As a1@At2X~? AA.%"AAgkNA"AZAbAjArAzAAAEɣ@AB(J+tAh@AmD2ApA{ؾA?A`)ٿA{<*A)9?2Aacֽ:ABA)9?JAacֽRA٘i)I9h@Y G J<JJJJzE&K YRW~?y,JAE77f9GB)BhE[[/[X~?[[[[[BZYY i) |;Ii>n@y= VH>))VH>VH>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038888.543165 s, next control iter: 1743038888.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12387, header.stamp.nsec: 00 temperature: 13.570973* salinity: 33.375111, density: 1025.000000* values[0]: 0.570883F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038888.943165 s.VdJ~,:] elevatorAngleAction: 0.065763< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743038888.943284F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= ף1@A PS˖1@AHX~? AAzi%"AA kNA"AZAbAjArAzAAA=GYŊ@A3#-tAF%i@Ah|/A=A;A?AXؿA͊<*Au9?2Aֽ:ABAu9?JAֽRA٘i)I9%i@Y G JF<JJJJ}E&K YkW~?yJAE77h9)B[[i[X~?[a[[[[BZYY i) >;Ii&l@ #= Z>))Z>Z>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038888.963165 s, next control iter: 1743038889.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038889.363165 s.J~,u>Wj*AA1@AVG1@A^X~? AA%"AAkNA"AZAbAjArAzAAA~7@A#h0tAҩi@A;AAb¾AjQ?A@u׿A<*AR9?2A׽:A1BAR9?JA׽RA1Yص@<þyi;ٓH?@?@ܰ׿ ܴ?Z?s?'||??)ص@ I٘i)I9i@Y6G Jɝ<J x<JJJE&K-x> YÅW~?y,JA<þE{7Z7~j9)BkE[[ [&X~?[[[[[BZYY i<=) z|;IiEh@= l>))l>l>s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038889.403165 s, next control iter: 1743038889.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12388&, header.stamp.nsec: 0&0 temperature: 13.570579&* salinity: 33.375130&, density: 1025.000000&* values[0]: 0.571593&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038889.783165 s.UJ~,rj*AJ"J*J2J:JBJnJvJA(\2@AP2@AuX~? AAW%"AAkNA"AZAbAjArAzAAA+C]p+ @Ap2tA'j@AT<AAf^Al?AֿA’<*A9?2A׽:ABA9?JA׽RA򼙘٘i)I9'j@YG J<JJJJE&K YW~?ysNKAEZ7Il9HB)BnE[[V [9X~?[[[[[BZYY i) L;Iid@i= `~>))`~>`~>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038889.803165 s, next control iter: 1743038890.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038890.203165 s.J~,j*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038890.203289F (some fields omitted in printout)AQE2@A82@AwX~? AA{%"AATkNA"AZAbAjArAzAAA&bCV @A,~C,5tAj@ANF<AgAAv?A տA<*A9?2A׽:ABA9?JA׽RA٘i)I9j@YG J<JJJJE&K Y4W~?yKAEn9)BqE[[[xMX~?[G[[[[BZYY i) 8;Iia@Ri= >))>> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038890.223165 s, next control iter: 1743038890.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038890.623165 s.\J~,qj*AJ"J*J2J:JBJnJvJAGz2@ANm2@AX~? AiAn2%"AA5lNA"AZAbAjArAzAAAq%\ @Abl7tACk@A0;A񘈽AѣA ?AԿA<*A9?2A8ֽ:AԺBA9?JA8ֽRAԺ٘i)I9k@YG J<JJJJE&K YkW~?y  LAEb77o9)BtE[[)[JaX~?[[[[[BZYY i) ";Ii^@= P̑>))P̑>P̑>yH/=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038890.643165 s, next control iter: 1743038891.023181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12389 , header.stamp.nsec: 0 0 temperature: 13.570251 * salinity: 33.375137 , density: 1025.000000 * values[0]: 0.572260 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038891.043165 s.J~,j*AA= ף2@As2@AX~? AA%"AAr5lNA"AZAbAjArAzAAAUV|{@Aj9tAk@AeA{>AA4?A@#ԿAW<*A9?2Ajֽ:A6BA9?JAjֽRA6٘i)I9k@Y]G J<JJJJE&K YW~?yH hLAEq9)B[[[fuX~?[[[[[BZYY i) m;Ii\@$ =  >)) > >ۺ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038891.083165 s, next control iter: 1743038891.443177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038891.463165 s.XJ~,j*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743038891.463291F (some fields omitted in printout)Affff2@A![2@AX~? AYA٧%"AA YlNA"AZAbAjArAzAAAzCx@Av!;tA l@AFA;AA@Fg?AHӿAJ<*A9?2A@ֽ:AqBA9?JA@ֽRAqYj@%yD9ԊFٓH?Ե?nyѿ z?@?C?ˆ?)j@ I٘i)I9 l@YG J]<J:JJJE&Kx> Y X~?yLA%E7ss9IB)BwE[[U[X~?[M[[[[BZYY i) Y ))a/>a/>-*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038891.503165 s, next control iter: 1743038891.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12390, header.stamp.nsec: 00 temperature: 13.569927* salinity: 33.375134, density: 1025.000000* values[0]: 0.572906F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038891.883165 s.yJ~,4j*AA(3@AD 3@AlX~? A Af%"AA|lNA"AZAbAjArAzAAA~_j@AZNK=tAl@AKTAfdA+A@?A@hҿA“<*A9?2ASֽ:ABA9?JASֽRA٘i)I9l@YG J]<JJJJE&K Y$X~?y%!MAE77>u9KB)B{E[[[X~?[kê[[[[BZYY i) <)) d>d>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038891.903165 s, next control iter: 1743038892.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038892.303165 s.VĚJ~,wgk*AJ"J*J2J:J?BJ?nJ5vJAQ3@AD3@AtY~? AA(%"AA6lNA"AZAbAjArAzAAAg`B@Aʌ?tAm@AڌAAG J^<JJJJE&K Y@X~?y~MAE{7{7 w9)B~E[[w۾[X~?[qƪ[[[[BZYY i) >+))ݧ>ݧ>k*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743038892.323165 s, next control iter: 1743038892.703178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12391., header.stamp.nsec: 0.0 temperature: 13.569566.* salinity: 33.375153., density: 1025.000000.* values[0]: 0.573558.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038892.723165 s.˚J~,H.k*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074823< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038892.723295F (some fields omitted in printout)Az3@Aǵz3@AY~? AA%"AAlNA"AZAbAjArAzAAAvIeIh@A}`QAtA{m@Ao(;AJA(`A??A`hпA<*A9?2Arֽ:A\IBA9?JArֽRA\I٘i)I9{m@YG J<JJJJE&K Y?[X~?yMAE777x9)߯BE[[A'Ҿ[X~?[]ɪ[[[[BZYY i) {;))u>u>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038892.743165 s, next control iter: 1743038893.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038893.143165 s.Y/ҚJ~,*Ik*AJ"J*J2J:J?BJ?nJ5vJA ףp3@A'e3@A3Y~? AjAƵ%"AAlNA"AZAbAjArAzAAA[ Ov@AJ/!wCtAm@AE1<Aa(A@JAJ?AuϿA<*A"9?2Agֽ:ABA"9?JAgֽRA٘i)I9m@YG J"<JJJJE&K YgvX~?yp8NAE77z9)ܯBE[[Ⱦ[X~?[-̪[[[[BZYY i) J))T>T>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038893.163165 s, next control iter: 1743038893.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038893.563165 s.ؚJ~,V dk*AA33333@A&'3@AKY~? A A%"AAmNA"AZAbAjArAzAAAȺ@AlZĠDtAmn@AZ<A;A5A@F?AnͿAUI<*A[9?2Aֽ:ABA[9?JAֽRAYU@[6y7O[<ٓH i?B? ƿ B~?>@@B?`W?f?)U@ I٘i)I9mn@YG J<JCJJJE&K v> Y2X~?yNA6Eŧ7b7i|9LB)دBE[[[X~?[Ϊ[[[[BZYY i) Y))| > > *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038893.603165 s, next control iter: 1743038893.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12392, header.stamp.nsec: 00 temperature: 13.569229* salinity: 33.375168, density: 1025.000000* values[0]: 0.574201F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038893.983165 s.ߚJ~,~k*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J8 propOmegaAction: 25.132812"J*J< rudderAngleAction: -0.2470552J> elevatorAngleAction: 0.074823:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500nJvJ dt: 0.4200032 time: 1743038893.983301F (some fields omitted in printout)A\(4@Ao4@AydY~? AAN%"AA*5mNA"AZAbAjArAzAAAG@Ag#FtA\n@A<APAՆ!Ak?A`˿A(<*A9?2Acaֽ:ABA9?JAcaֽRA٘i)I9n@YhG Jl<JJJJE&K YX~?yNAEj7Z73~9)ԯB[[U5[Y~?[gѪ[[[[BZYY i(N=) i)) a>a>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038894.003165 s, next control iter: 1743038894.383183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038894.403165 s.&J~,͙k*AAQ^4@A"OQ4@Af}Y~? AA%"AAZmNA"AZAbAjArAzAAA,f@A\=GtAulo@AA.A A?AʿA<*A9?2AbԽ:A BA9?JAbԽRA ٘i)I9lo@YG J<JJJJE&K YX~?y!^OAE7779)ЯBE[[Ҭ[eY~?[Ӫ[[[[BZYY i) cx))1M>1M>L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038894.443165 s, next control iter: 1743038894.803177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12393", header.stamp.nsec: 0"0 temperature: 13.568856"* salinity: 33.375183", density: 1025.000000"* values[0]: 0.574889"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038894.823165 s.J~,2k*AJ"J*J2J:JBJnJvJAGz4@A:q4@AyY~? AA%"AAmNA"AZAbAjArAzAAACBvE@A0 HtAo@AJxA|A=A ?A@>ȿA|<*A 9?2AԽ:A4BA 9?JAԽRA4٘i)I9o@Y G Jڠ<JJJJE&K YX~?yOAEZ7Z7Ɂ9)̯BE[[a[v3Y~?[4֪[[[[BZYY i) փ))>>*Y+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038894.843165 s, next control iter: 1743038895.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038895.243165 s.J~,`k*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038895.243278F (some fields omitted in printout)Aףp=4@Aq04@AY~? A A%"AAŦmNA"AZAbAjArAzAAA̦w@AGJtAt~p@AlA\AYA˽A?A`pƿAt<*A9?2AlԽ:A+BA9?JAlԽRA+٘i)I9~p@Y^G J]<JJJJE&K Y\Y~?yC!#PAE77{79)ȯBE[[%䙾[IY~?[nت[[[[BZYY i) Z{));>;>y:3=)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038895.283165 s, next control iter: 1743038895.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038895.663165 s.J~,qk*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12394, header.stamp.nsec: 00 temperature: 13.568488* salinity: 33.375191, density: 1025.000000* values[0]: 0.575589F (some fields omitted in printout)A5@A<4@AY~? A!A%"AA mNA"AZAbAjArAzAAASS\9@AA-A@*?A@GĿA<*A9?2Alս:A^bBA9?JAlսRA^bY@G yM-ٓH ?`|0?K쳿?@f?@ YY~?y!PA E^9)ïBE[[[_Y~?[ڪ[[[[BZYY i)  elevatorAngleAction: 0.083645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038896.503292F (some fields omitted in printout)ARk5@A{^5@AY~? A%Atb%"AA$nNA"AZAbAjArAzAAAP#@A4MtA)r@A/;AߡAA/?A9A֪<*A9?2A'Խ:ABA9?JA'ԽRA٘i)I9)r@YcG JA<B=JJJJE&K YUY~?yR#^QAE)7ŧ79)BE[[+{[0Y~?[Pު[[[[BZYY i) n elevatorAngleAction: 0.083645< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743038897.763331F (some fields omitted in printout)A 6@Aן5@A*IZ~? A(Ab%"AAnNA"AZAbAjArAzAAA{*cG^!@A>lOtAs@A ;A%LA '<ACO?A 3Ae<*Ap9?2ARZս:ABAp9?JARZսRA٘i)I9s@YrG J-<B=JJJJE&K Y>Y~?yb%RA E)7ŧ7T9)BE[[BA[Y~?[[[[[BZYY i) uZ~?[[[[[BZYY i]l=) l elevatorAngleAction: 0.092492< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200562 time: 1743038899.023345F (some fields omitted in printout)AHz6@A,6@AZ~? A*AK%"AAoNA"AZAbAjArAzAAAʆ5#@A&PtASu@A%|QAtA2=ATAEŧ7b7~9RB)BE[[&A[/2Z~?[[[[[BZYY i) +l*AJ"J*J2J:JBJnJvJA7@AVG 7@AZ~? A+A%"AAHSoNA"AZAbAjArAzAAA7p$@Al>(QtA7w@A8P;AAҰ=A`v?A=ȌAC<*A$9?2Aֽ:AT BA$9?JAֽRAT YC@=yluQ;ٓH?)??ٓ M?@$j?`?)C@ I٘i)I97w@YvG J<J%ѼJJJE&K> Y6Z~?y 'TA=Eb77I9)BE[[6[IZ~?[^[[[[BZYY i)  elevatorAngleAction: 0.092492< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743038900.283286F (some fields omitted in printout)A(\O7@AcAaPB7@AZ~? A+A%"AAzoNA"AZAbAjArAzAAA7{}a%@Azuj4QtAw@Aa6<A!AD>Av?A'Q?A<*Ar9?2Aֽ:AKBAr9?JAֽRAK٘i)I9w@YG J<JJJJE&K YRZ~?y%.UAEZ7SI79QB)BE[[R[uaZ~?[[[[[BZYY i) Ax?Aq?Au<*AU9?2Aӽ:Ab'BAU9?JAӽRAb'٘i)I9x@YHG J?<JJJJE&K YnZ~?y$UAE77ߚ9)B[[ d[pyZ~?[{[[[[ZZZZ¸>BZYY i¸>() iA`t?A?Ac<*A9?2Aӽ:AVBA9?JAӽRAV٘i)I9By@YG J<JJJJE&K YƊZ~?y#VAEb779)BE[[la[Z~?[[[[[ZZZZBZYY i) ;Afk?A ?A=*A9?2A$ӽ:ApJBA9?JA$ӽRApJ٘i)I9z@Y1G JW<JJJJE&K YĦZ~?y"VA"E77t9PB)BE[[[Z~?[ [[[[ZZZZBZYY i) pNA"AZAbAjArAzAAA'@A~ cPtA0z@AAFA8c>ACb?AC?A46=*A.9?2Aӽ:AgɼBA.9?JAӽRAgɼYg;c>yDeٓHT?6+̿ -? 6?` Y??)g; I٘i)I9z@YG J=J<JJJE&KSp> YLZ~?y WAc>%E?9)xBE[[V:[Z~?[[[[[ZZZZBZYY i) JAW?AԲ?AN=*A 9?2A*rԽ:AwLBA 9?JA*rԽRAwL٘i)I9{@YGG J=JJJJE&K YZ~?ymWA'Eb77 9OB)qBE[[y<[MZ~?[[[[[ZZZZBZYY i) ]AM?A9?AeN<*A:?2Atҽ:AIBA:?JAtҽRAI٘i)I9|@YG J<B=JJJJE&K Y\Z~?yWA*E)7ŧ7ԣ9)jBE[[t$=[Z~?[[[[[ZZZZBZYY i) 蘝A@?A\?A <*A:?2Avҽ:A'C:BA:?JAvҽRA'C:٘i)I9R}@Y.G J<C=JJJJE&K Y[~?yDXA-Eŧ779NB)dBùE[[xt=[f [~?[e[[[[ZZZZBZYY i) ֑A0?A@a?Ai<*A:?2Anӽ:AT<BA:?JAnӽRAT<٘i)I9}@YG Jɢ<JJJJE&K Yl0[~?yXA/E77i9)_BƹE[[js=[($[~?[[[[[ZZZZBZYY i) IA ?A ?A ;<*A!:?2Atӽ:A<BA!:?JAtӽRAyBr;Eh<ٓHI\?^7Կ@c?8? [? :#Rn@??)ܙ= I0I٘i)I9?~@YG J m<JG>JJJE&Kp> YJK[~?y/XA>2Eŧ7749)\B[[ Q=[<[~?[-[[[[ZZZZBZYY ih{) #y?'< Yb?))>rYb?Yb?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038904.083165 s, next control iter: 1743038904.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038904.483165 s.w_J~,n*AA\h9@A [9@AO[~? A#A_%"AAqNA"AZAbAjArAzAAAQ-+@AD[iBLtA~@ARDE<Aɕ<A>A?A?A;*AU:?2AԂԽ:A*<BAU:?JAԂԽRA*<٘i)I9~@YG J_<JJJJE&K Y&f[~?yeXA5Eb779MB)YBɹE[[=[VU[~?[V[[[[ZZZZBZYY i) n fA?A*?A:*AA$:?2ARҽ:A<BAA$:?JARҽRA<٘i)I9~@YG Jْ;JJJJE&K Y[~?yXA7Eɬ9)XB̹E[[ >[%n[~?[W[[[[ZZZZBZYY i) SA?A@f?AO*A#:?2A2ӽ:A<BA#:?JA2ӽRA<٘i)I9~@YG J 9JJJJE&K Yޛ[~?y XA:E779JB)UBιE[[U!>[[~?[-[[[[BZYY i)  @A3?A`.?A絻*A:?2A3Խ:Ay<BA:?JA3ԽRAy<٘i)I9~@YG JlgJJJJE&K Y[~?y XA=E_9IB)ѹE[[6>[[~?[[[[[BZYY i) r-Ar?A?A)*A:?2AԽ:AD=BA:?JAԽRAD=YފN>v>yp=LKٓH@^(?~/ڿ ը?`??2? ?C @=^ ??)ފN> I٘i)I9V~@YG JJ">JJJE&K1r> Y[~?ymFXAv>?Ej7j7)9HB)ԹE[[J>[[~?[e[[[[BZYY ij3g) A*x?A?A:TO*Ad:?2AԽ:Ay =BAd:?JAԽRAy =٘i)I9 ~@YG J/JJJJE&K YT[~?yWABEb779)XB[[C_>[k[~?[[[[[BZYY i) s A@T?AP?ABӅ*A/:?2Aҽ:A?=BA/:?JAҽRA?=٘i)I9}@YcG JkJJJJE&K Y!\~?y:WAEE7779GB)ZB׹E[[s>[<[~?[ު[[[[BZYY i) I;Ii?{iU< ?)) ??ŪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038907.023165 s, next control iter: 1743038907.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038907.423165 s.uJ~,n*AJ"J*J2J:JBJnJvJA{G:@A`;:@A\~? A}A'z%"AA rNA"AZAbAjArAzAAA+V/@AһCtA/}@A@*G<AL=Ar>A 0?AU?A*A::?2Aҽ:Am=BA::?JAҽRAm=٘i)I9/}@YG JzJJJJE&K Y\~?ySWAGEj7Z79FB)]BڹE[[X>[\~?[ݪ[[[[BZYY i) S;Ii\?K< *?))*?*?ygͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038907.443165 s, next control iter: 1743038907.823178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12406", header.stamp.nsec: 0"0 temperature: 13.564363"* salinity: 33.375385", density: 1025.000000"* values[0]: 0.583330"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038907.843165 s.ݼJ~,n*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200782 time: 1743038907.843348F (some fields omitted in printout)Ap= ;@Aѫ ;@A\~? AA|%"AA$3rNA"AZAbAjArAzAAAo›/@A9y‘_AtA|@Abm[<AE=A*>A ?Aԅ?A*A?:?2AQOӽ:Av=BA?:?JAQOӽRAv=٘i)I9|@YG JϡB=JJJJE&K Y7\~?yWAJE)7ŧ7T9)`BݹE[[ю>[\~?[ڪ[[[[BZYY i) X;Iiژ?tC< 25[?tAV|@A;A[G=A ?A@?A`d?A*Ah?:?2A#AԽ:A{ =BAh?:?JA#AԽRA{ =Y1>1?y6F=;ٓH?߿`ߔ?)? ? C?2$@H>?@?)1> I٘i)I9|@YoG JC=J)=JJJE&Kr> Y:P\~?yVA1?ME7779EB)dBE[[&>[{4\~?[ت[[[[BZYY i) \);Ii?7< ъ?))rъ?ъ?yYҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038908.303165 s, next control iter: 1743038908.663182 s, wait time: 0.360017 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12407., header.stamp.nsec: 0.0 temperature: 13.564491.* salinity: 33.375385., density: 1025.000000.* values[0]: 0.582771.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038908.683165 s.lʛJ~,g+o*AA(\;@A*nu;@A\~? A A%"AA|rNA"AZAbAjArAzAAAK0@AQ=tAz{@A:?2A6ս:A6 =BA>:?JA6սRA6 =٘i)I9{@YG JJJJJE&K Yh\~?yF5VAOEZ7Z7鼦9)hB[[>[M\~?['֪[[[[BZYY i) O{;Ii ?ǒ+< m?))m?m?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038908.683165 s, next control iter: 1743038909.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743038909.103165 s.ћJ~,Fo*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257192@ elevatorAngleAction: -0.065921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743038909.103291F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ;@AJ;@A\~? AA2]%"AA]rNA"AZAbAjArAzAAArQO0@Av;tA z@AK0A_=A?A?A 2?A*A2_:?2Aӽ:A=BA2_:?JAӽRA=٘i)I9z@YG JQB=JJJJE&K Y;\~?yUARE779AB)iBE[[K>[e\~?[Ӫ[[[[BZYY i) Έ?;Ii{?N,!< ?)) ??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038909.143165 s, next control iter: 1743038909.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038909.523165 s.כJ~,|ao*AAHz;@Aρ;@A]~? A(Ak%"AArNA"AZAbAjArAzAAAi(?1@Aٺ9tA3qz@A.TbAk:=A?A5O?A> ?Aƥ*A%d:?2AԽ:A=BA%d:?JAԽRA=٘i)I9qz@YmG JC=JJJJE&K Y\~?ygUAUEj7SI79@B)mBE[[G>[&~\~?[Ъ[[[[BZYY i) ,;IiUm?< ?))??;ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038909.543165 s, next control iter: 1743038909.923182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12408, header.stamp.nsec: 00 temperature: 13.564654* salinity: 33.375397, density: 1025.000000* values[0]: 0.582210F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038909.943165 s.YdޛJ~,F]|o*AJ"J*J2J:JBJnJvJAq= #<@A<@A.']~? AAt%"AASrNA"AZAbAjArAzAAAhdv`1@Aqq7tAy@AAɕ=Ao?AO?A@?Ap*A\c:?2AkԽ:A=BA\c:?JAkԽRA=٘i)I9y@YG JJJJJE&K Y9\~?y%UAWE777J¦9?B)pBE[[w]>[\~?[ͪ[[[[BZYY i) :Ii`?< K_?))K_?K_?;ΪYOYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038909.983165 s, next control iter: 1743038910.343180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038910.363165 s.J~,u>o*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038910.363307F (some fields omitted in printout)AY<@A+.L<@Aw>]~? AAG&%"AA sNA"AZAbAjArAzAAAq7"1@AqJS5tAPYy@AڌA2=A?A?A?AU**Aa:?2AԽ:Aw=BAa:?JAԽRAw=YO>?y2=8ٓH`H?И?@? ?@?|C1?)O> I٘i)I9Yy@YG J3JǻJJJE&Kms> Y4\~?yުTA?ZE77Ħ9)tB[[>[Ů\~?[ʪ[[[[BZYY i) k9Ii,M?O< ?))_2t??˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038910.383165 s, next control iter: 1743038910.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12409&, header.stamp.nsec: 0&0 temperature: 13.564787&* salinity: 33.375401&, density: 1025.000000&* values[0]: 0.581636&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038910.783165 s.WJ~,o*AJ"J*J2J:JBJnJvJA(\<@AP<@AU]~? A1An%"AA/sNA"AZAbAjArAzAAAn1@APy3tAx@A<A=A#?A ?A?A=*A_:?2AԽ:A" =BA_:?JAԽRA" =٘i)I9x@YlG JJJJJ E&K Y2\~?yت9TA]Eb77Ŧ9>B)xBE[[>[\~?[]Ǫ[[[[BZYY i) $LIi|;?; s?))ts?s?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038910.823165 s, next control iter: 1743038911.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038911.203165 s.J~,2o*AAQ<@AM2r<@AQl]~? A?AZ%"AARsNA"AZAbAjArAzAAAiA$22@A׸ޙ0tA>x@AUi`<A&=A@(?At?A%`?A/*A}:?2AjBӽ:A=BA}:?JAjBӽRA=٘i)I9>x@YG JoJJJJ E&K Y,\~?yӪSA`E777Ǧ9=B){BE[[SN>[\~?[ê[[[[BZYY i) X%Ii+?s; [?)) [?[?ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038911.223165 s, next control iter: 1743038911.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038911.623165 s.YJ~,eo*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065921< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743038911.623293F (some fields omitted in printout)AG<@A<@Aނ]~? A)A%"AAusNA"AZAbAjArAzAAAuȷzv2@A|0.tAow@AY^4<AP=A-?A\9?A +?Aء*A:?2Azӽ:A]l=BA:?JAzӽRA]l=٘i)I9w@YG JJJJJE&K Y&]~?yΪsSAbEj7Z7tɦ9:B)}BE[[>[\~?[=[[[[BZYY i) -Iim?; ?))??eªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038911.663165 s, next control iter: 1743038912.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12410 , header.stamp.nsec: 0 0 temperature: 13.564934 * salinity: 33.375420 , density: 1025.000000 * values[0]: 0.581061 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038912.043165 s.J~,p*AA= ף0=@A0#=@A']~? AAY%"AAsNA"AZAbAjArAzAAAНl2@A.MJi+tA6.w@A4%;A=A>'3?AU?A?A&*A}}:?2AԽ:A_<BA}}:?JAԽRA_<٘i)I9.w@YqG JJJJJE&K Y!%]~?yɪSAeE7{7?˦99B)BE[[>[]~?[f[[[[BZYY i) iIi?; Ȣ?))Ȣ?Ȣ?#YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038912.083165 s, next control iter: 1743038912.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038912.463165 s.TJ~,ߤp*AJ"J*J2J:JBJnJvJAfffff=@A\Y=@A*]~? AA3%"AAsNA"AZAbAjArAzAAAМ2@Ay1(tAv@AgAÈ=A^8?A`?A?A@\*A9z:?2A=ս:At*<BA9z:?JA=սRAt* Y^:]~?yêRAa8?hEj7Z7 ͦ98B)BE[[?[4&]~?[q[[[[BZYY i ) Ii#>w^; z?))Pvz?z?nYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038912.503165 s, next control iter: 1743038912.863177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12411, header.stamp.nsec: 00 temperature: 13.565091* salinity: 33.375450, density: 1025.000000* values[0]: 0.580499F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038912.883165 s.y J~,<8p*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.240543@ elevatorAngleAction: -0.075746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743038912.883284F (some fields omitted in printout)A(=@Aap=@A]~? AA%"AAsNA"AZAbAjArAzAAA{]>3@A*œ&tA7v@A?YA/O=A=?A@7v?Aɍ?Aь*AQv:?2Aֽ:AE<BAQv:?JAֽRAE<٘i)I97v@YG JJJJJE&K YO]~?yWRAjE77{7Φ94B)B[[U?[=]~?[L[[[[BZYY i) U#Ii>N; 2?))2?2?gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038912.903165 s, next control iter: 1743038913.283179 s, wait time: 0.380014 sO]~?) rAdjusting time to match Gazebo time: 1743038913.303165 s.UJ~,sgSp*AJ"J*J2J:JBJnJvJA=@Ao-=@AO]~? AsA\%"AAsNA"AZAbAjArAzAAAB3@A(-$K#tAu@AIAƆ=A B?AG/?A`_?A*A:?2A8~Խ:A<BA:?JA8~ԽRA<٘i)I9u@YG JaJJJJE&K Yd]~?y"QAmEЦ93B)BE[[ ?[T]~?[[[[[BZYY i) 4<һIiɺ>o; ?)) ??ѹYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038913.343165 s, next control iter: 1743038913.703174 s, wait time: 0.360009 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12412*, header.stamp.nsec: 0*0 temperature: 13.565196** salinity: 33.375443*, density: 1025.000000** values[0]: 0.579995*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038913.723165 s.J~,Hnp*AAz>@A.=@An]~? A۫AQ%"AAtNA"AZAbAjArAzAAANla3@A&Ha tAPu@A?A m=AG?AG?A?A~*A:?2AԽ:A<BA:?JAԽRA<٘i)I9Pu@YNG JJJJJE&K Yz]~?ySQApE777jҦ92B)BE[[W?[k]~?[p[[[[BZYY i) LIi>!8L; 곭?))곭?곭?yfYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038913.763165 s, next control iter: 1743038914.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038914.143165 s.X/"J~,*p*AJ"J*J2J:Jl?BJl?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743038914.143277F (some fields omitted in printout)A ףp=>@AOc0>@A?^~? A֫A%"AA:tNA"AZAbAjArAzAAAҕ3@A`~ etAZt@AD;A=AL?A?A~?Ak*A~|:?2AԽ:A=BA~|:?JAԽRA=٘i)I9t@YG JJJJJE&K YM]~?yDQArE74Ԧ9/B)E[[V?[ʂ]~?[[[[[BZYY i) 10Ii>.; {?)){?{?'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038914.163165 s, next control iter: 1743038914.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038914.563165 s.(J~,R p*AA3333s>@A (f>@A^~? AѫA$w%"AAYtNA"AZAbAjArAzAAA0Y<4@A[ϓTtAFct@AcQL<A>X=AQ?AWX?A`?A&*At:?2Aս:Ah=BAt:?JAսRAh=Y~?R?y|U=L<ٓHf?c`s=?A[??`h?RG?@?)~? I٘i)I9ct@YG J펼J:JJJ!E&Kt> Y]~?yPAR?uE7զ9.B)BE[[h?[(]~?[ꡪ[[[[BZYY i) tIi6F>+: .?y.@A>@A,^~? A̫A?%"AAxtNA"AZAbAjArAzAAAt)z4@A0tAs@AY<As=AeW?A  ?A@uJ?AT*Ak:?2A ս:AU=BAk:?JA սRAU=٘i)I9s@YsG J JJJJ$E&K Yӵ]~?yPAxEŧ7b7צ9-B)BE[[2"?[b]~?[霪[[[[BZYY i) 0'Ii>ᝨ: ?)) ??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038915.023165 s, next control iter: 1743038915.383176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743038915.403165 s.'6J~,p*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038915.403282F (some fields omitted in printout)AQ>@A1>@A@^~? AYǫA?%"AA)tNA"AZAbAjArAzAAA@04@A^tAms@Ab;A=AK\?Aܹ?A ?AҒ*A|:?2AԽ:A=BA|:?JAԽRA=٘i)I9ms@Y(G J JJJJ&E&K Y]~?y/-PAzEZ7Z7٦9)B[[F(?[m]~?[[[[[BZYY i) 6Ii7=9: ϸ?))ϸ?ϸ?zêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038915.423165 s, next control iter: 1743038915.803187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12414, header.stamp.nsec: 00 temperature: 13.565435* salinity: 33.375473, density: 1025.000000* values[0]: 0.579036F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038915.823165 s.(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038915.863165 s, next control iter: 1743038916.223180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038916.243165 s.CJ~,`q*AAףp=J?@Aۧ1=?@A]g^~? AoAh%"AABtNA"AZAbAjArAzAAA{F@+5@A2N tAwr@Af,7A/7=Af?A ?Ap7?A*Am:?2Anս:A]=BAm:?JAnսRA]=٘i)I9wr@YG JJJJJ,E&K Y]~?yLsOAE{7{7*ݦ9)B)BE[[3?[]~?[[[[[BZYY i) 1UII?i, Mn p?))p?p?ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038916.263165 s, next control iter: 1743038916.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038916.663165 s.JJ~,q*q*AJ"J*J2J:JBJvPublished command to Gazebo (printed only once in a while):nJvJ( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075746< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743038916.663283F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12415, header.stamp.nsec: 00 temperature: 13.565576* salinity: 33.375481, density: 1025.000000* values[0]: 0.578550F (some fields omitted in printout)A?@Aͨr?@A!z^~? A̶A+%"AAtNA"AZAbAjArAzAAAXg$d5@AP" tA?q@A"z_Av=Al?A?A`6?A6*Ae:?2ARֽ:Ab4=BAe:?JARֽRAb4=Yd3?k?yꛔ=`ٓH`L?`ޠ? k? S?? Q` ?)d3? I٘i)I9q@YGG JB=JC<JJJ.E&Ku> Y^~?yHOAk?E77ަ9(B)BE[[d~9?[^~?[[[[[BZYY i) dIGI?i,p :(?))%t|:(?:(?]̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038916.683165 s, next control iter: 1743038917.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038917.083165 s.DQJ~,REq*AA)\µ?@A ?@A^~? A A6%"AA/ uNA"AZAbAjArAzAAA5@Aj[tA|q@A%A=A`Aq?A2k?A`?AL*A ^:?2A}iֽ:A =BA ^:?JA}iֽRA =٘i)I9|q@YG JC=JJJJ1E&K Y^~?yF~NAE9'B)BE[[(??[^~?[=[[[[BZYY i) tI* I?il*ɺ ?)) ??ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038917.103165 s, next control iter: 1743038917.483176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038917.503165 s.WJ~,Y4`q*AJ"J*J2J:J ?BJ ?nJ;5vJAR?@AKz?@A^~? A/A_%"AA&uNA"AZAbAjArAzAAA}ʂ5@AqcetAp@A:A =A5v?A?AH9?ASP*Ak:?2A{Խ:A4 =BAk:?JA{ԽRA4 =٘i)I9p@YG JƞJJJJ4E&K Y"^~?yCwHNAE77779)B[[ D?[ /^~?[1{[[[[BZYY i) IL I?iIU ?))??ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038917.523165 s, next control iter: 1743038917.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12416, header.stamp.nsec: 00 temperature: 13.565689* salinity: 33.375477, density: 1025.000000* values[0]: 0.578014F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038917.923165 s.4^J~,{q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743038917.923288F (some fields omitted in printout)A{G!@@A{)<@@A*^~? A5A %"AAAuNA"AZAbAjArAzAAA6@AX!sAkp@AV<A=Ax#{?A@u?A`?ALc*Af:?2A3Խ:AT=BAf:?JA3ԽRAT=٘i)I9kp@YSG JJJJJ7E&K Y3^~?y@pMAE77U9%B)B E[[]J?[:C^~?[t[[[[BZYY i)  HII?ił~c' ~?))~?~?ԪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038917.963165 s, next control iter: 1743038918.323177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038918.343165 s. YS^~?yaMAڂ?E77{79!B)B E[[S$V?[Gj^~?[h[[[[BZYY i) y`IH?i \l \?))\?\?y୽k٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038918.783165 s, next control iter: 1743038919.163183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743038919.183165 s.rJ~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249763@ elevatorAngleAction: -0.084955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743038919.183290F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@@A3/@@A^~? AA9%"AAnuNA"AZAbAjArAzAAAF16@Ag?$sAڸn@Ah;An=A2s?AF?Awp?A欼*AF:?2Atֽ:A=BAF:?JAtֽRA=٘i)I9n@YJG J6C=JJJJ?E&K Yob^~?y7ZLAE779)B[[ [?[)}^~?[ga[[[[BZYY i) ۟IH?io־o= F?)) F?F?ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038919.203165 s, next control iter: 1743038919.583187 s, wait time: 0.380022 s rAdjusting time to match Gazebo time: 1743038919.603165 s.94yJ~,q*AAQ@@A.II@@A^~? AAAŵ%"AA uNA"AZAbAjArAzAAA2c6@A|sA'n@ALhA =A?AT?Ax?Aa9*A{M:?2Awս:A=BA{M:?JAwսRA=٘i)I9'n@YG JJJJJAE&K Y'q^~?yRBLAEŧ779 B)BE[[a?[^~?[Z[[[[BZYY i) QWIH?ibؙ ?))??6YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038919.623165 s, next control iter: 1743038920.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12418 , header.stamp.nsec: 0 0 temperature: 13.566058 * salinity: 33.375511 , density: 1025.000000 * values[0]: 0.576845 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038920.023165 s.ZJ~,|r*AJ"J*J2J:J?BJ?nJ5vJAHz.A@A !A@AQ_~? AÅA3%"AAuNA"AZAbAjArAzAAA/*n7@A'sA?m@ARZA=A+?Ag?A`?A䯼*A"D:?2ABֽ:AC=BA"D:?JABֽRAC=/I٘i)I9m@YG J6JJJJDE&K Y^~?y2KKAEb77J9B)BE[[[g?[ա^~?[S[[[[BZYY i) ҮIzH?i: r?))r?r?Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038920.063165 s, next control iter: 1743038920.423178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038920.443165 s.9ÆJ~,F]r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743038920.443272F (some fields omitted in printout)Aq= cA@AVA@A{_~? A,A+%"AA\uNA"AZAbAjArAzAAA6/7@A>MsAtl@ACA=ASR?A@n?A`K?A0*A::?2Ab^ֽ:A=BA::?JAb^ֽRA=٘i)I9l@Y>G JVJJJJGE&K Y^~?yCnKAEj7j79)B[[m?[^~?[RL[[[[BZYY i) MIH?iN & ^}?))^}?^}?$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038920.463165 s, next control iter: 1743038920.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12419, header.stamp.nsec: 00 temperature: 13.566225* salinity: 33.375526, density: 1025.000000* values[0]: 0.576181F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038920.863165 s.J "J *J 2J :J ?BJ ?nJ 5+J~vJ,>7r*AAA@AA@A7 _~? A~xA4%"AA uNA"AZAbAjArAzAAA0F[7@A,!sA}cl@A8ĈAګ=A׏?Am.?A@?A*A81:?2AJAֽ:A^=BA81:?JAJAֽRA^=Ymg?̏?yګ=?ٓH?@t?ƿ??`γ?@tq?)mg? I٘i)I9cl@YG JB=JZ<JJJIE&Khv> Y̚^~?y;JȀ?E{7{79B)BE[[tXs?[^~?[E[[[[BZYY i) 𚽼IH?iԴǻ JQ?))JQ?JQ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038920.883165 s, next control iter: 1743038921.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038921.283165 s.?RJ~,Rr*AA(\A@AQA@A._~? AqAط%"AAvNA"AZAbAjArAzAAAy7@A9^TsAֿk@A[;AW=AX?A d?A?A]Ǽ*A(:?2Aֽ:AU=BA(:?JAֽRAU=٘i)I9k@Y{G J¼C=JJJJLE&K Y^~?y3JAEŧ7b79)B[[;y?[7^~?[=[[[[BZYY i) ļIkH?i)Sٻ ,?)),?,?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038921.323165 s, next control iter: 1743038921.683183 s, wait time: 0.360018 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12420*, header.stamp.nsec: 0*0 temperature: 13.566448** salinity: 33.375523*, density: 1025.000000** values[0]: 0.575492*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038921.703165 s.պJ~, mr*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743038921.703285F (some fields omitted in printout)J"J*J2J:JBJnJvJAQB@AA@A`<_~? AjA<%"AAuvNA"AZAbAjArAzAAA! 7@AsWsAk@A4VP<AL=A?AB?A`K?A6ϼ*A :?2Aֽ:At=BA :?JAֽRAt=٘i)I9k@YG JH˼B=JJJJOE&K Y7^~?y+JAE7)7u9B)BE[[S+?[j^~?[6[[[[BZYY i) 4̼IH?i5u ?))??.[[[[BZYY i) ӼI]H?io?3 ?))??7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038922.163165 s, next control iter: 1743038922.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038922.543165 s.IJ~,âr*AJ"J*J2J:J<?BJ<?nJc5vJA= ףpB@AcB@AV_~? A\AK%"AA(BvNA"AZAbAjArAzAAAFk8@AwafsAVi@Ag;A4ʲ=A0?A*?A?AqӼ*A:?2Aֽ:A,=BA:?JAֽRA,=٘i)I9i@Y<G JӼJJJJTE&K Y^~?y-IAEb77 9)ɯB[[+?[N_~?[R&[[[[BZYY i) ڼIH?iHG ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038922.563165 s, next control iter: 1743038922.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12421, header.stamp.nsec: 00 temperature: 13.566697* salinity: 33.375538, density: 1025.000000* values[0]: 0.574754F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038922.963165 s.xJ~,r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084955< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038922.963295F (some fields omitted in printout)AffffB@Ax[B@A7c_~? AUAt%"AAsUvNA"AZAbAjArAzAAA&8@AfsAi@A1GbA=A?AE?Aw?AXҼ*A :?2Av;׽:A=BA :?JAv;׽RA=YOԀ??y=&cٓH?`D? ?@?i?o`Hl@m?)OԀ? I٘i)I9i@Y G J8ӼJ<JJJWE&K$y> Y)^~?yHA?Eŧ79B)ͯBE[[?[_~?[Z[[[[BZYY i) xI'H?iUW !?))!?!?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038923.003165 s, next control iter: 1743038923.363177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038923.383165 s.صJ~,'r*AJ"J*J2J:JBJnJvJA(B@Aq6B@A8o_~? ANA`%"AAhvNA"AZAbAjArAzAAAH5-K8@AǂGsAdQh@A<A=As?A 4?A?AѼ*Ax:?2A׽:A/=BAx:?JA׽RA/=٘i)I9Qh@Yd G J)ҼJJJJYE&K Y^~?y{  elevatorAngleAction: 0.082209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743038924.223286F (some fields omitted in printout)J"J*J2J:JBJnJvJAzGC@AAΡ:C@Aȅ_~? A @A{%"AAvNA"AZAbAjArAzAAAߩ'8@A1\asAf@Au2 A$=AϤ?A dx?A &d?Alּ*A`9?2A4׽:Ay=BA`9?JA4׽RAy=٘i)I9f@Y G JԼC=JJJJ_E&K Y^~?yKGAEb759B)ٯBE[[i?[#;_~?[[[[[ZZBZYY i) "ѼI H?iuA# (?))(?(?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038924.243165 s, next control iter: 1743038924.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038924.643165 s.ɜJ~,=*)s*AA ףp}C@AfpC@AW_~? A8A %"AAivNA"AZAbAjArAzAAA"8@A߼sA%f@Aˏ:A=A6P?A?A?Ak*A9?2Aֽ:A<BA9?JAֽRA<٘i)I9%f@Y G J#JJJJbE&K  9YV^~? 9yFAEŧ79)߯B[[?[qG_~?[[[[[ZZBZYY i) GżI}rH?i|R! ?tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12423, header.stamp.nsec: 0))?0 temperature: 13.567225?* salinity: 33.375565, density: 1025.000000* values[0]: 0.573154F (some fields omitted in printout)y酿=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038924.683165 s, next control iter: 1743038925.043181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743038925.063165 s.МJ~,V Ds*AJ"J*J2J:J?BJ?nJ5vJA3333C@A(C@Aj_~? A51AP%"AAvNA"AZAbAjArAzAAA߆v"8@AȻSsACe@Ai"<A=Aթ?A ?A`F?A*Ag:?2A:ֽ:AF<BAg:?JA:ֽRAF Y"_~?yjFA?E779 B)BE[[?[S_~?[\[[[[ZZBZYY i) jI:dH?i.)  ?)) ? ?ywǦ=֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038925.103165 s, next control iter: 1743038925.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038925.483165 s.r_לJ~,^s*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038925.483311F (some fields omitted in printout)A\C@AEkC@A_~? A)AP.%"AAvNA"AZAbAjArAzAAA]708@At_tsAfd@AhY<A}y=Ak?A?A?A*Af :?2Aɮֽ:A4z<BAf :?JAɮֽRA4z<٘i)I9fd@Y G JeJJJJgE&K Y_~?yFAE)7b79)B[[A?[ ^_~?[[[[[ZZBZYY i) I^UH?i;0 ~?))~?~?ޭYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038925.503165 s, next control iter: 1743038925.883175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12424, header.stamp.nsec: 00 temperature: 13.567576* salinity: 33.375538, density: 1025.000000* values[0]: 0.572192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038925.903165 s.)ݜJ~,-ys*AJ"J*J2J:JBJnJvJAQD@A]hD@A_~? A!"A%"AA1vNA"AZAbAjArAzAAAՉ%9@ACsAܟc@A<AE4=Ar?A@?A^?Aּ*AU:?2A,ֽ:A;BAU:?JA,ֽRA;٘i)I9c@Y G JJJJJjE&K Y_~?y٩EAES77`9)B[[Ɲ?[mh_~?[[[[[ZZBZYY i) a IFH?iώ6 =@))=@=@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038925.923165 s, next control iter: 1743038926.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743038926.323165 s.xJ~,-s*AAGzTD@A ˟oGD@A_~? AAU%"AAvNA"AZAbAjArAzAAAd 9@A`vsA[b@A9A<A?A?A@?AO*A:?2Aֽ:A`ǺBA:?JAֽRA`Ǻ٘i)I9b@Y# G JAƼJJJJlE&K Y_~?y{Щ2EAE777*9 B)BE[[8۠?[,r_~?[٩[[[[ZZBZYY i) YIG6H?i\W; ֿ@))ֿ@ֿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038926.343165 s, next control iter: 1743038926.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12425*, header.stamp.nsec: 0*0 temperature: 13.567904** salinity: 33.375553*, density: 1025.000000** values[0]: 0.571283*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038926.743165 s.WJ~,Xs*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082209< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038926.743281F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp=D@AG 1}D@Aɽ_~? AAG%"AAQvNA"AZAbAjArAzAAA=\99@A4OƥsAwb@A!6A#<AxO?A.F?Ang?A?*A :?2A$ֽ:AaBA :?JA$ֽRAa٘i)I9wb@Y G J;JJJJoE&K YT_~?yǩDAEŧ7b7 9 B)BE[[?[A{_~?[Щ[[[[ZZBZYY i) :IC&H?i┿> SD@))SD@SD@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038926.783165 s, next control iter: 1743038927.143174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743038927.163165 s.~}J~,qs*AAD@A-!D@Aa_~? A A%"AA>vNA"AZAbAjArAzAAAKgPbP9@A^_sA.b@A8kA4A?A`s?A?A+*A:?2Atֽ:A.^BA:?JAtֽRA.^Yܚ?8?y/7kٓH`?@֬`܎࣭?G?`mw? ?)ܚ? I٘i)I9b@Y G J\JUFJJJrE&K-w> YU!_~?y2DA?Ej7Z7 9)B[[s?[_~?[ǩ[[[[ZZBZYY iiJw=) 5IH?i F @))@@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038927.203165 s, next control iter: 1743038927.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038927.583165 s.J~,Rs*AJ"J*J2J:JBJnJvJA)\D@AQD@Ax_~? APA %"AAgvNA"AZAbAjArAzAAAee9@AE+OsAa@AU7EAA?A`ț?A 1?AV*A9?2Aֽ:AzBA9?JAֽRAz٘i)I9a@Yx G J JJJJtE&K YU%_~?yuDAEŧ7b7 9)B[[#?[N_~?[J[[[[ZZBZYY iב=) oIyH?i1L mF@))mF@mF@G)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038927.623165 s, next control iter: 1743038927.983177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12426, header.stamp.nsec: 00 temperature: 13.568064* salinity: 33.375576, density: 1025.000000* values[0]: 0.570765F (some fields omitted in printout)U%_~?)u rAdjusting time to match Gazebo time: 1743038928.003165 s.z J~,U4t*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200282 time: 1743038928.003299F (some fields omitted in printout)AR+E@A{E@A _~? A}Aj%"AAwNA"AZAbAjArAzAAA Ky9@A7ӈsAa@AkAA;!?AI?A?A}*Aw9?2Aֽ:AH̼BAw9?JAֽRAH̼٘i)I9a@Yi G JmJJJJwE&K YV)_~?yDAE77j7U9B)BE[[4A?[O_~?[[[[[BZYY i) f\IG?iI2Q R@))R@R@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038928.043165 s, next control iter: 1743038928.403179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038928.423165 s.uJ~,t*AJ"J*J2J:JBJnJvJA{GaE@Ax-;TE@A_~? AAJ%"AAb wNA"AZAbAjArAzAAA.%9@Ab8sAa@A ;ADAE779B)BE[[?[*_~?[[[[[BZYY i) 56I G?i0V  @)) @ @Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038928.883165 s, next control iter: 1743038929.243175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038929.263165 s.J~,Pt*AJ"J*J2J:J?BJ?nJ05vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071212< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743038929.263301F (some fields omitted in printout)AE@AެE@A_~? AA~%"AA7wNA"AZAbAjArAzAAA!w/9@AS[MsAb@AL<AsAr ?A?A?A <*A9?2A %׽:ABA9?JA %׽RAY??ysbL<ٓHCh?Q? ??@Nw???)? I٘i)I9b@Y G J<<J)JJJE&KWx> Yw2_~?yoCEA?E7779)B[[6?[_~?[[[[[BZYY id=) &I{G?i\ =d @))=d @=d @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038929.303165 s, next control iter: 1743038929.663178 s, wait time: 0.360013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 124282, header.stamp.nsec: 020 temperature: 13.5680132* salinity: 33.3755802, density: 1025.0000002* values[0]: 0.5707852F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038929.683165 s.lJ~,Vkt*AA(\F@A9 QE@A!_~? A۪A%"AAs%wNA"AZAbAjArAzAAA[ 9@A 9&6sAmb@Aƫ;A߆A?At?A.?A=X<*A9?2Avֽ:A BA9?JAvֽRA ٘i)I9mb@Y G J9<JJJJE&K Y3_~?yEAEŧ7ŧ79B)BE[[ƹ?[_~?[[[[[BZYY i) I~G?ib  @)) @ @ն*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038929.683165 s, next control iter: 1743038930.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743038930.103165 s.!J~,t*AJ"J*J2J:J,?BJ,?nJE5vJAQ8F@AjIG+F@A_~? AӪAѵ%"AA+wNA"AZAbAjArAzAAA O9@AzKUsA(b@A1ASA?AḺ?A@A?A*<*A9?2Axֽ:An;BA9?JAxֽRAn;٘i)I9b@Y G Js<JJJJE&K Y4_~?yӁEAE{7{7K9)B[[?[W_~?[P[[[[BZYY i) I2G?ive ,v@)),v@,v@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038930.143165 s, next control iter: 1743038930.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038930.523165 s.'J~,{t*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.055791< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743038930.523297F (some fields omitted in printout)AHznF@An2 aF@A_~? A˪AR&"AA1wNA"AZAbAjArAzAAAG<9@Aܶ4'rzsAOc@AKAYڕAb?A?A*Q?A:j<*A9?2AGֽ:AiBA9?JAGֽRAi٘i)I9Oc@YX G J\<JJJJE&K Y5_~?yy9FAE7779)B[[?[_~?[{[[[[BZYY iDZ=)  IG?iI h  @)) @ @yid=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038930.543165 s, next control iter: 1743038930.923175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12429, header.stamp.nsec: 00 temperature: 13.567824* salinity: 33.375565, density: 1025.000000* values[0]: 0.571222F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038930.943165 s.Yd.J~,F]t*AJ"J*J2J:JBJnJvJAq= ףF@Av1͖F@A~_~? AêA&"AAs6wNA"AZAbAjArAzAAAdžk 9@A.usAc@A$]AAA9=?A@.?A._?A+<*A9?2A_ֽ:ABA9?JA_ֽRA٘i)I9c@Y G J<JJJJE&K Y6_~?y7pFAE{7j79)B[[=?[_~?[q[[[[BZYY i) AλI!oG?ii @))@@yd=?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038930.963165 s, next control iter: 1743038931.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038931.363165 s.5J~,y>t*AAF@A͎F@A_~? AA&"AA:wNA"AZAbAjArAzAAA*k9@AppsAid@AAVA?A?A j?A(<*A9?2A4ֽ:A5 BA9?JA4ֽRA5 Y ?[?y:ٓH`Wd@ h?@[&@?@~?) ? I٘i)I9id@Y G J<JQJJJE&K-x> Y<5_~?ymgFA?E779B)ޯBE[[c?[_~?[:h[[[[BZYY i) I[G?ij=n k@))k@k@y&=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038931.403165 s, next control iter: 1743038931.763175 s, wait time: 0.360010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12430&, header.stamp.nsec: 0&0 temperature: 13.567563&* salinity: 33.375584&, density: 1025.000000&* values[0]: 0.571880&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038931.783165 s.];J~,t*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743038931.783294F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\G@A.PRG@A_~? AA(&"AA=wNA"AZAbAjArAzAAAlj9@AÏksA@d@Ae;A6AP?A0?A@s?AN<*A49?2A׽:ABA49?JA׽RA٘i)I9d@YZ G Jp<JJJJE&K Y}3_~?y^XGAE7u9)ٯB[[?[_~?[~^[[[[BZYY i) ϑIFG?i$r @))@@f*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038931.803165 s, next control iter: 1743038932.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038932.203165 s.CJ~,! u*AAQEG@AI'8G@A_~? AAr&"AAE@wNA"AZAbAjArAzAAAр'9@Ak*)@fsA@e@A5<A|+A&M?A~?Az?A<*Ae9?2AR׽:A|BAe9?JAR׽RA|٘i)I9e@Y G J<JJJJE&K Y1_~?yUGAEj7j7@!9)կB[[e?[_~?[T[[[[BZYY i) |/gI=2G?i˚t '4@))'4@'4@*YFFF]s:Waiting for Gazebo time sync: latest Gz time: 1743038932.223165 s, next control iter: 1743038932.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038932.623165 s.YIJ~,e'u*AJ"J*J2J:JBJnJvJAGzG@A.4mG@A_~? AA(d&"AAAwNA"AZAbAjArAzAAA2b9@Ax elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743038933.043284F (some fields omitted in printout)A= ףG@AꐛG@A/_~? AuA&"AABwNA"AZAbAjArAzAAAF:f9@A\sA(f@Ak<A A?ApD(A6?Al<*A~9?2As׽:ABA~9?JAs׽RA٘i)I9f@YY G J[<JJJJE&K YA._~?yHDHAEŧ7ŧ7$9B)̯BE[[?['_~?[4A[[[[BZYY i) ܺIG?iҿ@u (V@))(V@(V@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038933.063165 s, next control iter: 1743038933.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038933.463165 s.QWJ~,Ӥ]u*AJ"J*J2J:J?BJ?nJ5vJAffffG@AZ[G@A_~? A`Aҟ&"AABwNA"AZAbAjArAzAAA?O9@AgzWsA$g@AV8A&.A?AA~?A <*A[9?2A ֽ:A#wBA[9?JA ֽRA#wYu??y&.@@W8ٓH@^Ŀq?}?Ŀ@ A? ~ ? $?)u? I٘i)I9$g@Y G JI<J=;JJJE&Ktx> Y)_~?y;HA?E{7j7&9)ȯB[[>?[R_~?[{7[[[[BZYY i) ÅDIF?i¿y @))@@B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038933.483165 s, next control iter: 1743038933.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12432, header.stamp.nsec: 00 temperature: 13.567032* salinity: 33.375576, density: 1025.000000* values[0]: 0.573192F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038933.883165 s.y]J~,+xu*AA(H@A)H@A&_~? AKA=&"AABwNA"AZAbAjArAzAAAR(-@9@APa& SsAg@AA돽A?AK~Amz?AC{<*A"9?2AÁֽ:A3BA"9?JAÁֽRA3٘i)I9g@Y G JZ<JJJJE&K Y %_~?y2PIAE{7k(9)įB[[,m?[_~?[-[[[[BZYY i) R@9IF?iſ1| r@))r@r@.*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038933.903165 s, next control iter: 1743038934.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038934.303165 s.VdJ~,wgu*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500J dt: 0.419986"J*J2J2 time: 1743038934.303286F (some fields omitted in printout):JBJnJvJAQH@A8DH@A_~? A8Ab&"AA@wNA"AZAbAjArAzAAA۶ J9@Ah7NsA;h@AwNA"AZAbAjArAzAAA'߽9@Ay3IsAh@A4ANJA|?A`{A l?A$Y<*A?9?2A)ֽ:A!BA?9?JA)ֽRA!٘i)I9h@Y G J֡<JJJJE&K Y_~?y!JAEb7b7,9)B[[i?[_~?[Z[[[[BZYY i) P;I>F?iſXf} ^ @))^ @^ @)*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038934.743165 s, next control iter: 1743038935.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038935.143165 s.V/rJ~,*u*AJ"J*J2J:JBJnJvJA ףpH@AHjdH@A_~? AsAV&"AA ;wNA"AZAbAjArAzAAA {?9@A+HDsAEi@AATAn?A :A@a?AD<*Ah9?2A׽:A,BAh9?JA׽RA,٘i)I9Ei@Y G J<JJJJE&K Y=_~?yvJAEZ7SI7-9)B[[?[-_~?[[[[[BZYY i) tC;IF?iĿ{ S*"@))S*"@S*"@Ϲ*YFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743038935.163165 s, next control iter: 1743038935.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038935.563165 s.xJ~,V u*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065114< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743038935.563297F (some fields omitted in printout)A3333H@A]lZ)H@A_~? AkAk&"AA7wNA"AZAbAjArAzAAA99@Ahla?sA!i@A;AQNA ?AﶿA_S?A3<*A69?2AAJ׽:ANBA69?JAAJ׽RANY??yVM';ٓHп g??п1[`ư?~?`(?)? I٘i)I9i@YDG J<B=J#b<JJJE&KOx> Y_~?yWJA?E)7ŧ7/9B)BE[[ -?[v_~?[![[[[BZYY i=) ;IF?iǿ~ 6#@))6#@6#@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038935.603165 s, next control iter: 1743038935.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12434, header.stamp.nsec: 00 temperature: 13.566513* salinity: 33.375572, density: 1025.000000* values[0]: 0.574502F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038935.983165 s.J~,u*AJ"J*J2J:JBJnJvJA\(I@AtbI@AQ_~? AcA%P&"AAQ2wNA"AZAbAjArAzAAA q`9@A d}:sA;6j@Ap]<A΄A,?A ĺAC?A<*A9?2A?b׽:AtBA9?JA?b׽RAt.I٘i)I96j@YG Jn<C=JJJJE&K Yg_~?y+KAE77`19B)BE[[^?[_~?[[[[[BZYY i) d);I)tF?iȿ K%@))K%@K%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038936.003165 s, next control iter: 1743038936.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038936.403165 s.&J~,v*AAQ^I@AuQI@A\_~? A[Ar&"AA,wNA"AZAbAjArAzAAAl~_9@AM5sAj@AJ<AIA`?AԎA0?At<*Ap9?2A>׽:ATBAp9?JA>׽RAT񼙘٘i)I9j@YG J<JJJJE&K Y_~?yXKAE{7j7+39)B[[?[_~?[[[[[BZYY i) g];I^F?i%ȿ :&@)):&@:&@#*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743038936.423165 s, next control iter: 1743038936.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12435", header.stamp.nsec: 0"0 temperature: 13.566309"* salinity: 33.375576", density: 1025.000000"* values[0]: 0.575046"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038936.823165 s.J~,64v*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J> elevatorAngleAction: 0.075498"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J dt: 0.420006:JBJ2 time: 1743038936.823297F (some fields omitted in printout)nJvJAGzI@ArI@A_~? ASA@ &"AAd&wNA"AZAbAjArAzAAAɬ9@Aέ ֿ0sAik@Aښ;AAy?A&A?A#<*A?9?2Aֽ:AsBA?9?JAֽRAs٘i)I9k@YG Jσ<JJJJE&K Y^~?yKAE7)749)B[[?[v_~?[[[[[BZYY i) c;I;IF?iǿ~ s(@))s(@s(@yW= *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038936.843165 s, next control iter: 1743038937.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038937.243165 s.J~,dOv*AAףp=I@A֊6I@A_~? A*KA# &"AA?wNA"AZAbAjArAzAAAvj9@A+sAKk@AAwaAp?AÿA`?A7<*A9?2Aֽ:AU6BA9?JAֽRAU6٘i)I9k@YXG J_<JJJJE&K Y'^~?yX9LAE77769B)BE[[?[l_~?[Y[[[[BZYY i) ;I 4F?iſP)| + *@))+ *@+ *@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038937.263165 s, next control iter: 1743038937.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038937.663165 s.J~,qjv*AJ"J*J2J:JW?BJW?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12436, header.stamp.nsec: 00 temperature: 13.566142* salinity: 33.375580, density: 1025.000000* values[0]: 0.575553F (some fields omitted in printout)AJ@A<I@A`_~? ADCA" &"AASwNA"AZAbAjArAzAAAI9@A\S'sAk@ArPAAl?A`=ĿA?A<*A9?2Arֽ:AzBA9?JArֽRAzY ?*?yPٓH`ֿ z?O? -ֿ ?1A?) ? I٘i)I9k@YG Jt<J%JJJE&KKx> Y^~?y LA?Ej7SI789B)B E[[ ?[|b_~?[ب[[[[BZYY i) -t elevatorAngleAction: 0.075498< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743038938.083282F (some fields omitted in printout)A)\5J@A1(J@AZ_~? Ag;AX &"AAwNA"AZAbAjArAzAAAHK*z9@AKH"sAyql@AMZAtAږ?AƿAE?As<*A9?2Aֽ:ABA9?JAֽRA٘i)I9ql@YG J<JJJJE&K Y^~?yݨLA E777V:9)B[[NQ?[@W_~?[Ψ[[[[BZYY i) _~?[ݼ[[[[BZYY i) != elevatorAngleAction: 0.075498< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743038939.343286F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= J@A0bJ@A2_~? A$A,! &"AAvNA"AZAbAjArAzAAA1:9@A * sAm@AA;<A1rAJQ@AI̿Af?A <*A9?2A|\׽:A+BA9?JA|\׽RA+٘i)I9m@YG J9<JJJJE&K Yi^~?y>ŨNAE7?9)B[[n@[P1_~?[[[[[BZYY i) L Y^~?ydeNA@E77A9B)B[[h@[D#_~?[E[[[[BZYY i) [ elevatorAngleAction: 0.075498< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038940.603279F (some fields omitted in printout)AQxK@AGkK@Aw_~? A. A&"AAvNA"AZAbAjArAzAAAI8@A/sALo@A?AZA+@AпA?A~<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9Lo@YG J<JJJ;FJE&K Y^~?y*OAE77{7E9)BE[[#2@[$_~?[ [[[[BZYY iK=) }zww*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743038941.863291F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@Ay L@AS_~? AAA&"AAvNA"AZAbAjArAzAAA8@Af\mrAp@Ax.A!ΜA @AvӿA N^?A6ѩ<*A9?2Aֽ:AoBA9?JAֽRAoY?{ @y˜..ٓH?@? ? F%?υ?)? I٘i)I9p@YG Jg<J;JJJE&K1x> YIp^~?yYPA @#E77vJ9)B[[ @[:^~?[x[[[[BZYY i) 5E?iTf <@))<@<@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038942.323165 s, next control iter: 1743038942.683178 s, wait time: 0.360013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12441., header.stamp.nsec: 0.0 temperature: 13.385756.* salinity: 33.391659., density: 1025.000000.* values[0]: 0.700477.F (some fields omitted in printout):a^~?):+ rAdjusting time to match Gazebo time: 1743038942.703165 s.ӺJ~,w*AJ"J*J2J:JBJnJvJAQL@A?xL@Ao_~? ACA!&"AAE|vNA"AZAbAjArAzAAAutL8@AcbrA r@A8s<AįA @A4տA?Ar<*AI9?2A8׽:A<BAI9?JA8׽RA<٘i)I9 r@YRG J?<JJJJE&K YQ^~?yÇ+QA)Ej7j7 N9){B[[@[خ^~?[q[[[[BZYY i) P@))|>@|>@&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038942.723165 s, next control iter: 1743038943.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743038943.123165 s.6J~,Xw*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743038943.123297F (some fields omitted in printout)AGL@A֭L@Ac_~? AAB&"AAjvNA"AZAbAjArAzAAAzL(8@A--)rAr@A!^<AA @AֿA?A-<*A 9?2AM׽:ABA 9?JAM׽RA٘i)I9r@YG Jw<JJJJE&K YB^~?y\QA+EZ7Z7O9 B)xBE[[@[כ^~?[j[[[[BZYY i)  Y!^~?yrpRA@1E77kS9B)qBE[[@[0t^~?[c[[[[[BZYY i) T elevatorAngleAction: 0.084617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038944.383285F (some fields omitted in printout)A(\M@A֎OM@A$=_~? A̩A#&"AA1vNA"AZAbAjArAzAAAU67@ASrA%it@AŻAXڬA@A@ؿA`?AC<*A9?2AQֽ:AFhBA9?JAQֽRAFh٘i)I9it@YG J7<JJJJE&K Y^~?y2kRA3EZ7SI76U9B)mBE[[?U@[_^~?[BT[[[[BZYY i) ;M@AX/_~? A8ũAf&"AAwvNA"AZAbAjArAzAAA9a7@Ad"%rAu@ASAĮA!@A QٿAZ?Ay<*A9?2Aa ֽ:A?BA9?JAa ֽRA?٘i)I9u@Y'G J<JJJJE&K Y|]~?yQdUSA6E77W9B)iBE[[_@[dJ^~?[PM[[[[BZYY i)  elevatorAngleAction: 0.084617< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199592 time: 1743038945.643259F (some fields omitted in printout)A ףpM@AdM@An_~? AηAn&"AA`uNA"AZAbAjArAzAAAV ߶17@A%orAlv@A:ϻA$2A~@A@!ڿA`g8?A'<*AÛ9?2Aֽ:A*BAÛ9?JAֽRA*٘i)I9lv@YG J<JJJJE&K YO]~?yV:TA;E7Z9)`B[[w@[^~?[@[[[[BZYY i) <*A 9?2Aֽ:ABA 9?JAֽRAY"@G@ys;ٓHL@#`;? ?gd@sn Y]~?yEPTA@>E)7ŧ7a\9B)\BE[[E@[M^~?[9[[[[BZYY i) 6 elevatorAngleAction: 0.093482< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038946.903328F (some fields omitted in printout)J"J*J2J:JBJnJvJAQN@AKxBN@A^~? AgA&"AAuNA"AZAbAjArAzAAA[*T6@ArAtx@A_<ALA@A7ݿAY?A<*A9?2A׽:ABA9?JA׽RA٘i)I9tx@Y7G J<C=JJJJE&K Y]~?yCUACE77{7_9B)TBE[[o@[]~?[Z-[[[[ZZZZ¸>BZYY i¸>)  ACꮽAmP@A_޿A ,?AU=*A̗9?2Agֽ:A"BA̗9?JAgֽRA"٘i)I9y@YG J<JJJJE&K Yx]~?y"7VAIE77{7c9)KB[[â @[b]~?[![[[[ZZZZBZYY i) A Yb]~?y1VA@KE777Ve9B)EBE[[x)"@[ؑ]~?[|[[[[ZZZZBZYY i) ]ֽ:AoxBAy9?JA>ֽRAox٘i)I9{@Y&G J]=JJJJE&K YBM]~?y+]WANE7!g9B)BB޹E[[y#@[y]~?[;[[[[ZZZZBZYY i) D?ifT  r<)) r<U@ w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038949.023165 s, next control iter: 1743038949.403181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038949.423165 s.uVJ~,[y*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082515< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743038949.423335F (some fields omitted in printout)J"J*J2J:JBJnJvJA{GO@Ax=O@A{^~? AqA&"AAuNA"AZAbAjArAzAAA;DOh5@AX*rA}@A8A)ּA~ @AݶA@Mq?A<*Ap9?2A `ֽ:Ae:BAp9?JA `ֽRAe:٘i)I9}@YG Jz<JJJJE&K Y!]~?y +XASEb77j9 B)8B۹E[[!&@[F]~?[] [[[[ZZZZBZYY i) \JJJE&Kv> Y\~?yXA#@YE{7j7Ln9)3B[[e)@[ ]~?[L[[[[ZZZZBZYY ix) rz5vJAQP@AIP@A.^~? AjAR^&"AAgtNA"AZAbAjArAzAAAV՟04@ARĻrA.~@A`;Ax=A%@AA x?AT,:*A9?2A zֽ:A@O<BA9?JA zֽRA@O<٘i)I9.~@YG JOX;B=JJJJ E&K Y\~?y) xXA^E{7{7q9'B)5BѹE[[z,@[T\~?[[[[[BZYY i) :Tz*AAYQ@ALQ@AV]~? A[A[&"AAA@tNA"AZAbAjArAzAAA`P43@A%r͙rA}@ALAu=A˧)@A;A ?AY$*A9?2Aֽ:A=BA9?JAֽRA=YV@z)@y+u=4=MٓH Z)(޿ )&? 8B?`k``?)V@ I٘i)I9}@Y{G JJ>JJJE&Kw> Y}\~?y"XA)@fE7777Aw9*B);B˹E[[1@[-\~?[0[[[[BZYY ie)  \*Aƕ9?2AB|ֽ:A =BAƕ9?JAB|ֽRA =٘i)I9}@YJG J>B=JJJJE&K Yd\~?yWAiE y9+B)?BȹE[[02@[ s\~?[[[[[BZYY i) 5c@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038952.823165 s, next control iter: 1743038953.183182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038953.203165 s.J~,6Mz*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.056147< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743038953.203290F (some fields omitted in printout)AQQ@A|+Q@A]~? A~RA?&"AAdtNA"AZAbAjArAzAAAZ٪lD3@ASrA}@A=;AT=A.,@AHpAE?AEg*AM9?2A:"ֽ:Aa=BAM9?JA:"ֽRAa=٘i)I9}@Y G JxC=JJJJE&K YL\~?yoWAlE{7z9,B)CBŹE[[4@[W\~?[[[[[BZYY i) ;IC?i߾Ŏ e-))e-d@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038953.243165 s, next control iter: 1743038953.603184 s, wait time: 0.360019 s rAdjusting time to match Gazebo time: 1743038953.623165 s.VJ~,Xgz*AJ"J*J2J:JBJnJvJAGQ@AQ@A/]~? A NAq&"AAsNA"AZAbAjArAzAAAl໰3@A`frA|@AUO<Aۖ=Ar-@A0A{?A"*A9?2A9ս:A=BA9?JA9սRA=٘i)I9|@YG JJJJJE&K Y3\~?yWAnE77|9)GB[[r{5@[<\~?[3[[[[BZYY i*) 7;IC?iPqw +))+5f@yZPfϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038953.663165 s, next control iter: 1743038954.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12452 , header.stamp.nsec: 0 0 temperature: 13.383996 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.708920 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038954.043165 s.J~,Âz*AA= ף0R@A){#R@A7]~? AIA=&"AAsNA"AZAbAjArAzAAA5[=2@A ÎrA|@A'_<AB=A.@AAɮ?AUA*AJ9?2Ahֽ:A6=BAJ9?JAhֽRA6=٘i)I9|@YiG JB=JJJJE&K Y1\~?yVAqE777l~9/B)NBE[[I6@[!\~?[[[[[BZYY i) ;IuC?itL lp*))lp*Ig@y oҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038954.083165 s, next control iter: 1743038954.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038954.463165 s.YJ~,z*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.065459"J< massPositionAction: 0.000000*J4 buoyancyAction: 0.0005002J:JBJ dt: 0.420006nJ2 time: 1743038954.463302vJF (some fields omitted in printout)AfffffR@Aq[YR@A]~? AEAV@&"AA;sNA"AZAbAjArAzAAAK|2@A6rAv~{@A;A=A0@A4A`?A*A9?2Afֽ:Ag =BA9?JAfֽRAg =Y"@0@yٹ=;ٓHZؿ @@?x?2y~??)"@ I٘i)I9~{@YG JC=J=JJJ E&Kw> Y\~?y'bVA0@tE7690B)TBE[[]8@[\~?[<[[[[BZYY i) Y͠;IC?i2 S())S(b'i@yӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038954.503165 s, next control iter: 1743038954.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12453, header.stamp.nsec: 00 temperature: 13.384279* salinity: 33.391693, density: 1025.000000* values[0]: 0.707859F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038954.883165 s.yJ~,Iz*AA(R@A !R@Arn]~? AAA&"AAR{sNA"AZAbAjArAzAAA@Z82@A rAz@AU-AMN=Am1@ArA@A?Aꪼ*A;9?2Aֽ:A=BA;9?JAֽRA=٘i)I9z@YG JdJJJJ#E&K Y[~?yUAvE91B)ZBE[[t9@[t[~?[ [[[[BZYY i) v;IC?i;gG ڀ'))ڀ'۞j@ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038954.903165 s, next control iter: 1743038955.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038955.303165 s.XJ~,gz*AJ"J*J2J:JBJnJvJAR@Aq!R@AW]~? A=A4&"AAYsNA"AZAbAjArAzAAA9E1@A/=_rA^z@A9AyJ=A!2@A`A.?A *A;9?2A? ׽:A3=BA;9?JA? ׽RA3=٘i)I9^z@YbG J⩼JJJJ&E&K Y[~?yvUAyE{7j7̃92B)_BE[[p<;@[[~?[ߧ[[[[BZYY i) H;I=C?i/  &)) &#l@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038955.343165 s, next control iter: 1743038955.703179 s, wait time: 0.360014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12454*, header.stamp.nsec: 0*0 temperature: 13.384531** salinity: 33.391716*, density: 1025.000000** values[0]: 0.706726*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038955.723165 s.J~,Hz*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038955.723306F (some fields omitted in printout)AzS@AڦR@A@]~? A9A(&"AAK6sNA"AZAbAjArAzAAAk1@AθnhrA[y@AfA=A4@AAU?Aju*A9?2Ar ׽:A =BA9?JAr ׽RA =٘i)I9y@Y G JSJJJJ(E&K Y[~?y-UA|Eb779)dB[[<@[[~?[Hݧ[[[[BZYY i) 0 ;IC?i4Ὁ! $))$ m@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038955.763165 s, next control iter: 1743038956.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038956.143165 s.W/žJ~J"J, * {*A*J2J:J4?BJ4?nJ=5vJA ףp=S@A;Mf0S@AW)]~? AC6Ap&"AA4sNA"AZAbAjArAzAAA —f1@AErApFy@AAE=Af^5@A`xAz?A.⦼*A9?2Aֽ:A@=BA9?JAֽRA@=٘i)I9Fy@YG JJJJJ+E&K Y[~?yܧTA~E777a93B)iBE[[>@[6[~?[ۧ[[[[BZYY i) :I(C?i( ׹ "#))"#n@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038956.163165 s, next control iter: 1743038956.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038956.563165 s.ȞJ~,[ ${*AA3333sS@AdM*fS@A]~? A2Aõ&"AArNA"AZAbAjArAzAAA6\Њ1@AySȀrAx@AK!9AeQ=AS6@AmRA`E?AoT*AF9?2A~ֽ:AE=BAF9?JA~ֽRAE=Y^(@6@yeQ='"9ٓH/.ҿ-R"?@x@ ? f7$??)^(@ I٘i)I9x@YbG J~JJJJ.E&Kx> Y|[~?yEڧcTA6@E77,95B)oBE[[ {?@[|[~?[Oڧ[[[[BZYY i) ޙ9I-C?i{:j7 !))!op@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038956.583165 s, next control iter: 1743038956.963179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12455, header.stamp.nsec: 00 temperature: 13.384829* salinity: 33.391701, density: 1025.000000* values[0]: 0.705631F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038956.983165 s.ϞJ~,>{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743038956.983286F (some fields omitted in printout)J"J*J2J:JBJnJvJA\S@AgS@A\~? A/A&"AArNA"AZAbAjArAzAAAiB0@Ac~rA,x@A<A =A7@A#A?AĨ*A9?2A?ֽ:Ac=BA9?JA?ֽRAc=٘i)I9,x@Y G JJJJJ1E&K Yva[~?yקTAE7{796B)tBE[[r@@[`[~?[٧[[[[BZYY i) x'IC?iR=h: d> ))d> Qq@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038957.023165 s, next control iter: 1743038957.383182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038957.403165 s.&֞J~,Y{*AAQS@AS@A&\~? AX,A&7 &"AAܧrNA"AZAbAjArAzAAAb~0@Am7|rAw@Ae<AA~=A+9@A A?AT*A9?2A9ֽ:AK=BA9?JA9ֽRAK=٘i)I9w@YG JJJJJ3E&K YdF[~?yEէSAE7797B)zBE[[&KB@[mE[~?[ا[[[[BZYY i) ͺI`C?i=: ))Qs@cĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038957.423165 s, next control iter: 1743038957.803178 s, wait time: 0.380013 sdF[~?)EէtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12456, header.stamp.nsec: 00 temperature: 13.385085* salinity: 33.391712, density: 1025.000000* values[0]: 0.704513F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038957.823165 s.ܞJ~,-t{*AJ"J*J2J:JZ4?BJZ4?nJ=5vJAGzT@AnT@A\~? AW)Avs &"AAnrNA"AZAbAjArAzAAAʯE0@AS{rA6w@A4<A؋=A|:@A@A?Ar*A9?2A@qֽ:A<<BA9?JA@qֽRA<<٘i)I9w@YaG JJJJJ6E&K YO+[~?yҧ:SAE98B)BE[[!C@[*[~?[Jק[[[[BZYY i) #IC?i0>m: ^))^t@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038957.863165 s, next control iter: 1743038958.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038958.243165 s.J~,d{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065459< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199832 time: 1743038958.243271F (some fields omitted in printout)Aףp=JT@AǴ6=T@A\~? A}&Aʬ &"AA^rNA"AZAbAjArAzAAAN/@Aܦ'CyrA\v@A;A`=Ar;@A` A]?AC*Aw9?2Aֽ:A<BAw9?JAֽRA<٘i)I9v@YG J眼B=JJJJ9E&K Y8[~?yDЧRAE77W9)B[[E@[[~?[֧[[[[BZYY i) `IC?iz> ; c))cR.v@aYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038958.263165 s, next control iter: 1743038958.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038958.663165 s.J~,q{*AJ"J*J2J:J4?BJ4?nJ<5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12457, header.stamp.nsec: 00 temperature: 13.385364* salinity: 33.391720, density: 1025.000000* values[0]: 0.703452F (some fields omitted in printout)AT@ArT@A"\~? A#A &"AA9rNA"AZAbAjArAzAAAb6} YuZ~?yΧ|RA$=@E{7{7!9:B)BE[[tF@[xZ~?[:֧[[[[BZYY iJ)  IC?i>B=; ))0w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038958.683165 s, next control iter: 1743038959.063179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038959.083165 s.DJ~,S{*AA)\µT@ALP÷T@Ao\~? A@!AS!&"AAarNA"AZAbAjArAzAAA ,s.@A}vrAםu@A`AЅ=A>@AZ^A ?A4o*A9?2Ap,׽:AM|<BA9?JAp,׽RAM|<٘i)I9u@Y}G J]JJJJ>E&K YZ~?yͧ!RAE77쓧9;B)BE[[G@[(Z~?[է[[[[BZYY i) %IC?iˮ><_; ))y@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038959.103165 s, next control iter: 1743038959.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038959.503165 s.J~,P4{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743038959.503319F (some fields omitted in printout)J"J*J2J:JBJnJvJART@A셼*A9?2A ׽:A<BA9?JA ׽RA<٘i)I9+u@Y7G JLJJJJJAE&K YZ~?y_˧QAE779O; ŭ))ŭqz@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038959.523165 s, next control iter: 1743038959.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12458, header.stamp.nsec: 00 temperature: 13.385589* salinity: 33.391708, density: 1025.000000* values[0]: 0.702499F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038959.923165 s.9J~,{*AA{G!U@A;U@AN\~? AAs!&"AA qNA"AZAbAjArAzAAA%q-@AȚSAsrAet@A/AT=A`A@AgA?A*A9?2Aֽ:A@<BA9?JAֽRA@<٘i)I9t@YG J΅JJJJCE&K Y-Z~?yɧlQAEj7j79=B)BE[[OJ@[Z~?[֧[[[[BZYY i)  IC?i%> ; pD))pDE{@y7vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038959.943165 s, next control iter: 1743038960.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038960.343165 s.<J~,|*AJ"J*J2J:JBJnJvJAp= WU@Ad6IU@Ag5\~? AA!&"AA qNA"AZAbAjArAzAAA}z-@A2IqrAHt@A뚹;AQ=ASB@AA;?Ao׊*A9?2Amjֽ:A{=BA9?JAmjֽRA{=٘i)I9Ht@YG JXJJJJFE&K YjZ~?yȧQAE7777L9>B)BE[[ K@[sZ~?[K֧[[[[BZYY i) I-C?iW ?; ))B}@KYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038960.363165 s, next control iter: 1743038960.743179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12459*, header.stamp.nsec: 0*0 temperature: 13.385818** salinity: 33.391720*, density: 1025.000000** values[0]: 0.701617*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038960.763165 s.6 J~,0|*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743038960.763289F (some fields omitted in printout)ǍU@A1vU@A\~? AA!&"AA|qNA"AZAbAjArAzAAA0m,@A }prAs@AdT<A=A$C@A`^A=?AF*A9?2A@ֽ:A&B=BA9?JA@ֽRA&B=Y75@YC@y=T<ٓH@`ӵİ?`{@H???)75@ I٘i)I9s@YfG JWJu:JJJIE&Kx> YCiZ~?y^ǧPAC@Eb779?B)BE[[JM@[lZ~?[֧[[[[BZYY i) IBC?iP?f; u))u~@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038960.803165 s, next control iter: 1743038961.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743038961.183165 s.J~,xK|*AJ"J*J2J:J3?BJ3?nJ7<5vJA(\U@AbU@A\~? AA!&"AApVqNA"AZAbAjArAzAAA-+@AX+DorAZs@A\<AoԊ=AGD@A AJa?AtF*A9?2AWֽ:A@==BA9?JAWֽRA@==٘i)I9Zs@YG JdJJJJKE&K YMZ~?yƧYPAE777ᜧ9)BE[[N@[QZ~?[fק[[[[BZYY i) ,%ID?i$?{; q))q"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038961.203165 s, next control iter: 1743038961.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038961.603165 s.<4J~,Úf|*AAQU@AByGU@A7[~? ASAQ "&"AA/qNA"AZAbAjArAzAAA)4'8+@AUQnrAgr@AD;AČ=Ai;F@A`A~?Aޏ*A9?2AԤֽ:Anr=BA9?JAԤֽRAnr=٘i)I9r@YG J/JJJJNE&K Y0Z~?yŧOAE79)B[[wO@[[7Z~?[6ا[[[[BZYY i) `4ID?i3?; U))U@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038961.643165 s, next control iter: 1743038962.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12460 , header.stamp.nsec: 0 0 temperature: 13.386035 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.700702 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038962.023165 s.Z J~,||*AJ"J*J2J:Ja3?BJa3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743038962.023293F (some fields omitted in printout)AHz.V@A\W!V@A[~? AA&"&"AA% qNA"AZAbAjArAzAAA]j<*@An mrAhr@AliVA;=AG@AD&A.?A*A9?2A/ֽ:Aȼ=BA9?JA/ֽRAȼ=٘i)I9hr@YG J`JJJJQE&K YZ~?y#ŧOAEŧ7)7w9@B)BE[[VTQ@[+Z~?[/٧[[[[BZYY i) L>DITD?iD?; F))F}l@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038962.043165 s, next control iter: 1743038962.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038962.443165 s.;&J~,O]|*AAq= cV@AVV@A[~? AAIA"&"AAFpNA"AZAbAjArAzAAA#m*@AXU%mrAq@Ax-?AG=AH@AZ9Ae\?A*A;9?2A3׽:A`=BA;9?JA3׽RA`=٘i)I9q@Y@G JJJJJSE&K YY~?yeħEOAEZ787A9AB)BE[[ R@[HZ~?[Qڧ[[[[BZYY i) SI%D?i X?C <  )) p@ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038962.463165 s, next control iter: 1743038962.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12461, header.stamp.nsec: 00 temperature: 13.386279* salinity: 33.391712, density: 1025.000000* values[0]: 0.699802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038962.863165 s.+-J~,>|*AJ"J*J2J:J&3?BJ&3?nJ;5vJAV@AzSV@A$[~? AAxX"&"AAGpNA"AZAbAjArAzAAA &e)@A4ylrAwq@ALcA˓=AGAIAR?A*A9?2A\(׽:A \=BA9?JA\(׽RA \=Yi%<@+GyqǓ=sadٓH@u ?c𮑿`:t`x?)i%<@ I٘i)I9wq@YG JRJ\M<JJJVE&K2x> YjY~?yħNAGEb77 9)BE[[S@[/Y~?[ۧ[[[[BZYY i) cI82D?iEd?< = ))= <΂@J˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038962.903165 s, next control iter: 1743038963.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038963.283165 s.AR4J~,|*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075826< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743038963.283299F (some fields omitted in printout)A(\V@At?PV@AM[~? AAwl"&"AA,pNA"AZAbAjArAzAAAcz(@AWV"krAp@Af=A2==AFAwWAų?A{*A-9?2Aֽ:A =BA-9?JAֽRA =٘i)I9p@YG J.JJJJYE&K Y1Y~?yħ~NAE7777ץ9BB)BE[[QU@[`Y~?[ݧ[[[[BZYY i) BrI YsOY~?y4ƧLAqAEb779)ͯBzE[[Z@[jY~?[[[[[BZYY i) }IC|D?i{?*uD< I))I69@y#ۭتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038965.003165 s, next control iter: 1743038965.363178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038965.383165 s.UJ~,+X}*AJ"J*J2J:JBJnJvJA(W@As֧W@A[~? A\A"&"AAoNA"AZAbAjArAzAAAŵz%@A7wjrAD?n@AC:Aݟ=A%%@A`vA`Th?AP*A9?2Aqֽ:Ae=BA9?JAqֽRAe=٘i)I9?n@YG JJJJJfE&K Yl3Y~?y?ǧLAE̮9)ѯB[[[@[RY~?[[[[[BZYY i)  ID?i?qM< ]R))]R@۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038965.403165 s, next control iter: 1743038965.783175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12464", header.stamp.nsec: 0"0 temperature: 13.387054"* salinity: 33.391712", density: 1025.000000"* values[0]: 0.696768"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038965.803165 s.zA\J~,gs}*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038965.803293F (some fields omitted in printout)AX@A X@AZ~? AhAʡ"&"AA5oNA"AZAbAjArAzAAA J%@AuԐjrAm@AA{=A>A uA@&AЪ*Ac9?2A׽:A^=BAc9?JA׽RA^=٘i)I9m@YG JJJJJiE&K YdY~?yKȧLAE79DB)֯BwE[[']@[9Y~?[*[[[[BZYY i) wID?ib?W< a))a@XߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038965.843165 s, next control iter: 1743038966.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038966.223165 s.gcJ~,H}*AJ"J*J2J:JBJnJvJAzGX@A8+:X@AZ~? AAe"&"AAπoNA"AZAbAjArAzAAA63z$@AjrAm@A3aAqc=Av=AqA|̛A⓭*A9?2A.׽:A@R=BA9?JA.׽RA@R=٘i)I9m@YQG JԫJJJJlE&K Y]X~?yVɧKAEj7SI7b9)ۯBtE[[p^@[!Y~?[[[[[BZYY i) ID?i?b< џ))џ?@IYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038966.263165 s, next control iter: 1743038966.623180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038966.643165 s.viJ~,*}*AA ףp}X@AYepX@AZ~? AAƙ"&"AAnYoNA"AZAbAjArAzAAA#@A[jrAl@A,CAb=AH+<A}kAA˳*A9?2Aֽ:A#R=BA9?JAֽRA#R=٘i)I9l@YG JJJJJnE&K YUX~?ybʧDKAEZ7,9)BqE[[]_@[ Y~?[S[[[[BZYY i) xrID?i?n< H))H~@dYFFF]Waiting for Gazebo time sync: latest Gz time: 1743038966.663165 s, next control iter: 1743038967.043177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12465, header.stamp.nsec: 00 temperature: 13.387306* salinity: 33.391705, density: 1025.000000* values[0]: 0.695711F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038967.063165 s.pJ~,_ }*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: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200262 time: 1743038967.063325F (some fields omitted in printout)A3333X@AeI)X@AZ~? AA"&"AA2oNA"AZAbAjArAzAAAts?#@Aވ^AkrAk@A}u}A8=A<:A@bA A**Aё9?2Aֽ:A4=BAё9?JAֽRA4=Y +I@:ya8=X~ٓH ;@L?˿8``o`S?) +I@ I٘i)I9k@YG JJŁ<JJJqE&Kw> YX~?yO̧JA:E)7ŧ79EB)BnE[[`@[,X~?[%[[[[BZYY i) U¼IzD?i?Tv< g))g@MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038967.103165 s, next control iter: 1743038967.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038967.483165 s.s_wJ~,}*AA\X@AG5X@A~Z~? A<A"&"AA oNA"AZAbAjArAzAAA.n"@AEkrAOk@A;A;=A'9AWAHAż*Ai9?2AH1ֽ:A=BAi9?JAH1ֽRA=٘i)I9Ok@Y7G JJJJJtE&K YDX~?y=Χ^JAEb7b7·9)BkE[[CGb@[X~?[[[[[BZYY i) ;ļID?i?<  9)) 9A@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038967.503165 s, next control iter: 1743038967.883176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12466, header.stamp.nsec: 00 temperature: 13.387589* salinity: 33.391712, density: 1025.000000* values[0]: 0.694577F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038967.903165 s.&}J~,!}*AJ"J*J2J:J1?BJ1?nJr:5vJAQY@AY@AdZ~? AAu"&"AAnNA"AZAbAjArAzAAAc"@AN5lrA}j@AeW<A`=Anf8AJA`jAͼ*At9?2Aֽ:A_=BAt9?JAֽRA_=,I٘i)I9j@YG JQɼJJJJvE&K YX~?y*ЧIAE77{79DB)BiE[[ec@[X~?[,[[[[BZYY i) _˼IDE?i?ք< )).@LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038967.943165 s, next control iter: 1743038968.303186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743038968.323165 s.xJ~,-~*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199472 time: 1743038968.323292F (some fields omitted in printout)AGzTY@AMpGY@AKZ~? AAc"&"AA~nNA"AZAbAjArAzAAA7^mi!@A lrAi@AW<A_=A7A4:A&ιA,м*A9?2AY ֽ:A=BA9?JAY ֽRA=٘i)I9i@YfG JϼJJJJyE&K Y6qX~?yҧxIAE{7W9)B[[d@[X~?[\[[[[BZYY i) ҼIE?i2?]< ))u@8YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038968.343165 s, next control iter: 1743038968.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12467*, header.stamp.nsec: 0*0 temperature: 13.387903** salinity: 33.391697*, density: 1025.000000** values[0]: 0.693327*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038968.743165 s.WJ~,/~*AJ"J*J2J:JBJnJvJAףp=Y@A7n1}Y@Ad1Z~? AOA(N"&"AAznNA"AZAbAjArAzAAAg @AmrAHi@A;A=AC5A'AAм*A9?2Ai{ֽ:AMu=BA9?JAi{ֽRAMu=٘i)I9Hi@Y G J-ѼJJJJ|E&K YUX~?yԧIAEj7j7"9)BfE[[f@[X~?[[[[[BZYY i) {ټI6E?i?\k< ϙ))ϙg)@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038968.783165 s, next control iter: 1743038969.143182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743038969.163165 s.v}J~,qJ~*AAY@AEY@AZ~? AA5"&"AAnnNA"AZAbAjArAzAAAz72 @A8ǹbnrAh@A݀A[=Ae4AAAϼ*Au9?2Aֽ:A=BAu9?JAֽRA=YٮO@j4y=L[ٓH@;?O?ݴ 6Կ X` @Vp?)ٮO@ I٘i)I9h@Y G JмJ<JJJ~E&K&x> Y:X~?y֧HAj4Eb77쾧9)BcE[[cRg@[`X~?[#[[[[BZYY i)  0IOE?i?A< ))-ˌ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038969.203165 s, next control iter: 1743038969.563179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038969.583165 s.星J~,Se~*AJ"J*J2J:JR1?BJR1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084944< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038969.583304F (some fields omitted in printout)A)\Y@A8Y@A@Y~? A-A"&"AAGnNA"AZAbAjArAzAAA.@A(otOorAtg@ADA%=A 3A)A@¿Aϼ*As9?2Ad׽:A;=BAs9?JAd׽RA;=٘i)I9g@Y& G JbϼJJJJE&K Y- X~?y٧HAE77{79)B`E[[h@[gjX~?[[[[[ZZ¸BZYY i¸ (=) -ռIPiE?iz?O< ))k@;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038969.603165 s, next control iter: 1743038969.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12468, header.stamp.nsec: 00 temperature: 13.388205* salinity: 33.391689, density: 1025.000000* values[0]: 0.692025F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038970.003165 s.z J~,U4~*AAR+Z@A~Z@AY~? AA!&"AA7!nNA"AZAbAjArAzAAA;@ASUprA elevatorAngleAction: 0.083084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038970.843289F (some fields omitted in printout)Ap= Z@AZ@AaY~? AA1!&"AAmNA"AZAbAjArAzAAAҖ@ArrAHe@A:A-=AM6/A A"ȿA*A9?2Anֽ:Auշ<BA9?JAnֽRAuշ<٘i)I9e@Y G JJJJJE&K YW~?yFAEŧ7b7Ƨ9)BWE[[Jl@[*X~?[[[[[ZZBZYY i) #IE?i@< !))!翩hG@y=CҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038970.863165 s, next control iter: 1743038971.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038971.263165 s.J~,A~*AJ"J*J2J:J0?BJ0?nJ695vJAZ@AĿZ@A[Y~? AA!&"AAmNA"AZAbAjArAzAAA@A!(srA:d@A,%<A?s=A-AgAɿA6*A9?2AOֽ:Adn<BA9?JAOֽRAdn G JJdJJJE&Kw> Y(W~?y[FA-E777ǧ9)B[[m@[X~?[1[[[[ZZBZYY i) 䥼IE?i@ꛬ< 3))3俩@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038971.283165 s, next control iter: 1743038971.663174 s, wait time: 0.380009 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 124702, header.stamp.nsec: 020 temperature: 13.3889062* salinity: 33.3916742, density: 1025.0000002* values[0]: 0.6891762F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038971.683165 s.lJ~,c~*AA(\[@A&vZ@AzY~? A$ A}_!&"AAmNA"AZAbAjArAzAAA>Q9@AjIndurAd@A(W<A7.=A,AaA˿AҼ*A#9?2AVֽ:A;BA#9?JAVֽRA;٘i)I9d@Y G JJJJJE&K YhW~?y6 FAEZ7SI7ɧ9CB)#BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #77q/M^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[ZZBZYY i) )YuYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038971.683165 s, next control iter: 1743038972.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743038972.103165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000> elevatorAngleAction: 0.083084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743038972.103287F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8[@A+MF+[@AgY~? A"A1!&"AAcmNA"AZAbAjArAzAAA͡ @A5b6vrAbc@AE<A<AV+A=A` ͿA>*A)9?2A_ֽ:A0ZɺBA)9?JA_ֽRA0Zɺ٘i)I9bc@Yc G JKüJJJJE&K YW~?yEAE77w˧9)(BQE[[Kp@[tW~?[[[[[ZZBZYY i) iI E?i @k< ߿)) ߿"@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038972.123165 s, next control iter: 1743038972.503177 s, wait time: 0.380012 sW~?) rAdjusting time to match Gazebo time: 1743038972.523165 s.ǟJ~,|!*AAHzn[@Aua[@A1OY~? AD%A &"AA=mNA"AZAbAjArAzAAA$"9@AmxrAb@ASӸAO<A1b*AAпA_{*Ar:?2A:AkBAr:?JARAk٘i)I9b@Y G J7JJJJE&K YhW~?ywfEAEb77Bͧ9),BOE[[9q@[W~?[ [[[[ZZBZYY i) +IrF?i@< ݿ))Cݿ@bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038972.543165 s, next control iter: 1743038972.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12471, header.stamp.nsec: 00 temperature: 13.389247* salinity: 33.391670, density: 1025.000000* values[0]: 0.687874F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038972.943165 s.[dΟJ~,O]<*AJ"J*J2J:J0?BJ0?nJ85vJAq= ף[@A1y̖[@A6Y~? A(Am &"AAmNA"AZAbAjArAzAAAi@AրJe=zrAb@AoFA@AR)AAпA#*A:?2A½:A*BA:?JA½RA*٘i)I9b@Y G JVJJJJE&K Y"OW~?yEAE77 ϧ9).BLE[[ pr@[W~?[n%[[[[ZZBZYY i) qI6F?i@< ?ڿ))?ڿ Z@N)Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038972.963165 s, next control iter: 1743038973.343176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038973.363165 s.՟J~,}>W*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083084< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743038973.363276F (some fields omitted in printout)A[@Ad[@ArY~? A*A< &"AAlNA"AZAbAjArAzAAA`iŔ@Aߥ~'|rA,Sb@A\iAA(A A@BѿA"*AA:?2AŽ:A|BAA:?JAŽRA|Y[@٘(y[iٓH??6߿\4? 1?)[@ I٘i)I9Sb@Y G JJgFJJJE&KKJ> Ye6W~?yb2EA(E777Ч9)0B[[Ms@[iW~?[*[[[[ZZBZYY iIo=) _IWF?i@5< dؿ))dؿ@<)YtsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038973.383165 s, next control iter: 1743038973.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12472&, header.stamp.nsec: 0&0 temperature: 13.389427&* salinity: 33.391674&, density: 1025.000000&* values[0]: 0.687175&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038973.783165 s.W۟J~,r*AJ"J*J2J:J/?BJ/?nJv85vJA(\\@AP\@ABY~? A.AX &"AAlNA"AZAbAjArAzAAA%wo@AEH?}rA&?b@A^<AAw'A A ѿA Ź*Av:?2Aǽ:A0`ܼBAv:?JAǽRA0`ܼ٘i)I9?b@Y G J>JJJJE&K YW~?yQEAE77ҧ9BB)IE[[t@[W~?[.[[[[BZYY i=) 4MIyF?iW@df< 'տ))'տQ@>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038973.803165 s, next control iter: 1743038974.183176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743038974.203165 s.J~,*AAQE\@AL8\@A elevatorAngleAction: 0.069207< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743038974.623295F (some fields omitted in printout)AGz\@Am\@AfX~? Au4A4&"AAۅlNA"AZAbAjArAzAAA߀ +@AT@ ˁrAtb@AP;AZ^A$A>jAӿA;*Aid:?2Axͽ:AxBAid:?JAxͽRAx٘i)I9tb@Y G J;JJJJE&K Y*V~?y>EAE)7b77֧9).BCE[[Hw@[j|W~?[K8[[[[BZYY i) k)I F?i%@ < %ѿ))%ѿ[Ɣ@y>R=6*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038974.643165 s, next control iter: 1743038975.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12473 , header.stamp.nsec: 0 0 temperature: 13.389443 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.687115 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038975.043165 s.J~,*AA= ף\@Ad\@AþX~? A7Aל&"AAalNA"AZAbAjArAzAAAl @A׫}rAb@AS<A|A\#A9A@^ԿAq1<*A[:?2A н:ABA[:?JA нRA٘i)I9b@Y G J<JJJJE&K YmV~?y EAEŧ7{7ا9),B[[%yx@[jW~?[/=[[[[BZYY i) <IF?i*@L?< 3ο))3ο^@*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038975.063165 s, next control iter: 1743038975.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038975.463165 s.VJ~,*AJ"J*J2J:JBJnJvJAffff\@A^\@AXX~? At;AX&"AA->lNA"AZAbAjArAzAAA8H @A%vrA+c@AA*E<A#A9"A A 0տA;c<*AS:?2Aѽ:AI BAS:?JAѽRAI YJa@KG"y@!HE<ٓH>??ר?]/`Ip?@@? !??)Ja@ I٘i)I9c@Y, G JH<B=JݽJJJE&Kp> Y2V~?yFAG"E)7ŧ7٧9AB))B@E[[y@[YW~?[9B[[[[BZYY i/$h=) PI G?i-@2< G^̿))G^̿I@i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038975.503165 s, next control iter: 1743038975.863176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12474, header.stamp.nsec: 00 temperature: 13.389393* salinity: 33.391659, density: 1025.000000* values[0]: 0.687542F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038975.883165 s.yJ~,8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056675< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200362 time: 1743038975.883319F (some fields omitted in printout)A(]@A! ]@A(X~? A+?A&"AAlNA"AZAbAjArAzAAAl @AՊUrAoc@A(;AAi A +AֿAd<*ASL:?2Aҽ:AZBASL:?JAҽRAZ٘i)I9oc@Yk G J|y<C=JJJJE&K YV~?yeFAE77ۧ9)&B>E[[z@[HW~?[UG[[[[BZYY i) 1I$0G?i1@%< Wɿ))Wɿ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038975.923165 s, next control iter: 1743038976.283178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743038976.303165 s.UJ~,sg*AJ"J*J2J:JBJnJvJAQ]@A>;D]@A6yX~? ACA&"AAkNA"AZAbAjArAzAAAq! @AhrAc@AsA6AAkA`ֿAt<*A9K:?2AZӽ:AGBA9K:?JAZӽRAG٘i)I9c@Y G JҔ<JJJJE&K YÍV~?yFAE77bݧ9)!B;E[[ |@[ 8W~?[L[[[[BZYY i) ݡһI WG?i4@< Oǿ))Oǿ(@g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038976.323165 s, next control iter: 1743038976.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12475*, header.stamp.nsec: 0*0 temperature: 13.389230** salinity: 33.391644*, density: 1025.000000** values[0]: 0.688352*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038976.723165 s. J~,H.*AAz]@A*z]@AbX~? AGA{&"AA@kNA"AZAbAjArAzAAA|[@A8{rAzd@AҝJAޜA+\A9[A@׿AQK<*AtL:?2A`Խ:ABBAtL:?JA`ԽRAB٘i)I9zd@Y G J<JJJJE&K YvV~?yGAE7777-ߧ9)B[[ ;}@[(W~?[Q[[[[BZYY i) ОI~G?i49@< gAſ))gAſ@yqh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038976.743165 s, next control iter: 1743038977.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743038977.143165 s.Y/J~,*I*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056675< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743038977.143299F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp]@At YIV~?yY(GAE9?B)B5E[[@[W~?[s\[[[[BZYY i) vmIG?i@@< w))w=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038977.583165 s, next control iter: 1743038977.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12476, header.stamp.nsec: 00 temperature: 13.389016* salinity: 33.391617, density: 1025.000000* values[0]: 0.689487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038977.983165 s.J~,~*AJ"J*J2J:J0?BJ0?nJ95vJA\(^@A`5^@A X~? ASA&"AAokNA"AZAbAjArAzAAAB8^@ArWrAEf@A?;AAwRAAڿA;<*ArO:?2A]ֽ:AyBArO:?JA]ֽRAy٘i)I9Ef@Y% G J<JJJJE&K Y|4V~?y.LHA D Eb79) B[[`@[V~?[a[[[[BZYY i)  0IBG?iC@&< 4))4@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038978.003165 s, next control iter: 1743038978.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038978.403165 s.&&J~,͙*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743038978.403301F (some fields omitted in printout)AQ^^@A]hQ^@Ay X~? AcXAB.&"AANkNA"AZAbAjArAzAAA2?AxݺrA&f@AQ8<AᕽAASA@ڿAH<*A N:?2AG"׽:A8BA N:?JAG"׽RA8٘i)I9f@Y~ G JP<JJJJE&K YV~?y3HA E)7ŧ7X9) B3E[[?@[V~?[{g[[[[BZYY i) fI.&H?iG@n< ޻))޻:@`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038978.443165 s, next control iter: 1743038978.803178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12477", header.stamp.nsec: 0"0 temperature: 13.388762"* salinity: 33.391609", density: 1025.000000"* values[0]: 0.690666"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038978.823165 s.,J~,6*AJ"J*J2J:J0?BJ0?nJf95vJAGz^@Aanr^@A4W~? A]A&"AAh.kNA"AZAbAjArAzAAA]?A-rAcg@A_<AgAAZ AۿA<*AkL:?2A3K׽:A:BAkL:?JA3K׽RA:٘i)I9cg@Y G JN<JJJJE&K Y V~?y9IAE77"9)B0E[[ъ@[V~?[m[[[[BZYY i) bIQH?iK@IH= ;));̬@y|=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038978.843165 s, next control iter: 1743038979.223179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038979.243165 s.3J~,Tπ*AAףp=^@A1^@A?W~? AaATw&"AAdkNA"AZAbAjArAzAAAfŌ ?AK 猉rAVg@AT<AA.[AA@qܿA <*AJ:?2A/׽:A7BAJ:?JA/׽RA7٘i)I9g@Y' G J<JJJJE&K Y9U~?yI?IAE77779)B[[F@[V~?[r[[[[BZYY i) `|h8I~H?iO@= g>))g>A@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038979.263165 s, next control iter: 1743038979.643173 s, wait time: 0.380008 s rAdjusting time to match Gazebo time: 1743038979.663165 s.:J~,q*AJ"J*J2J:JvPublished command to Gazebo (printed only once in a while):BJ( dropWeightState: 1nJvJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743038979.663293F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12478, header.stamp.nsec: 00 temperature: 13.388537* salinity: 33.391582, density: 1025.000000* values[0]: 0.691784F (some fields omitted in printout)A_@A\^@AW~? AfA&"AAjNA"AZAbAjArAzAAA ?ARrAvh@AxA׎AA@UwA@1ݿAݢ<*AH:?2Alֽ:A}BAH:?JAlֽRA}YAo@Sy׎ٓH`* 9? E?`*@@?@<ױ? >?)Ao@ I٘i)I9vh@Y{ G J̢<Jk<JJJE&K$z> YU~?yEIAE{79>B)B,E[[y@[#V~?[vx[[[[BZYY i) &K:IH?iR@= 鴿))鴿t՛@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038979.683165 s, next control iter: 1743038980.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743038980.083165 s.DAJ~,S*AA)\5_@A<(_@AMW~? AkA&"AAjNA"AZAbAjArAzAAArh?AgrAh@AQA>AA*AݿArC<*AG:?2Aֽ:AjBAG:?JAֽRAj٘i)I9h@Y G J<JJJJE&K Y\U~?yLDJAE7779/B)B)E[[G@[سV~?[G~[[[[BZYY i) N:IH?iU@/= ))i@*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743038980.123165 s, next control iter: 1743038980.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743038980.503165 s.GJ~,v4 *AJ"J*J2J:J<1?BJ<1?nJ95vJARk_@Ay^_@ATW~? A&qAQ&"AAAjNA"AZAbAjArAzAAA^?AYצrAi@A _AyFA}A`A`X޿AY<*A#E:?2Aֽ:AlBA#E:?JAֽRAl٘i)I9i@Y G J#<JJJJE&K YU~?yvRJAE77{7M90B)B*E[[ۃ@[V~?[#[[[[BZYY i) /<;II?iX@ =  I)) I@y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038980.543165 s, next control iter: 1743038980.903178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12479, header.stamp.nsec: 00 temperature: 13.388331* salinity: 33.391582, density: 1025.000000* values[0]: 0.692861F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038980.923165 s.;NJ~,;*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065870< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743038980.923307F (some fields omitted in printout)A{G_@A`;_@AW~? A{vA&"AA9jNA"AZAbAjArAzAAAAP\?AVrA j@A-,A^A4AA Gb߿A%<*A3C:?2A%׽:AӾBA3C:?JA%׽RAӾ٘i)I9 j@YpG J<JJJJE&K YU~?yXKAE7)79/B)߯B'E[[cn@[V~?[ [[[[BZYY i) Wy;II?i\@m: = ))^@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038980.943165 s, next control iter: 1743038981.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743038981.343165 s._dKAEj7j79)ۯB[[8@[sV~?[[[[[BZYY i) ֗;Ii`@ = ))3"@ɶ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038981.383165 s, next control iter: 1743038981.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12480*, header.stamp.nsec: 0*0 temperature: 13.388121** salinity: 33.391556*, density: 1025.000000** values[0]: 0.693908*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038981.763165 s.8[J~,#p*AA `@ASy;_@AiW~? AA&"AAXjNA"AZAbAjArAzAAA$!bgAհrAj@AJ<A걄A̓A yA@fAG<*A>:?2AI׽:ABA>:?JAI׽RAYou@%yް}<ٓH}v[? ?K?`#?? ?)ou@ I٘i)I9j@YG J{<JZA<JJJE&K%y> YсU~?y9fKA"E77{79)ׯB$E[[@[V~?[[[[[BZYY i'p=) ;Ii$c@^= Gi))Gi@Ǵ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038981.803165 s, next control iter: 1743038982.163180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743038982.183165 s.bJ~,^*AJ"J*J2J:J1?BJ1?nJf:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038982.183317F (some fields omitted in printout)A(\B`@AT5`@AWW~? A7A&"AAe6&ݿA=ݷrAk@AB<AA1 A1AdA<*A4:?2A׽:ABA4:?JA׽RA󼙘٘i)I9k@YG J{<JJJJE&K YT_U~?y-toLA'E{7j7B9)ЯB"E[[A@[-lV~?[;[[[[BZYY i) E|;Iih@= {֤)){֤<ڟ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038982.643165 s, next control iter: 1743038983.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12481 , header.stamp.nsec: 0 0 temperature: 13.387914 * salinity: 33.391552 , density: 1025.000000 * values[0]: 0.694868 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038983.023165 s.ZpJ~,{*AJ"J*J2J:J1?BJ1?nJ:5vJAHz`@AT`@A3W~? AA&"AAYjNA"AZAbAjArAzAAA͖Ac{rA Nl@APS;A ^A{ Ai߿A`eA :<*Ax-:?2A<׽:AFrBAx-:?JA<׽RAFr٘i)I9Nl@YG JZ<JJJJE&K YNU~?y'{LA*ES77 9)̯BE[[pI@[aV~?[a[[[[BZYY i) c elevatorAngleAction: 0.077362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743038983.443288F (some fields omitted in printout)Aq= `@AdϞ`@A!W~? AA\P&"AAiNA"AZAbAjArAzAAAҕ#A *rAl@AዾA{A7Z A7޿AA<*A&:?2A)ֽ:A.BA&:?JA)ֽRA.+I٘i)I9l@YG J<JJJJE&K Y*AJ"J*J2J:J2?BJ2?nJ:5vJAa@Aۉ a@AW~? A#A&"AAiNA"AZAbAjArAzAAA*IA~qrAA3m@AtfPA)ꉽAA@>޿AA6Í<*A:?2Aֽ:ADBA:?JAֽRADY|@yM牽PٓH0??$/ ٩? 9? ?)|@ I٘i)I93m@Y]G J<B=JƻJJJE&Kx> Y-U~?y~MA/E77779.B)įBE[[kk@[kMV~?[ִ[[[[BZYY i)  + elevatorAngleAction: 0.077362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743038984.703273F (some fields omitted in printout)AQa@A`Lxa@A V~? AA&"AAfiNA"AZAbAjArAzAAA0"$ |A9rAc%n@AѻAAoAܿA۝A[}<*A :?2A׽:A BA :?JA׽RA ٘i)I9%n@YG J<B=JJJJE&K  9Y4U~? 9y7NA5E89)B[[@[:V~?[}[[[[BZYY i) J@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038985.143165 s, next control iter: 1743038985.523188 s, wait time: 0.380023 s rAdjusting time to match Gazebo time: 1743038985.543165 s.IJ~,b*AJ"J*J2J:JBJnJvJA= ףa@Asa@AV~? AA&"AAniNA"AZAbAjArAzAAA\\AF8rAwo@AC|<<AyApA`4-ۿA0A1<*A`:?2A׽:Aԏ BA`:?JA׽RAԏ ٘i)I9o@YG J3<JJJJE&K YvT~?yNA:E779)B[[@[)V~?[5Ψ[[[[BZYY i) bi elevatorAngleAction: 0.077362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743038985.963310F (some fields omitted in printout)Affff&b@A.R\b@A-V~? AcAi&"AAWiNA"AZAbAjArAzAAAYXA/$QrAo@A[\<AA+nAaڿA4vA<*A:?2A׽:A BA:?JA׽RA YM@~y|\<ٓH@yۿ A??5ۿ?@%?@*?`?)M@ I٘i)I9o@YG J<JWJJJE&Kx> YT~?y}VOA~=Eb779.B)BE[[;@[!V~?[Ԩ[[[[BZYY i) x elevatorAngleAction: 0.077362< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199732 time: 1743038987.223293F (some fields omitted in printout)Azb@APpb@AIV~? AөA&"AA@iNA"AZAbAjArAzAAA@ [A7r2rA2q@A &A7{ADA`׿A7AX<*A9?2A$ֽ:AJBA9?JA$ֽRAJ٘i)I92q@YG JG<JJJJE&K YT~?y>ǨPAEE77{7 9)B[[@[ V~?[)[[[[BZYY i̞=) ^r@A%AAE ABMֿAAۯ<*A{9?2Arֽ:ABA{9?JArֽRAY>@.yY$&ٓH@տ ?`m?ֿ5?? I?)>@ I٘i)I9^r@YG J<J4JJJE&Knx> YT~?ylרYQAJE79/B)BE[[/@[8U~?[D[[[[BZYY i)  elevatorAngleAction: 0.086729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743038988.483319F (some fields omitted in printout)A\hc@Ay>[c@A|rV~? AA<@&"AAhNA"AZAbAjArAzAAAD/A *9_rAr@ACA&עAXAnqտA`A1<*A9?2A׽:ABA9?JA׽RA٘i)I9r@YG J<JJJJE&K YVT~?yߨQAME7X9)B[[@[uU~?[[[[[BZYY i) 튩tReceived state from Gazebo (printed only once in a while):>2 header.stamp.sec: 12488>, header.stamp.nsec: 0>0 temperature: 13.386397>* salinity: 33.391415>, density: 1025.000000>* values[0]: 0.702266>F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038989.743165 s.W۠J~,o*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.086729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743038989.743316F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= d@AGw;c@APV~? AA&"AAݨhNA"AZAbAjArAzAAAj, AKkrAt@AG;<A`AedA`ҿAxA9<*A9?2A?׽:ABA9?JA?׽RA٘i)I9t@YG J[<JJJJE&K Y=T~?y} SAUE79)B[[;@[zU~?[[[[[BZYY i)  elevatorAngleAction: 0.086729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743038991.003307F (some fields omitted in printout)ARd@Af.pyd@A3V~? AvA&"AA{hNA"AZAbAjArAzAAAjy AL_$ sAv@AsSAOAA.пAT AE<*A 9?2A-Eֽ:A)BA 9?JA-EֽRA)٘i)I9v@YG J<JJJJ E&K Y(gT~?yHMTA]E)7b791B)|BE[[ݑ@[U~?[|#[[[[BZYY i) 58fAC^;sA\Zw@A@OA=A:AXοA1A*<*A!9?2A cֽ:AF BA!9?JA cֽRAF ٘i)I9Zw@YG Jf<JJJJ E&K Yv]T~?yTA`E7779)vB[[}f@[U~?[*[[[[BZYY i) XBZYY i¸>~) O= g))g@^*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038991.883165 s, next control iter: 1743038992.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743038992.263165 s.J~,'*AJ"J*J2J:J4?BJ4?nJl=5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.081297< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743038992.263324F (some fields omitted in printout)ALe@At]?e@A)V~? Ap,A" &"AAThNA"AZAbAjArAzAAA=jA}+sA9x@A`3;ArA ۿAbʿAF|A"<*AI9?2AY׽:A|BAI9?JAY׽RA|Y<@9ۿy ;ٓH@¿`?zR?¿G?@϶?hp?`X?)<@ I٘i)I9x@YgG J<J'ϼJJJE&KY> YOT~?y*UAۿeEj7Z7x!90B)jB E[[Mz@[U~?[37[[[[ZZZZBZYY i) "hNA"AZAbAjArAzAAA1rA{h"sAbz@A3T]<Ah;AֿA)ǿA ߹A<*A9?2Az.׽:A+BA9?JAz.׽RA+٘i)I9bz@YdG J%=JJJJE&K YaGT~?y;VAjE7%9)_B[[V@[U~?[D[[[[ZZZZBZYY i) 5vJAq= #f@Af@ApV~? AKA: &"AA1,hNA"AZAbAjArAzAAA|ˑ&`,Aƚ@,sA {@AleA6AmhѿAqÿA@!Ax<*A9?2AJֽ:AwٻBA9?JAJֽRAwٻ٘i)I9{@YZG J<JJJJE&K Y?T~?yMMWApE)7b7(9)KB[[@[U~?[Q[[[[ZZZZBZYY i6) <*AAYf@ACLf@ALU~? ASA( &"AA#hNA"AZAbAjArAzAAAރjANu1sA|@A(A|A οA`AH AJ<*A=9?2Aֽ:A':BA=9?JAֽRA':YhY@οyἙ7ٓHM?4ʅ? w@:Ǜ?r=? E?)hY@ I٘i)I9|@YG J<JO>JJJ E&Kx> Y=T~?yVWAοrE77n*9)FBE[[ 0@[6U~?[X[[[[ZZZZBZYY i) 1JJJ-E&Kv> Y_:T~?y/ XAE77c39)[[[U~?[y[[[[BZYY ii) 52 Y5ET~?yVAδEb77Y<9)IB[[{ൿ['U~?[ٚ[[[[BZYY i) N;Ii @I= "))""ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038998.603165 s, next control iter: 1743038998.963178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12497, header.stamp.nsec: 00 temperature: 13.567854* salinity: 33.374985, density: 1025.000000* values[0]: 0.580459F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038998.983165 s.oJ~,쾅*AJ"J*J2J:JBJnJvJA\h@Agh@AKU~? AA&l&"AAgNA"AZAbAjArAzAAA&muA5gsA{@AĠAN=A[(A`?A_tA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9{@Y>G JeC=JJJJ=E&K YIT~?yʶRVAE{7{7#>9)MBE[[)[U~?[e[[[[BZYY i)  ;Ii@I= wb))wbwbVתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038999.003165 s, next control iter: 1743038999.383179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743038999.403165 s.&vJ~,م*AAQh@A qh@AwU~? A A&"AA3gNA"AZAbAjArAzAAA&=gAYksA|9{@A;A\a=AԥA դ?A`nA'*A 9?2APֽ:Amj=BA 9?JAPֽRAmj=٘i)I99{@YG J/JJJJ@E&K YNT~?y|UAE777?9)RB[[Ց[6U~?[짩[[[[BZYY i) ȃ;Ii<@CI= ))>۪YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743038999.423165 s, next control iter: 1743038999.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12498", header.stamp.nsec: 0"0 temperature: 13.568108"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.579863"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743038999.823165 s.|J~,)*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 1J"J*J8 propOmegaAction: 25.1328122J< rudderAngleAction: -0.261799:J@ elevatorAngleAction: -0.066557BJ< massPositionAction: 0.0000004 buoyancyAction: 0.000500nJ dt: 0.420020vJ2 time: 1743038999.823278F (some fields omitted in printout)AGzi@A@mi@A(U~? AA$1&"AAThNA"AZAbAjArAzAAA2RApsAաz@A?<A\_=AAa?A gA*A9?2A$ֽ:A\=BA9?JA$ֽRA\=*I٘i)I9z@YG JJJJJCE&K YRT~?y-ȩUAEŧ7~7A9,B)WBE[[j[CU~?[m[[[[BZYY i) K;Ii@|I= ))ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743038999.863165 s, next control iter: 1743039000.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039000.243165 s.J~,m*AAףp=Ji@Ax1=i@A_U~? A&ĪA&"AA@hNA"AZAbAjArAzAAAbB7AffusAz@AIO<A=A󃪿A ?A\Aӻ*A9?2A=ֽ:AȮ=BA9?JA=ֽRAȮ=٘i)I9z@Y+G JԺJJJJEE&K YWT~?yЩ!UAEj7Z7C9-B)]BE[[D[U~?[洩[[[[BZYY i) };Ii#@jJ= y))yyܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039000.263165 s, next control iter: 1743039000.643177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039000.663165 s.J~,q**AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12499, header.stamp.nsec: 00 temperature: 13.568377* salinity: 33.374992, density: 1025.000000* values[0]: 0.579142F (some fields omitted in printout)Ai@A+ri@AU~? A.̪A&"AAhNA"AZAbAjArAzAAA7DA|pzsASgy@A ;AS=A٧Az͵?A>PA4͹*Aȼ9?2Aֽ:AX =BAȼ9?JAֽRAX =Y@ȧyR=j;ٓHg??D݊?@uk? n 8ųrw|?U?)@ I٘i)I9gy@YG JJ;JJJHE&Kx> YC^T~?ya٩TAȧE7{7NE9)bB[[k[iU~?[Z[[[[BZYY i) lG:Iiĝ@I= , )), , ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039000.683165 s, next control iter: 1743039001.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039001.083165 s.DJ~,RE*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743039001.083311F (some fields omitted in printout)A)\µi@Aei@AbU~? A1ԪAHZ&"AA hNA"AZAbAjArAzAAA{A>LsAx@AA+=A&A?A AA7*A9?2Aֽ:Ax=BA9?JAֽRAx=٘i)I9x@YmG J췼JJJJKE&K YeT~?yLTAE77G9)fB[[[U~?[[[[[BZYY i) i9Ii@I= {)){{תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039001.103165 s, next control iter: 1743039001.483176 s, wait time: 0.380011 seT~?) rAdjusting time to match Gazebo time: 1743039001.503165 s.J~,74`*AJ"J*J2J:JBJnJvJARi@A,yi@A0U~? A.ܪA%"AAhNA"AZAbAjArAzAAAj[A8QpsA&7x@AǕ,AΙ=AEwA@v?AF/A䮼*AE9?2A ׽:Ae=BAE9?JA ׽RAe=٘i)I97x@YG J1JJJJME&K YlT~?ycSAE7777H9)kB[[Ц[U~?[0ȩ[[[[BZYY i) .Ii@I= ))ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039001.543165 s, next control iter: 1743039001.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12500, header.stamp.nsec: 00 temperature: 13.568656* salinity: 33.374989, density: 1025.000000* values[0]: 0.578424F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039001.923165 s.8J~,{*AA{G!j@Ax=j@AU~? A%A="%"AAhNA"AZAbAjArAzAAA<:AJ!MsAϥw@Ad%WA@o=A:֟A?A Aoݪ*A9?2A׽:A=BA9?JA׽RA=٘i)I9w@YG JJJJJPE&K Y tT~?ywSAEb7b7J9.B)qBE[[ǩ[V~?[Ω[[[[BZYY i) cIi@I= C))CCЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039001.943165 s, next control iter: 1743039002.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039002.343165 s. YJT~?yRAE{7Z7DN9)zB[[+][VV~?[4۩[[[[BZYY i) YIi@!I= T))TᄅT+ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039002.803165 s, next control iter: 1743039003.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039003.183165 s.˲J~,kˆ*AJ"J*J2J:JBJnJvJA(\j@AD;j@A V~? AAER%"AA/hNA"AZAbAjArAzAAAAQŗsA^u@Ac<AH=A9A:3?A`QA?*A9?2A6\ֽ:AJ=BA9?JA6\ֽRAJ=٘i)I9u@YG JJJJJXE&K YIT~?y HRAEŧ7b7P9)~B[[6['V~?[{[[[[BZYY i) vIi&@'I= ))澩ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039003.223165 s, next control iter: 1743039003.583179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039003.603165 s.54J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066557< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039003.603286F (some fields omitted in printout)AQj@AԱJj@AV~? AA%"AA[8hNA"AZAbAjArAzAAAÂO{AmsAou@A/U<Acō=AA ?AA;*A9?2A:Uֽ:A=BA9?JA:UֽRA=٘i)I9ou@Y`G JJJJJ[E&K YHT~?yQAE{7j7Q90B)BE[[[OV~?[[[[[BZYY i) Ii@!H= ޾))޾޾bêYFF!^Clearing failed state for component CTD_Seabird1F]:Waiting for Gazebo time sync: latest Gz time: 1743039003.623165 s, next control iter: 1743039004.003177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12502 , header.stamp.nsec: 0 0 temperature: 13.569160 * salinity: 33.375000 , density: 1025.000000 * values[0]: 0.577123 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039004.023165 s.J "J *J ZJ~2J:J?,|*ABJ?nJ5vJAHz.k@A !k@AV~? Ax Ah %"AAfBhNA"AZAbAjArAzAAA+D 'A$NsA@t@A~(<AP=AhA@?AAVT*A9?2ACֽ:AJ<BA9?JACֽRAJ<٘i)I9t@Y G JآJJJJ^E&K YGT~?yWQAES9)B[[晿[$V~?[[[[[BZYY i) >ȻIi@H= &|վ))&|վ&|վYFF]:Waiting for Gazebo time sync: latest Gz time: 1743039004.063165 s, next control iter: 1743039004.423181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039004.443165 s./ơJ~,]*AAq= ck@AVk@AVV~? A6A%"AA7MhNA"AZAbAjArAzAAA<=5KAD2sA>ct@A ;A!=AWAB?AoA߉*Am9?2Aֽ:A<BAm9?JAֽRA<٘i)I9ct@YG JJJJJ`E&K YFT~?y$!QAE777nU9)B[[Y[,V~?[[[[[BZYY i) XIi@I= ̾))̾̾YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039004.463165 s, next control iter: 1743039004.843173 s, wait time: 0.380008 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12503, header.stamp.nsec: 00 temperature: 13.569383* salinity: 33.375004, density: 1025.000000* values[0]: 0.576473F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039004.863165 s.+͡J~,y>7*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039004.863281F (some fields omitted in printout)J"J*J2J:JBJnJvJAk@AxWk@AC&V~? AA%"AAXhNA"AZAbAjArAzAAAFlAsAs@AA=A٧Aj?AIAٍ*A9?2Au׽:A<BA9?JAu׽RA YT~?yt,PAEŧ779W91B)B!E[[[4V~?[9[[[[BZYY i) IiX@H= vBľ))vBľvBľ9YFF]:Waiting for Gazebo time sync: latest Gz time: 1743039004.883165 s, next control iter: 1743039005.263176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039005.283165 s.9RԡJ~,R*A]"xFailed to acquire real or simulated CTD data within timeout.1-"(Communications FaultA(\k@A@iQk@A.V~? A"A\%"AA.ehNA"AZAbAjArAzAAAŰ9GmAdsAss@A PA =AA f?A@!A*A9?2A 3׽:AP<BA9?JA 3׽RAP<٘i)I9ss@Y+G JJJJJfE&K YT~?yU4jPAEb7b7Y9)B"E[[p[H=V~?[O[[[[BZYY i) Iiƛ@BdG= ))yғSYF-!\Communications Fault in component: CTD_SeabirdF]!\Communications Fault in component: CTD_SeabirdF]:Waiting for Gazebo time sync: latest Gz time: 1743039005.323165 s, next control iter: 1743039005.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12504., header.stamp.nsec: 0.0 temperature: 13.569582.* salinity: 33.375004., density: 1025.000000.* values[0]: 0.575955.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039005.703165 s.ӺڡJ~,m*AJ"J*J2J:Jq?BJq?nJ5vJAQl@ALLk@A7V~? A#*A`%"AAPrhNA"AZAbAjArAzAAAݨ5 AGzsAs@AT=A"=AhA ?ANAIƈ*A9?2A ׽:A<BA9?JA ׽RA<٘i)I9s@YG J=JJJJhE&K Y-T~?y6<PAE777Z92B)B%E[[G[FV~?[\[[[[BZYY i) <"Iib@F= ))żYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039005.723165 s, next control iter: 1743039006.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039006.123165 s.@J~,⇇*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200312 time: 1743039006.123311F (some fields omitted in printout)AG:l@A8{-l@AAV~? A1A3%"AA3hNA"AZAbAjArAzAAAgP ANXsAr@A?AoԊ=AYޅA2{?AAW*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9r@YG JJJJJkE&K YT~?yDOAEZ7Z7\9)B[[[KOV~?[] [[[[BZYY i) 1Ii-@F= Z))ZZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039006.163165 s, next control iter: 1743039006.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039006.543165 s.IJ~,â*AJ"J*J2J:J "2Initializing CTD_Seabird.BJnJvJA= ףpl@Ayܝcl@AJV~? A"9A?%"AAҎhNA"AZAbAjArAzAAA2L]]` A -sAr@A;A-Ō=AYA`Z?AzAA*A9?2Asֽ:Ao=BA9?JAsֽRAo=٘i)I9r@YVG JюB=JJJJnE&K YrT~?yKXOAEj7d^9)B[[[XV~?[T[[[[BZYY i) \AIi&@F= F))FFYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039006.563165 s, next control iter: 1743039006.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12505, header.stamp.nsec: 00 temperature: 13.569757* salinity: 33.375000, density: 1025.000000* values[0]: 0.575443F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039006.963165 s.wJ~,줽*AAffffl@A%c\l@AaUV~? A@A%"AA.hNA"AZAbAjArAzAAAN@R6#d AsAq@ABE<A=ÀAd8?AkA:4*Av9?2AKֽ:A=BAv9?JAKֽRA=YF@ ya=ȽE<ٓH?v?@[??sѱ8??)F@ I٘i)I9q@Y G JzC=J<JJJpE&Kx> YT~?yhSNAE77.`94B)B)E[[i͊[bV~?[8[[[[BZYY i) ۽PIi6@eE= ))YĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039007.003165 s, next control iter: 1743039007.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039007.383165 s.J~,+؇*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075476< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039007.383283F (some fields omitted in printout)J"J*J2J:JBJnJvJA(l@A(l@AA`V~? AGA%"AAEhNA"AZAbAjArAzAAA@BH\ Ap-sAq@A-M<Ar=Af|A@?A8AKÙ*A"9?2Ak`ֽ:AG =BA"9?JAk`ֽRAG =٘i)I9q@YG JJJJJsE&K Y U~?yZNAESI787a9)B[[u[lV~?[[[[[BZYY i) `Iiu@nmD= r))rrƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039007.423165 s, next control iter: 1743039007.783176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12506", header.stamp.nsec: 0"0 temperature: 13.569935"* salinity: 33.375000", density: 1025.000000"* values[0]: 0.574890"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039007.803165 s.vAJ~,wg*AAm@Am@AkV~? A%OAS%"AAhNA"AZAbAjArAzAAA&M\HA@sAp@A;A=AwA?AAiԙ*A9?2Apֽ:A =BA9?JApֽRA =٘i)I9p@YmG JB=JJJJvE&K YU~?yIb9NAEj7Z7c95B)B,E[[Sy[2wV~?[#[[[[BZYY i q) :oIi @ ǰC= Ň)) Ň Ň ɪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039007.823165 s, next control iter: 1743039008.203177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039008.223165 s.gJ~,H*AJ"J*J2J:JBJnJvJAzGm@AW:m@ArwV~? AVVAd%"AAhNA"AZAbAjArAzAAA>b!)A}sAp@AEA˓=ArqA ?AMA5՘*A9?2A%ֽ:A=BA9?JA%ֽRA=٘i)I9p@YG JC=JQ>JJJxE&K> Y(U~?yiMAE)7ŧ7e9)B[[N[V~?[)[[[[BZYY i) ~Ii}@ 0C= 7~))7~7~\˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039008.263165 s, next control iter: 1743039008.623176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039008.643165 s.v J~,*)*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200272 time: 1743039008.643301F (some fields omitted in printout)A ףp}m@AGvepm@AV~? As]AT%"AAhNA"AZAbAjArAzAAAH\5A`XsAao@AP1A<=ASlA`g?A@A$*A9?2A0׽:A =BA9?JA0׽RA =٘i)I9o@YG JyJQ>JJJ{E&K> Y8U~?y&qyMAE{7{7Yg97B)B0E[[C#[V~?[]/[[[[BZYY i) !IiG@B= l))lltReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12507, header.stamp.nsec: 00 temperature: 13.570143* salinity: 33.375004, density: 1025.000000* values[0]: 0.574325F (some fields omitted in printout)^ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039008.663165 s, next control iter: 1743039009.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039009.063165 s.J~,N D*AJ"J*J2J:JBJnJvJA3333m@A8+m@AV~? A|dAN%"AAhNA"AZAbAjArAzAAA|$TAsAo@A?TA:=AgA}?AJRAc*Aڱ9?2A(%׽:AI =BAڱ9?JA(%׽RAI =Y^"@ZSgy7=TٓHо? ?@ ?a?@^" `e?)^"@ I٘i)I9o@YG JwB=JH<JJJ~E&K+x> YIU~?yxMASgEb77$i9)B[[[}V~?[4[[[[BZYY i) RIi(@{A= p[))p[p[yҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039009.103165 s, next control iter: 1743039009.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039009.483165 s.y_J~,^*AA\m@A m@AÝV~? ApkA%"AA iNA"AZAbAjArAzAAA9OZA,)sAn@AALƜ=AZaAN?A@Aw*A9?2Asֽ:A=BA9?JAsֽRA=٘i)I9n@Y4G J<C=JJJJE&K Y [U~?y~LAEj98B)ïB3E[[+{[6V~?[:[[[[BZYY i) ;Ii8@G@= @9J))@9J@9J|תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039009.523165 s, next control iter: 1743039009.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12508, header.stamp.nsec: 00 temperature: 13.570333* salinity: 33.375008, density: 1025.000000* values[0]: 0.573769F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039009.903165 s.J~,y*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743039009.903318F (some fields omitted in printout)AQn@A n@AqV~? ANrA>%"AAiNA"AZAbAjArAzAAA @<A3sA n@A4e:A[=A\A?AwAɩ*AϦ9?2Ax}ֽ:A=G=BAϦ9?JAx}ֽRA=G=٘i)I9 n@YG JRB=JJJJE&K YlU~?y慪ELAEj7j7l9)ǯB[[Dw[EV~?[@[[[[BZYY i) vȝIiu@$O?=  8)) 8 8fܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039009.943165 s, next control iter: 1743039010.303177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039010.323165 s.r$J~,*AAGzTn@AoGn@AV~? AyA2%"AA2iNA"AZAbAjArAzAAAesA[6sAwm@Aw1<Aϫ=AWA?A ZA*A9?2A3ֽ:A,=BA9?JA3ֽRA,=٘i)I9wm@YG JC=JJJJE&K Y}U~?yόKAE77n9)ͯB6E[[_r[V~?[E[[[[BZYY i) SIi@i>= j'))j'j'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039010.363165 s, next control iter: 1743039010.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12509*, header.stamp.nsec: 0*0 temperature: 13.570521** salinity: 33.375011*, density: 1025.000000** values[0]: 0.573160*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039010.743165 s.W+J~,d*AJ"J*J2J:J?BJ?nJ5vJAףp=n@A1}n@AV~? AA5%"AAHiNA"AZAbAjArAzAAA Z A)KsAl@A:qX<AS=ARAܭ?A`LA-*A9?2A'ֽ:AKu=BA9?JA'ֽRAKu=٘i)I9l@Y*G JVJJJJE&K YtU~?ywKAE{7j7Np99B)үB7E[[n[XV~?[K[[[[BZYY i) ߬Ii}@N>= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039010.783165 s, next control iter: 1743039011.143176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039011.163165 s.v}2J~,qʈ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039011.163287F (some fields omitted in printout)An@A"8n@AV~? A^Aֳ%"AA_iNA"AZAbAjArAzAAA܈p2ARsA@l@Af#<A6=A{}MA@Uu?A Ab*AÙ9?2A_ֽ:A=BAÙ9?JA_ֽRA=Yc@kGMy=#<ٓH-?@?@?6`F;?`4>l? ?)c@ I٘i)I9@l@YG J廼Je<JJJE&Kx> YU~?y KAGMEZ7r9:B)دB:E[[6j[CV~?[YP[[[[BZYY i) a6Ii0@g<= ))OYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039011.183165 s, next control iter: 1743039011.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039011.583165 s.8J~,S*AJ"J*J2J:J?BJ?nJ5vJA)\n@ARn@AV~? A݌A3%"AAviNA"AZAbAjArAzAAAVFA; uIsAk@AՄ:A7=AdHA`;?A@dA*A>9?2Aֽ:AI=BA>9?JAֽRAI=٘i)I9k@YhG JJJJJE&K YU~?y_JAE777s9;B)ޯB=E[[e[V~?[U[[[[BZYY i) NIi@O:=  f)) f潩 fTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039011.603165 s, next control iter: 1743039011.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12510, header.stamp.nsec: 00 temperature: 13.570752* salinity: 33.375015, density: 1025.000000* values[0]: 0.572486F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039012.003165 s.w @J~,H4*AAR+o@A!yo@A_V~? ACA%"AAiNA"AZAbAjArAzAAA/FAu4'1sAj@AWAAN=ABA@]?ApA*A9?2AD ׽:A40=BA9?JAD ׽RA40=٘i)I9j@YG JJJJJE&K YQU~?y#JAEb77u9)B[[k~a[V~?[Z[[[[BZYY i) ¼Ii#@x9= tý))týtý/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039012.043165 s, next control iter: 1743039012.403177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039012.423165 s.uFJ~,r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039012.423272F (some fields omitted in printout)J"J*J2J:JBJnJvJA{Gao@Aۋh;To@AW~? AA9%"AAiNA"AZAbAjArAzAAA11Ap sA]j@ARAX=Al\=A)?A"AG¼*A 9?2A ׽:Ah=BA 9?JA ׽RAh=٘i)I9]j@YG JJJJJE&K YU~?yIAE77yw9B)BDE[[GX[: W~?[e[[[[BZYY i) KѼIiϏ@b8= z))zzYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039012.863165 s, next control iter: 1743039013.243226 s, wait time: 0.380061 s rAdjusting time to match Gazebo time: 1743039013.263165 s.TJ~,P*AJ"J*J2J:JBJnJvJAo@A@aÿo@Ad(W~? AԥAH%"AAziNA"AZAbAjArAzAAAf3"YA}TsA i@ArAU=Af'3A/?A` Akμ*A9?2AÏֽ:A9=BA9?JAÏֽRA9=Y4@<3y=msٓH``? D??5~z?`)S9UOn ?)4@ I٘i)I9 i@Y G JʼJ(<<JJJE&Kx> Y#V~?yHA<3E77{7{9)B[[W]T[W~?[j[[[[BZYY i) AؼIiV@16= 4))44YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039013.283165 s, next control iter: 1743039013.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 125122, header.stamp.nsec: 020 temperature: 13.5712252* salinity: 33.3750462, density: 1025.0000002* values[0]: 0.5710822F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039013.683165 s.lZJ~,sk*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084470< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039013.683315F (some fields omitted in printout)A(\p@Akco@A9W~? AΫA;%"AAiNA"AZAbAjArAzAAA (A-R+tA;]h@A);A=AQ).Ax?A2A ּ*Aֈ9?2A1ֽ:A=BAֈ9?JA1ֽRA=٘i)I9]h@Yk G JEҼJJJJE&K YV~?yPHAE7|9)BGE[[O[[*W~?[o[[[[BZYY i) ߼Ii @4= ݼ))ݼݼYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039013.683165 s, next control iter: 1743039014.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743039014.103165 s.aJ~,*AJ"J*J2J:JBJnJvJAQ8p@APoF+p@AKW~? AA^%"AAY jNA"AZAbAjArAzAAA!jؿAvtA3g@AH<Aϴ=A)A:H?A@aAS@ۼ*A 9?2A|ֽ:A=BA 9?JA|ֽRA=٘i)I9g@Y G JؼJJJJE&K YF2V~?yVĪGAE77~9?B)BJE[[K[j9W~?[s[[[[ZZ¸BZYY i¸t=) ӼIi@Y3= !))!!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039014.123165 s, next control iter: 1743039014.503179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039014.523165 s.gJ~,{*AAHznp@Ac ap@A]W~? AkA %"AA(jNA"AZAbAjArAzAAADT5ſA IB tAf@AU"I<A=A#A Ϟ?A`ȉAܼ*A9?2A"ֽ:A}=BA9?JA"ֽRA}=٘i)I9f@Y G JeܼJJJJE&K YGV~?yʪ`GAEo9)B[[.G[HW~?[x[[[[ZZBZYY i) ~ǼIi@1= ;));;YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039014.543165 s, next control iter: 1743039014.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12513, header.stamp.nsec: 00 temperature: 13.571492* salinity: 33.375034, density: 1025.000000* values[0]: 0.570296F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039014.943165 s.]dnJ~,W]*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199582 time: 1743039014.943286F (some fields omitted in printout)Aq= ףp@AS]˖p@ApW~? A A}%"AADjNA"AZAbAjArAzAAAM?A,&1в tA"f@AX;Ai=AbA R?A/A*Aڐ9?2Arֽ:A<BAڐ9?JArֽRA<٘i)I9"f@Y G JJJJJE&K Yj]V~?yϪFAE{7{799@B)BME[[B[yXW~?[q}[[[[ZZBZYY i) IiE@0= <))<<YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039014.963165 s, next control iter: 1743039015.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039015.363165 s.uJ~,h>׉*AAp@A>p@AwW~? A«A%"AA`jNA"AZAbAjArAzAAA%C(?AetAuGe@AϔzAS=A!AE?A߿A*A9?2A<ֽ:A6<BA9?JA<ֽRA6@T4yS=B{ٓH`^?@)?_?`q?ƲRo?)>@ I)I٘i)I9Ge@Y G JJJJJE&Kw> YtV~?yԪFA4Ej7Z79BB)BRE[[]>[PhW~?[[[[[ZZBZYY i) LIi@.=  +=)) += +=yר=qЪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039015.383165 s, next control iter: 1743039015.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12514&, header.stamp.nsec: 0&0 temperature: 13.571752&* salinity: 33.375053&, density: 1025.000000&* values[0]: 0.569396&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039015.783165 s.J "J *J 2J :J ?BJ ?nJ 5vJ X{J~,*AA(\q@AΧUq@AǖW~? AǫAb%"AA}jNA"AZAbAjArAzAAAF >?Ax*4ZtA(wd@A'L@AQp=AuA+?A޿At*A-9?2Ajֽ:AU<BA-9?JAjֽRAU<٘i)I9wd@Y G JB=JJJJE&K YV~?y٪FAE77υ9)B[[9[~xW~?[[[[[ZZBZYY i) |Ii+@x-= q=))q=q=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039015.803165 s, next control iter: 1743039016.183175 s, wait time: 0.380010 s*V~?)*٪ rAdjusting time to match Gazebo time: 1743039016.203165 s.J~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039016.203275F (some fields omitted in printout)AQEq@ATb8q@AqW~? A8ͫA:>%"AAnjNA"AZAbAjArAzAAA}?A! 2tAc@AaA -=AVA ?Ap=޿A'ȼ*A19?2Aֽ:AB`;BA19?JAֽRAB`;٘i)I9c@Y G JܼC=JJJJE&K YgV~?yުEAEj7{79)$BUE[[+5[W~?[[[[[ZZBZYY i)  Ii@b+= ]=))]=]=EsYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039016.243165 s, next control iter: 1743039016.603175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039016.623165 s.\J~,q'*AJ"J*J2J:JBJnJvJAGzq@Amq@AtW~? A\ҫAz%"AAzjNA"AZAbAjArAzAAAAȞ H?AtA@!c@AAD<Aw A7?A@1ݿAk9*A9?2A`ֽ:A2BA9?JA`ֽRA2٘i)I9!c@Y< G JJJJJE&K YV~?yTEAE77d9CB)*BXE[['1[˙W~?[[[[[ZZBZYY i) iIḯ@)= =))==vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039016.643165 s, next control iter: 1743039017.023183 s, wait time: 0.380018 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12515 , header.stamp.nsec: 0 0 temperature: 13.572062 * salinity: 33.375084 , density: 1025.000000 * values[0]: 0.568541 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039017.043165 s.J~,B*AA= ףq@A'q@AW~? A`׫A/u%"AA jNA"AZAbAjArAzAAAri?AYbtAb@A.9A,<ANA?AFܿAk*Am9?2A9ֽ:AJBAm9?JA9ֽRAJ٘i)I9b@Y G JؖJJJJE&K YV~?yxDAE77/9).B[E[[,[W~?[ߓ[[[[ZZBZYY i) |ȁIi@(= `=))`=`=]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039017.063165 s, next control iter: 1743039017.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039017.463165 s.J "J *J 2J :J u?BJ u?nJ 5vJ eJ~,']*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083231< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743039017.463322F (some fields omitted in printout)Affffq@A|E^q@AzW~? ACܫAe%"AAjNA"AZAbAjArAzAAAI *j?AԿ tABb@A<AA0A?A`ܿAѧ8*A9?2Aֽ:AN{BA9?JAֽRAN{٘i)I9Bb@Y G JgdB=JJJJE&K YgV~?ynDA EEb79)1B[[([NW~?[![[[[ZZBZYY i) ZMlIi.@M'= >))>>v)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039017.483165 s, next control iter: 1743039017.863187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12516, header.stamp.nsec: 00 temperature: 13.572225* salinity: 33.375065, density: 1025.000000* values[0]: 0.567956F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039017.883165 s.yJ~,8x*AA(r@APOr@AyW~? AA(%"AAkNA"AZAbAjArAzAAA!Ld?A#tAb@AP<AAA`?A`;ۿA1ջ*A19?2A ֽ:A<BA19?JA ֽRA<٘i)I9b@Y G JC=JJJJE&K YW~?yd%DA E7Ď9EB)5B_E[[#[W~?[L[[[[ZZBZYY i=)  UIi@;'= >))>>)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039017.903165 s, next control iter: 1743039018.283179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039018.303165 s.SJ~,jg*AJ"J*J2J:JY?BJY?nJi5vJAQr@A CDr@AX~? AAZ%"AA6kNA"AZAbAjArAzAAAW:n?Ax&tA{a@A<AKA^A]?AqtڿAʺ*A9?2AБֽ:AӼBA9?JAБֽRAӼ٘i)I9a@Y{ G JJJJJE&K YW~?yYCA E79FB)7BbE[[K"[W~?[`[[[[BZYY i) =IiN@G&= @'>))@'>@'>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039018.323165 s, next control iter: 1743039018.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12517., header.stamp.nsec: 0.0 temperature: 13.572248.* salinity: 33.375080., density: 1025.000000.* values[0]: 0.567726.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039018.723165 s.J~,H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092613< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039018.723278F (some fields omitted in printout)Azr@Azzr@Aa'X~? A Ar%"AA3WkNA"AZAbAjArAzAAA[ @AGE_5)tAa@A3 c:A^?A6)߾A``?A@ ٿA#L;*A΃9?2ADֽ:ABA΃9?JADֽRA٘i)I9a@Y} G J49JJJJE&K Yc/W~?yO[CAEZ9)[[[W~?[[[[[[BZYY i) &Ii'@&= P9>))P9>P9>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039018.743165 s, next control iter: 1743039019.123174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039019.143165 s.V/J~,*Ɋ*AJ"J*J2J:JBJnJvJA ףpr@Aմir@AC=X~? AzA%"AA xkNA"AZAbAjArAzAAA(0w@AGS+tA b@AAWbkAw վA?A`mؿA6I;*Au9?2AGս:AܑBAu9?JAGսRAܑ٘i)I9 b@Y G J;B=JJJJE&K YFW~?yEBAE{7j7$9)6BeE[["[vX~?[>[[[[BZYY i) \FIi0@&= K>))K>K>yɖ=О*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039019.163165 s, next control iter: 1743039019.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039019.563165 s.J~,p *AA3333r@A~k'r@AkSX~? AAJW%"AAzkNA"AZAbAjArAzAAAIF@A7,o.tALb@A%yZA鬈AʾA?A`LؿA=B<*Ah9?2Aս:APBAh9?JAսRAPYf@!^ʾy˩ZٓH w? a?`ެmؿ`?u??N ?)f@ I٘i)I9Lb@Y G J@<C=J᪾JJJE&K> Y`W~?yRCA^ʾE77{79GB)4BhE[[s[X~?[[[[[BZYY i<=) yIi=@%$= m]>))9ym]>m]>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039019.603165 s, next control iter: 1743039019.963182 s, wait time: 0.360017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12518, header.stamp.nsec: 00 temperature: 13.572129* salinity: 33.375126, density: 1025.000000* values[0]: 0.567863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039019.983165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243382> elevatorAngleAction: 0.046100< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039019.983284F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(s@AձJs@AiX~? AAE%"AA=kNA"AZAbAjArAzAAA]F-@AG)0tAb@AM<A[ژA ^A[?A <׿AP1{<*A`]9?2A]ս:A#BA`]9?JA]սRA#٘i)I9b@Y G J\<JJJJE&K YzW~?y CAE9)2BkE[[> [p)X~?[[[[[BZYY i=) dIi|@!= pDo>)) pDo>pDo>8*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039020.003165 s, next control iter: 1743039020.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039020.403165 s.&ƢJ~,*AAQ^s@AѯQs@AX~? AA%"AAkkNA"AZAbAjArAzAAAe5 @AX@Q3tA!c@AUsATBA}⵾A?A_ֿA<*Az9?2AԽ:ABAz9?JAԽRA٘i)I9!c@Y< G JŽ<B=JJJJE&K YW~?yq  DAEŧ779RB)9BnE[[/[h))X>X>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039020.443165 s, next control iter: 1743039020.803185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12519, header.stamp.nsec: 00 temperature: 13.571858* salinity: 33.375118, density: 1025.000000* values[0]: 0.568323F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039020.823165 s.̢J~,ɯ4*AJ"J*J2J:J}?BJ}?nJ5vJAGzs@Aqs@A}X~? AxAl%"AAkNA"AZAbAjArAzAAATb @A:G5tAc@Ah;A`A_A L?A`տAj<*A 9?2Ar9ս:ABA 9?JAr9սRA٘i)I9c@Y G J{<C=JJJJE&K YW~?yeDAES77O9)4B[[k@[OX~?[[[[[BZYY i) 0Iiw@= >))>>*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039020.863165 s, next control iter: 1743039021.223186 s, wait time: 0.360021 s rAdjusting time to match Gazebo time: 1743039021.243165 s.ӢJ~,dO*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199352 time: 1743039021.243300F (some fields omitted in printout)Aףp=s@AF 2s@AX~? AA$%"AA"lNA"AZAbAjArAzAAA<%@A7tAGd@A K<AȭA8ؠA ?AವԿAҶ<*A9?2Aս:ABA9?JAսRA٘i)I9Gd@Y G J<JJJJE&K YW~?y:DAEZ7Z79SB)0BrE[[s[/cX~?[[[[[BZYY i) !Iit@V= 髒>))髒>髒>y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039021.283165 s, next control iter: 1743039021.643176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039021.663165 s.ڢJ~,qj*AJ"J*J2J:J?BJ?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12520, header.stamp.nsec: 00 temperature: 13.571483* salinity: 33.375137, density: 1025.000000* values[0]: 0.569073F (some fields omitted in printout)At@As@AX~? AAQ%"AAAFlNA"AZAbAjArAzAAA&`f@AP9tAd@A I<AîAA>?A@ӿAn<*A9?2A(ս:ABA9?JA(սRAY֛@y3cJ<ٓH?1?`ʵҿ?@?=ѵ?4??)֛@ I٘i)I9d@YQ G J<JZ5JJJE&KOt> YW~?y6EA!E7777䞨9),BuE[[[vX~?[L[[[[BZYY i) /LIiqp@= !>))W!>!>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039021.683165 s, next control iter: 1743039022.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039022.083165 s.DJ~,S*AA)\5t@AO(t@AX~? AA`%"AAilNA"AZAbAjArAzAAA3S@A`"))  > >*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039022.123165 s, next control iter: 1743039022.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039022.503165 s.J~J"J,@4*A*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039022.503280F (some fields omitted in printout)ARkt@A2z^t@AX~? A% AS[%"AAlNA"AZAbAjArAzAAA&Ŧ@Ah7=tAp@f@AJxAAA?Af#ҿA <*A$9?2AuԽ:A BA$9?JAuԽRA ٘i)I9@f@Y" G J<C=JJJJE&K YX~?y!FA&Eŧ7b7z9)!B{E[[m[X~?[ê[[[[BZYY i)  Ii>i@F= ᱭ>))ᱭ>ᱭ>)*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039022.523165 s, next control iter: 1743039022.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12521, header.stamp.nsec: 00 temperature: 13.571074* salinity: 33.375134, density: 1025.000000* values[0]: 0.569928F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039022.923165 s.8J~,*AA{Gt@A;t@A Y~? A2A"%"AA8lNA"AZAbAjArAzAAA@Ai]u?tAf@Ao!9A A=YqA'?A@JѿA!<*AN9?2AyԽ:ABAN9?JAyԽRA٘i)I9f@Y G J<JJJJE&K Y 5X~?yuFA)E77j7D9TB)B~E[[Q۾[X~?[}ƪ[[[[BZYY i) Ii5f@U= !ζ>))!ζ>!ζ>*Yz*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039022.963165 s, next control iter: 1743039023.323178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039023.343165 s.))>>J*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039023.363165 s, next control iter: 1743039023.743176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12522&, header.stamp.nsec: 0&0 temperature: 13.570614&* salinity: 33.375160&, density: 1025.000000&* values[0]: 0.570829&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039023.763165 s.?J~,A*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743039023.763325F (some fields omitted in printout)A u@AN"t@Ai>Y~? AAm%"AAlNA"AZAbAjArAzAAAk@AEE)4JCtAGh@A)2A|֜AUGA &?AMϿAI<*A9?2A"zս:ABA9?JA"zսRAYջ@]FyR՜ٓH`MN?C? ֲ%ȿd?ɖ?•?1&?)ջ@ I٘i)I9Gh@Y^ G J<J<JJJE&Ku> YkX~?y uGAF.E777ڧ9)B[[ɾ[3X~?[̪[[[[BZYY i) @<:Ii"_@= >)){>> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039023.803165 s, next control iter: 1743039024.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039024.183165 s.J~,c *AJ"J*J2J:JBJnJvJA(\Bu@A/5u@A WY~? AtA x%"AA mNA"AZAbAjArAzAAArFf0D@AU+DtAh@AM:AA1A BN?A`AͿA1<*A 9?2A ֽ:A BA 9?JA ֽRA ٘i)I9h@Y G J<JJJJE&K YpX~?yi"GA1E9) BE[[[X~?[Ϊ[[[[BZYY i) ;Ii[@8 = &>)) &>&>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039024.203165 s, next control iter: 1743039024.583175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039024.603165 s.64 J~,&*AAQxu@A]Eku@AoY~? AAF%"AA`FmNA"AZAbAjArAzAAA$q@Au#A]FtA|i@ArW&<A<AkAv?Aa˿A<*A9?2A'ս:ABA9?JA'սRA٘i)I9|i@YG J-<JJJJE&K Y$X~?y$GHA3E7o9)BE[[}ȶ[EY~?[@Ѫ[[[[BZYY i) P;IioW@ = 9W>))9W>9W>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039024.623165 s, next control iter: 1743039025.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12523 , header.stamp.nsec: 0 0 temperature: 13.570178 * salinity: 33.375179 , density: 1025.000000 * values[0]: 0.571681 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039025.023165 s.ZJ~,|A*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.063736< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039025.023286F (some fields omitted in printout)J"J*J2J:JBJnJvJAHzu@A| u@AЈY~? A,A%"AAlmNA"AZAbAjArAzAAA~gXП@A GtA j@A=Z<AAbA K?A@ɿAi<*A9?2AJս:AӵBA9?JAJսRAӵ9٘i)I9 j@YpG Jħ<JJJJE&K Y׾X~?y%HA6Eb77:9)BE[[e[Y~?[Ӫ[[[[BZYY i) ;Ii&T@= Q>))Q>Q>\*Y'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039025.043165 s, next control iter: 1743039025.423178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039025.443165 s.5J~,5]\*AAq= u@Au@AY~? AMAG%"AAmNA"AZAbAjArAzAAAA Z@AK`ItAfj@AL<AۊA.A>?AǿA<*A9?2Azeս:AsBA9?JAzeսRAs٘i)I9j@YG JM<JJJJE&K YX~?y'IA9E79)BE[[?[l1Y~?[ժ[[[[BZYY ilĕ=) ;Ii@Q@= ->))->->X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039025.463165 s, next control iter: 1743039025.843178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12524, header.stamp.nsec: 00 temperature: 13.569800* salinity: 33.375183, density: 1025.000000* values[0]: 0.572441F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039025.863165 s.+J~,>w*AJ"J*J2J:J?BJ?nJ5vJAv@A 1 v@A+Y~? AF A%"AA-mNA"AZAbAjArAzAAA@A!:BJtAuk@A+?:AAA?AſA<*AQ9?2Aiս:A BAQ9?JAiսRA Y @c y쪇g?:ٓH? c?`㰿뷿 ? dhv?0?@zG??) @ I٘i)I9k@YG J<J<JJJE&K u> YX~?yV(uIA ;E77{7ϰ9)BE[[%[GY~?[)ت[[[[BZYY i) 4;IiL@b= >))dmw>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039025.903165 s, next control iter: 1743039026.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039026.283165 s.4R$J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241628> elevatorAngleAction: 0.073129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039026.283321F (some fields omitted in printout)A(\Ov@AߤiPBv@AY~? A"A%"AAmNA"AZAbAjArAzAAA&6@ACy^KtADk@AS A@AxA?Ak)ĿAޕ<*A9?2Auս:A}BA9?JAuսRA}٘i)I9k@Y`G J4<JJJJE&K YY~?y))IA>EZ7Z79)BE[[̑[\Y~?[:ڪ[[[[BZYY i) pT;IiYH@9= )?))>)?)?*YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039026.303165 s, next control iter: 1743039026.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12525., header.stamp.nsec: 0.0 temperature: 13.569446.* salinity: 33.375202., density: 1025.000000.* values[0]: 0.573147.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039026.703165 s.պ*J~, *AJ"J*J2J:JBJnJvJAQv@AF~xv@AY~? A#A}%"AAnNA"AZAbAjArAzAAAY;=k@AwcaLtAl@AVAAQ^A@ ?A/A¿A<*A:?2ABӽ:A|BA:?JABӽRA|٘i)I9l@YG J<JJJJE&K Y.Y~?y)+JAAE{7j7e9)B[[w[sY~?[.ܪ[[[[BZYY i) X%A^%"AA+nNA"AZAbAjArAzAAA,A6@AIJMtADl@A2AuAY A#?ArsA&<*A%:?2A GԽ:AGkBA%:?JA GԽRAGk٘i)I9l@YG J<JJJJE&K Y KY~?y*JADE77{7/9)BE[[)~[yY~?[ު[[[[BZYY i) gN elevatorAngleAction: 0.073129< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039027.543341F (some fields omitted in printout)A= ףv@AXv@AN!Z~? A&AC%"AARnNA"AZAbAjArAzAAAKQojl @A=XNtAl@A^@AÃA/FeA@7?A@5ALˇ<*A.:?2AcԽ:ABA.:?JAcԽRA٘i)I9l@Y<G J<B=JJJJE&K Y0gY~?y+JAFEb779SB)BE[[[Fk[ Y~?[ߪ[[[[BZYY i) ?))D>?D>?g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039027.583165 s, next control iter: 1743039027.943180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12526, header.stamp.nsec: 00 temperature: 13.569077* salinity: 33.375210, density: 1025.000000* values[0]: 0.573835F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039027.963165 s.x>J~,*AAffff&w@AjjZw@A;Z~? A'AB*%"AAynNA"AZAbAjArAzAAA0>j!@A2iNtAlm@A;AAڄAKf;A MI?AjtAp<*A9?2Aս:A'BA9?JAսRA'YiA@;yل@;ٓH ? |@HBz?@?t|5?`z??)iA@ I٘i)I9lm@YG J<C=JV;JJJE&K[t> YoY~?y+;KA;IE{7j7Ź9)BE[[X[Y~?[P[[[[BZYY iȧ=) w/ elevatorAngleAction: 0.081926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039028.803300F (some fields omitted in printout)Aw@A稣w@AnZ~? A)AQ%"AAnNA"AZAbAjArAzAAA%B"@A)!{OtA5Hn@AC<AEAڵA=A g?AAen<*A:?2AԽ:ABA:?JAԽRA٘i)I9Hn@YG JA<JJJJE&K YY~?yw+KANEZ9)BE[[2[WY~?[[[[[BZYY i) 0N elevatorAngleAction: 0.081926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743039030.063299F (some fields omitted in printout)A33333x@ANw(&x@A̼Z~? A;+A%"AA=oNA"AZAbAjArAzAAAo$@A`xPtAro@A AA*ԔAM[=A}?A3Am<*A:?2A#XԽ:ABBA:?JA#XԽRABY YZ~?yl*MA=VE{7{7¨9)կBE[[?[8*Z~?[R[[[[BZYY i) Q}AX?A@uA8<*A9?2AԽ:ABA9?JAԽRA٘i)I90p@Y/G J`<JJJJE&K Y,Z~?y})gMAYE77Ĩ9)ЯB[[ͽ[AZ~?[ [[[[BZYY i) xDA?A@{m?A<*At:?2A^1ӽ:AiBAt:?JA^1ӽRAi٘i)I9p@YG J<JJJJ E&K YHZ~?y(MA\E77{7Oƨ9)̯BE[[v~[ZYZ~?[[[[[BZYY i) ߍ elevatorAngleAction: 0.081926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039031.323285F (some fields omitted in printout)AGzx@ALnx@A [~? Aa+A%"AAjoNA"AZAbAjArAzAAA)Q%@AӟnQ QtADq@A;AWA)>A e?A`P?A<*A:?2A@oӽ:AptBA:?JA@oӽRApt٘i)I9Dq@YG J<B=JJJJ E&K YdZ~?y'/NA^ESI7SI7Ȩ9QB)ǯBE[[lS[BqZ~?[U[[[[BZYY i) R|>A}?AҦ?A<*A:?2A%<Խ:A)BA:?JA%<ԽRA)(I٘i)I9q@Y-G J`<C=JJJJE&K YڀZ~?y&NAaE777ɨ9)¯BE[[<1[RZ~?[[[[[BZYY i) =Aw?A`?A"0<*A:?2A<Խ:ABA:?JA<ԽRAY@@;R>y&\W<ٓH9?9ʿye?|Q?@~???)@ I٘i)I9br@YG J"<JJJJE&Kr> Y|Z~?y$OA;R>dE˨9PB)BE[[;ȼ[Z~?[[[[[BZYY i) y elevatorAngleAction: 0.081926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199542 time: 1743039032.583278F (some fields omitted in printout)A)\uy@AQ,hy@AY[~? A*A%"AA*pNA"AZAbAjArAzAAARjh'@A/E=PtAzr@As8<AAĶg>Am?A@?A/<*A :?2Aս:ABA :?JAսRA٘i)I9r@YG J<JJJJE&K YZ~?y#qOAfE77{7zͨ9)BE[[^[Z~?[[[[[BZYY i) ګOtAs@AF&A骽A{>A@Fd?A?AOO<*A*:?2Aҽ:ABA*:?JAҽRA٘i)I9s@Y@G J-<JJJJE&K YZ~?yP!OAiE77EϨ9OB)BE[[Qf`<[OZ~?[[[[[BZYY i) ;A`W?AdC?Ai<*A2:?2A-ҽ:A"BA2:?JA-ҽRA"٘i)I9:t@YG J <B=JJJJE&K Y`Z~?yPPAlEb77Ѩ9)B[[&=[Z~?[[[[[BZYY i) G elevatorAngleAction: 0.081926< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039033.843299F (some fields omitted in printout)Ap= z@A z@A[~? AS'Aw%"AApNA"AZAbAjArAzAAAW<)@A eiNtAt@AVA孽Aj̐>A H?A ?A<*A9:?2Aҽ:AvBA9:?JAҽRAv٘i)I9t@Y G J*<C=JJJJE&K Y [~?yPAnEj7Z7Ҩ9)BE[[V=[8[~?[[[[[BZYY i̹=) A`6?Ajv?A4<*A4:?2Arӽ:A,BA4:?JArӽRA,Y"C=>yt @,ٓHl?ӿM?`͊?̘K˵?s?)"C= I٘i)I9u@YvG J<J")JJJE&Ko> Y%[~?y4QA>qEj7Ԩ9NB)BùE[[=[k[~?[[[[[BZYY i) CA@!?A?A<*A):?2A~Խ:ApBA):?JA~ԽRAp٘i)I9?v@YG J<JJJJ"E&K Y@[~?yvQAtEŧ7ŧ7p֨9)BƹE[[E=[2[~?[x[[[[BZYY i)  elevatorAngleAction: 0.090723< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039035.103287F (some fields omitted in printout)AQz@AAFz@A[~? A)#Af%"AAqNA"AZAbAjArAzAAArXx+@A8LtA=v@AO;A)AP%>A` ?A ?Al<*AH:?2Acҽ:ABAH:?JAcҽRA٘i)I9v@YGG J+<JJJJ$E&K Y[[~?yRAvE77:ب9MB)BɹE[[;=[XK[~?[[[[[BZYY i) A?A@?A\<*A[L:?2A:jҽ:ABA[L:?JA:jҽRA٘i)I9w@YG J<JJJJ'E&K Yv[~?y4RAyE77{7ڨ9)B̹E[[mA>[d[~?[[[[[BZYY i)  A@?AĜ?A <*AO:?2A;ҽ:A BAO:?JA;ҽRA ٘i)I9@x@YG J<JJJJ*E&K Y[~?y SA|E77ۨ9LB)BϹE[[Ո>[|[~?[[[[[ZZZZ¸>BZYY i¸>) *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.082808< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039036.363274F (some fields omitted in printout)AY{@A-L{@A?\~? AA%"AALqNA"AZAbAjArAzAAAhF-@A d#HtAx@A;A;eA>Aཻ?A %V?AM<*AE:?2Aҽ:ABAE:?JAҽRAY:>>yd7;ٓHU? A ٿ̻ ?? r? ?pr?@?):> I٘i)I9x@YG J<B=J*;JJJ-E&Kn> Y[~?y" SA>~Eb77ݨ9JB)BιE[[->[:[~?[s[[[[ZZZZBZYY i) A7?A` ?A@=*AL:?2AKӽ:ABAL:?JAKӽRA٘i)I9y@YG Jg<C=JJJJ/E&K Y[~?y TAEj7Z7eߨ9IB){BѹE[[mA>[ǭ[~?[[[[[ZZZZBZYY i) z*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039036.803165 s, next control iter: 1743039037.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039037.203165 s.ӣJ~,M*AAQ{@A4{@Aq\~? AA"%"AAuqNA"AZAbAjArAzAAAxJv.@AaEtA΢z@ABA;A|>A@w?A?Alt=*A |:?2Abѽ:A¼BA |:?JAbѽRA¼٘i)I9z@YG J=JJJJ2E&K Yt[~?yC|TAE{709)sBԹE[[)V>[p[~?[[[[[ZZZZBZYY i) 6֮AtU?A`?At<*A6:?2AɅѽ:A;yBA6:?JAɅѽRA;y٘i)I9{@YG J=B=JJJJ5E&K Yk[~?yTAEb7b79HB)lB׹E[[ j>[4[~?[ߪ[[[[ZZZZBZYY i) A1?Af?AJ_<*Ad:?2Aѽ:Av׻BAd:?JAѽRAv׻٘i)I9I|@YG J<C=JJJJ7E&K Y`\~?yctUAE{7j79GB)eBڹE[[i>[[~?[ݪ[[[[ZZZZBZYY i) 䨖A` ?A?A<*A:?2AQҽ:A(:BA:?JAQҽRA(:Y^z>>yFܼ%;ٓH?$޿ 1Ϣ?`3? ϐ`?5p??)^z> I٘i)I9|@YG J<J>JJJ:E&K5n> Y9,\~?y)UA>E7779)_B[[C>[\~?[۪[[[[ZZZZBZYY i) P2I?tAr}@AC<Ab#Am?A?A`h?A@ <*A':?2Ayӽ:Ae<BA':?JAyӽRAe<٘i)I9r}@YBG JԚ<JJJJ=E&K YE\~?yUAEŧ7b7[9FB)[BݹE[[U>[)\~?[٪[[[[ZZZZBZYY i) < 4?))l܁4?4? l)Y>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039038.923165 s, next control iter: 1743039039.283179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039039.303165 s.SJ~,jgӏ*AJ"J*J2J:JBJnJvJA|@Ah|@A\~? A= A)%"AArNA"AZAbAjArAzAAAA0@Aqi=tA}@AKc<A;A ?A=?AT?A?)<*A:?2Aѽ:A[<BA:?JAѽRA[<٘i)I9}@YzG J\<JJJJ?E&K Y]\~?yUAEZ7SI7%9EB)WBE[[Ǟ>[A\~?[Lת[[[[ZZZZBZYY i) [mZ\~?[Ԫ[[[[ZZZZBZYY i) nZ=A?A X?A?A9:*Ar:?2Aӽ:An<BAr:?JAӽRAn<٘i)I9%~@YG J;JJJJEE&K Y\~?yB-VAEb779)PB[[#>[s\~?[Ҫ[[[[BZYY i) wE:?y{/=/kٓHi? B Ξ?p?m?`l? ?)B> I٘i)I9&~@Y J )9J?*>JJJGE&Kq> Y\~?yJUA:?E{7Z79AB)OBE[[g>[M\~?[)Ϫ[[[[BZYY i,j) 4*AJ"J*J2J:JBJnJvJA\}@Ah$}@AK]~? A}A(/%"AA sNA"AZAbAjArAzAAA~1@Ag5tA ~@ALWAX=Ay?AC?A+?A*An:?2A"ս:Ah<BAn:?JA"սRAh<٘i)I9 ~@YG J uJJJJJE&K YY\~?yRUAE{7P9@B)E[[>[\~?[̪[[[[BZYY i7) <#$[Ļ\~?[Ȫ[[[[BZYY i) H!;o~@Ay]~? AAR%"AAfsNA"AZAbAjArAzAAA>X2@ABJ0tA}@AfA=At(?A@&}?AX?Ad*A:?2A)ҽ:A` =BA:?JA)ҽRA` =٘i)I9}@YKG JSFJJJJPE&K Y\~?ya֪@UAE7779)SB[[#h>[\~?[Ū[[[[BZYY i) nB)UBE[[=>[\~?[[[[[BZYY i) &;Ii4(?8M; Mמ?))Mמ?Mמ?ȪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039042.263165 s, next control iter: 1743039042.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039042.663165 s.*J~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039042.663285F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12541, header.stamp.nsec: 00 temperature: 13.563889* salinity: 33.375435, density: 1025.000000* values[0]: 0.583580F (some fields omitted in printout)A~@A^r~@A]~? AtA6b%"AAsNA"AZAbAjArAzAAA,*2@A*<;+tAE|@AZ<A=Ao2?A@<?A?AR*AO:?2Aӽ:AV=BAO:?JAӽRAV=Y.>2?yP=+([<ٓHr?0`r?a?ˈ?(?Q}Q?@?).> I٘i)I9|@YG J,C=J=JJJUE&Kr> Y]~?y˪TA2?E7777{9:B)E[[>[]~?[6[[[[BZYY i) ;Ii{?$; Q?))$rQ?Q?ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039042.683165 s, next control iter: 1743039043.063176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039043.083165 s.D1J~,SŐ*AA)\µ~@A'~@A]~? AA%"AA-sNA"AZAbAjArAzAAAO#3@A`(ָ(tA|@A2O;<A =A7?A[?A?A*A:?2AԽ:A?=BA:?JAԽRA?=٘i)I9|@YlG JBJJJJXE&K Y/]~?yƪ9TAEŧ7b7E9)YB[[Ǹ>[;]~?[S[[[[BZYY i)  ;Ii? ; 6?))0Ƀ6?6?֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039043.123165 s, next control iter: 1743039043.483178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039043.503165 s.7J~,L4*AJ"J*J2J:JT?BJT?nJ5vJAR~@Ay~@A]~? AA %"AAgsNA"AZAbAjArAzAAAhU; ?)) ??٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039043.523165 s, next control iter: 1743039043.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12542, header.stamp.nsec: 00 temperature: 13.564014* salinity: 33.375446, density: 1025.000000* values[0]: 0.583053F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039043.923165 s.>>J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039043.923301F (some fields omitted in printout)A{G!@A$?@A>]~? A߫Ad%"AA1tNA"AZAbAjArAzAAAEӦ3@A s#tAz@A̻A=A"B?A ; ά?))ά?ά?ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039043.943165 s, next control iter: 1743039044.323181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039044.343165 s._; }o?))}o?}o?ڪY YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039044.363165 s, next control iter: 1743039044.743178 s, wait time: 0.380013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12543*, header.stamp.nsec: 0*0 temperature: 13.564178** salinity: 33.375458*, density: 1025.000000** values[0]: 0.582438*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039044.763165 s.  9YU]~? 9yҮRALL?E)7ŧ7p93B)eBE[[E?[w]~?[[[[[BZYY i) V:Ii[>+.; *?))|u*?*?٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039044.803165 s, next control iter: 1743039045.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039045.183165 s.RJ~,cK*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.239734@ elevatorAngleAction: -0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039045.183277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AXQ@A%^~? ATѫA~%"AAmtNA"AZAbAjArAzAAAJd4@AhjwtA0y@AEAk=A+Q?Ab?Ah?A?)*A3:?2A,ս:A =BA3:?JA,սRA =٘i)I90y@YG J粼JJJJeE&K Y ]~?y3RAE7777;92B)hBE[[?[]~?[;[[[[BZYY i) :Ii)K>8; >?))dC>?>?תYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743039045.203165 s, next control iter: 1743039045.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039045.603165 s.94YJ~,f*AAQ@AYH@A :^~? A/̫A%"AAtNA"AZAbAjArAzAAAzuܡ4@A9tANx@A܄;A(=AV?A@ ?AL?Ak{*AF:?2Aӽ:A.=BAF:?JAӽRA.=٘i)I9x@YMG JZJJJJhE&K Y]~?y7QAE{7{79)mB[[VX ?[]~?[I[[[[BZYY i) ߹Ii >O: ?)) ??ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039045.623165 s, next control iter: 1743039046.003181 s, wait time: 0.380016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12544 , header.stamp.nsec: 0 0 temperature: 13.564363 * salinity: 33.375469 , density: 1025.000000 * values[0]: 0.581821 F (some fields omitted in printout)]~?)7 rAdjusting time to match Gazebo time: 1743039046.023165 s.Z`J~,|*AJ"J*J2J:J?BJ?nJ.5vJAHz.@A !@AM^~? AƫAeG%"AA(tNA"AZAbAjArAzAAA.X)I&4@ArQtAw@A ><A =AOs[?A@?A`?A G*A޾:?2A? Խ:A=BA޾:?JA? ԽRA=٘i)I9w@YG JJJJJjE&K Yt]~?yꛪ^QAEb7791B)qBE[[a%?[/]~?[([[[[BZYY i) TIi=\: ?))??bѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039046.043165 s, next control iter: 1743039046.423179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039046.443165 s.*AJ"J*J2J:J?BJ?nJ5vJA@Aٕ@At^~? AA%"AAytNA"AZAbAjArAzAAA\R%S5@A  tA8v@Ab;A,=Ae?A(?A/?AF*A:?2Avս:A[=BA:?JAvսRA[=Y-?f?y+=r.;ٓH`?I̩?@?U?q!?AX1??)-? I٘i)I9v@Y9G JB=JEbJJJpE&Kt> Y]~?yPAf?E7)7f 9,B)uBE[[K,1?[]~?[l[[[[BZYY i) PIaI?i޵ x?))Fxx?x?[ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039046.903165 s, next control iter: 1743039047.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039047.283165 s.1RtJ~,ґ*AA(\π@AP€@A^~? AfA%"AAUuNA"AZAbAjArAzAAAI#Ō5@A{e tANFv@AYAh=AEk?A_?A ?A%Ң*A:?2A;Bֽ:A9<BA:?JA;BֽRA9<٘i)I9Fv@YG JҧC=JJJJrE&K YV]~?yև0PAE770 9(B)E[[6?[]~?[Љ[[[[BZYY i) II?iB̽ Ϳ?)) Ϳ?Ϳ?ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039047.303165 s, next control iter: 1743039047.683175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12546., header.stamp.nsec: 0.0 temperature: 13.564717.* salinity: 33.375492., density: 1025.000000.* values[0]: 0.580564.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039047.703165 s.ӺzJ~,*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066513< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743039047.703295F (some fields omitted in printout)AQ@Ae@A^~? AA%"AAuNA"AZAbAjArAzAAA¯5@AxtAtu@AR)A=Aňp?AFz?A@?A9*A:?2Aiս:Aw<BA:?JAiսRAw<'I٘i)I9u@YG JPJJJJuE&K Y^~?yOAE7777 9)zB[[}Y1\@A^~? AAEO%"AAquNA"AZAbAjArAzAAAX@+e6@A=.sAFt@AtAa2=A?A?A?AV*Aϰ:?2Aս:AN<BAϰ:?JAսRAN Yd:^~?ykNA?Eb7[9"B) E[[kM?[M^~?[q[[[[BZYY i) /I I?i£;Q w?)){w?w?ἪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039049.003165 s, next control iter: 1743039049.363185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743039049.383165 s.ؕJ~,X*AJ"J*J2J:Jj?BJj?nJ5vJA(܁@A#J ρ@A^~? AA%"AA uNA"AZAbAjArAzAAAL 6@AjKhsA s@Ai<A`=As?A@+)?A *"?Aр*Aզ:?2Aֽ:A=BAզ:?JAֽRA=٘i)I9s@YaG J~JJJJE&K YI^~?yYdQNAE777&9)B[[qS?[Ma^~?[$k[[[[BZYY i) )hIH?iFþxy ?)) ??y>[YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039049.423165 s, next control iter: 1743039049.783173 s, wait time: 0.360008 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12548", header.stamp.nsec: 0"0 temperature: 13.565001"* salinity: 33.375515", density: 1025.000000"* values[0]: 0.579475"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039049.803165 s.{AJ~,gs*AA@A uX@A^~? ACA@%"AAkuNA"AZAbAjArAzAAA$6@AY^sA+Ns@A^Z<A=A?Ah?Aq?A.'*A:?2AaԽ:A=BA:?JAaԽRA=٘i)I9Ns@YG JJJJJE&K YX^~?y\MAEb779!B)B E[[?Y?[|t^~?[d[[[[BZYY i) tIH?i޾k ?))??2YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039049.843165 s, next control iter: 1743039050.203180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039050.223165 s.gJ~,H*AJ"J*J2J:JvPublished command to Gazebo (printed only once in a while):BJnJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039050.223298F (some fields omitted in printout)AzG@A(G:@A_~? AߋAU%"AA*uNA"AZAbAjArAzAAA|6@AaYZsAHr@A3<A=AC?A?A ?A! *A:?2A`ս:A=BA:?JA`սRA=٘i)I9r@YG JJJJJE&K Y:h^~?yUMAE9)B[[_?[O^~?[][[[[BZYY i) s/IAH?i e?))e?e?hYWYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039050.243165 s, next control iter: 1743039050.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039050.643165 s.wЩJ~, **AA ףp}@A.ep@AV_~? AbA9%"AAJuNA"AZAbAjArAzAAA`+7@A+fsAUr@AQ9;Aӆ=AB8?A?A?A=*A:?2A} ֽ:Af=BA:?JA} ֽRAf=٘i)I9Ur@Y}G JJJJJE&K Yw^~?yN=MAE7779B)E[[?d?[^~?[V[[[[BZYYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12549, header.stamp.nsec: 00 temperature: 13.565132 * salinity: 33.375519i, density: 1025.000000* values[0]: 0.578941F (some fields omitted in printout)) .>IH?i\X E?))E?E?XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039050.683165 s, next control iter: 1743039051.043179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039051.063165 s.J~,[ Ē*AJ"J*J2J:J5?BJ5?nJh5vJA3333@A('@A_~? A~A%"AAuNA"AZAbAjArAzAAAm`Y7@Am^=sA3q@AiaݻA4[=A7?A2 ?AI?A叼*A:?2Aֽ:A=BA:?JAֽRA=Ya?ٌ?y^Z=ݻٓH?҇G ?t?@?`U?DZ{?)a? I٘i)I9q@Y3G JĐJl;JJJE&Kv> YP^~?yFFLAٌ?E)7ŧ7P9)B[[j?[^~?[O[[[[BZYY i) b_NIH?i ?))??êYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039051.103165 s, next control iter: 1743039051.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039051.483165 s.x_J~,ޒ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249748@ elevatorAngleAction: -0.075408< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039051.483294F (some fields omitted in printout)A\@ARۂ@Ak._~? AxA;%"AAvNA"AZAbAjArAzAAA57@ANYsARcq@AQA@=Ag?A@3T?A`?AN*Ag:?2A׽:A=BAg:?JA׽RA=٘i)I9cq@YG J珼JJJJE&K Y^~?ym>~LAE779B)BE[[|p?[^~?[cH[[[[BZYY i) ]I-H?i$һ ?)) ??ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039051.503165 s, next control iter: 1743039051.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12550, header.stamp.nsec: 00 temperature: 13.565322* salinity: 33.375538, density: 1025.000000* values[0]: 0.578445F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039051.903165 s."ȽJ~,*AJ"J*J2J:JBJnJvJAQ@A<@A<_~? AXqAO%"AAvNA"AZAbAjArAzAAAz#M7@ATxsAp@AnEA=A&?A@=?A`*?A4*A:?2Aֽ:A=BA:?JAֽRA=٘i)I9p@YG J B=JJJJE&K Y^~?y6LAE779)B[[ʙv?[^~?[@[[[[BZYY iǬ) 'mIH?iT1 ?))??5ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039051.923165 s, next control iter: 1743039052.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039052.323165 s.tĤJ~,*AAGzT@AjtG@AJ_~? A{jA]C%"AA8/vNA"AZAbAjArAzAAAuK7@Ak?ߓHsA\ip@AZ^ABC=A?A?A?A}*AR:?2Aֽ:A& =BAR:?JAֽRA& =٘i)I9ip@YRG J|C=JJJJE&K Y^~?y.KAE77{7!9B)E[[f|?[]^~?[^9[[[[BZYY i) |IH?i< ?))??AͪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039052.343165 s, next control iter: 1743039052.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12551*, header.stamp.nsec: 0*0 temperature: 13.565457** salinity: 33.375546*, density: 1025.000000** values[0]: 0.577912*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039052.743165 s.WˤJ~,/*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084364< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.420032*J2J2 time: 1743039052.743300:JF (some fields omitted in printout)BJnJvJAףp=@Am2}@A5X_~? AcA%"AADvNA"AZAbAjArAzAAA?k8@A@A?e_~? A\A]R%"AA*XvNA"AZAbAjArAzAAAYl,8@AÌsA[o@AuD<A=A?A`p?Ab?AK*Aps:?2A ֽ:A=BAps:?JA ֽRA=Y{?@ϙ?y=E<ٓH?@@E?U?K%?@?@P`?`?){? I٘i)I9[o@YG JJj<JJJE&Kv> Y^~?yJAϙ?Ej7Z7F%9)B[[>?[^~?[)[[[[BZYY i) Z~IH?i-To  ?)) ? ?yԪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743039053.183165 s, next control iter: 1743039053.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039053.583165 s.ؤJ~,Se*AJ"J*J2J:J?BJ?nJ5vJA)\@A׺@Aq_~? AhUA9%"AAkvNA"AZAbAjArAzAAA|8"S8@A!ksAGn@AT<A=A{L?A@A?A@?A*Ag:?2ASֽ:AEl=BAg:?JASֽRAEl=٘i)I9n@YWG JOJJJJE&K Y^~?ytJAE777'9)B[[=?[ _~?[![[[[BZYY i) AIkH?ia^ m?))m?m?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039053.603165 s, next control iter: 1743039053.983180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12552, header.stamp.nsec: 00 temperature: 13.565643* salinity: 33.375538, density: 1025.000000* values[0]: 0.577338F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039054.003165 s.x J~,L4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039054.003303F (some fields omitted in printout)AR+@A4y@A}_~? A:NAg%"AAY~vNA"AZAbAjArAzAAA]ަw8@A0m sA Y^~?yVHA?E;.9B)BE[[H\?[eB_~?[[[[[BZYY i) [IfkH?iᅿP^+ >;?))>;?>;?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039055.283165 s, next control iter: 1743039055.663177 s, wait time: 0.380012 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 125542, header.stamp.nsec: 020 temperature: 13.5660722* salinity: 33.3755612, density: 1025.0000002* values[0]: 0.5760352F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039055.683165 s.lJ~,R*AA(\@A,σ@A_~? A0A\%"AAvNA"AZAbAjArAzAAA;l8@A :xsA=k@AsAPf=A?A?A@?Aὼ*A4:?2Ap׽:A?=BA4:?JAp׽RA?=٘i)I9k@YG JC=JJJJE&K YV^~?ytHAE7709 B)BE[[g?[QN_~?[[[[[BZYY i) EI]\H?i䋿@3 /?))/?/?YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039055.683165 s, next control iter: 1743039056.083174 s, wait time: 0.400009 s rAdjusting time to match Gazebo time: 1743039056.103165 s.J~,*AJ"J*J2J:JBJnJvJAQ8@A/I+@A2_~? AG)A5%"AAvNA"AZAbAjArAzAAAgY݋A9@AÇ{sAW@k@A/Y9AP=A ?A@Y?A?Ab Ǽ*Ai+:?2A׽:A4=BAi+:?JA׽RA4=٘i)I9@k@Y-G JB=JJJJE&K Y_~?y^HAEb7b719)B[[x?[Y_~?[,[[[[BZYY i) ILH?i吿w9 6,?))6,?6,?UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039056.143165 s, next control iter: 1743039056.503178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039056.523165 s.J~, |!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743039056.523314F (some fields omitted in printout)AHzn@A,,a@A`_~? A!A%"AA`vNA"AZAbAjArAzAAAJ59@A渷ۮsAەj@A <A#=AU?A`?A`8?Ahkϼ*As#:?2Aֽ:A=BAs#:?JAֽRA=٘i)I9j@YG JʼC=JJJJE&K Y9_~?y۩GAEj7j739)B[[K?[]d_~?[K[[[[BZYY i) ȼI .?)).?.?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039056.563165 s, next control iter: 1743039056.923185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12555, header.stamp.nsec: 00 temperature: 13.566292* salinity: 33.375557, density: 1025.000000* values[0]: 0.575329F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039056.943165 s.J "J gdJ~*J2J,]<*A:JH?BJH?nJp5vJAq= ף@A͖@A_~? AAC]%"AAvNA"AZAbAjArAzAAA7jO9@A353sACi@AZ<AjK=A5?A-f?AB?AԼ*A :?2Aֽ:A1=BA :?JAֽRA1=٘i)I9i@YZG J1ҼJJJJE&K Y_~?yeөGAE)7ŧ7f59)B[[A?[mn_~?[Mݩ[[[[BZYY i) kCмIr,H?iїYSB j@))j@j@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039056.963165 s, next control iter: 1743039057.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039057.363165 s.J~,>W*AAم@AC6̅@A>_~? AcA%"AAvNA"AZAbAjArAzAAAc38h9@A'sA^1i@At-<A0=A`۳?A@?A@~h?A'ּ*AQ:?2Aֽ:A=BAQ:?JAֽRA=Yq??ym.=-<ٓH+?d c?.r?a?`?}^ ? 5?)q? I٘i)I91i@Y G J*ּJ8<JJJE&Ky> YJ_~?yʩFA?E{7{7179 B)BE[[?[w_~?[Kԩ[[[[BZYY i) 8v׼ItH?i!YJ @))@@BYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039057.383165 s, next control iter: 1743039057.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12556&, header.stamp.nsec: 0&0 temperature: 13.566597&* salinity: 33.375580&, density: 1025.000000&* values[0]: 0.574548&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039057.783165 s.XJ~,r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084364< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039057.783295F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@AXP@A_~? A A1%"AAwNA"AZAbAjArAzAAAʓJ{9@Ai{djʠsA}h@Ai;Aѳ=A㐶?A`?A 1?AGռ*A:?2AL׽:Az=BA:?JAL׽RAz=٘i)I9}h@Y G JּJJJJE&K Y_~?y ©.FAEŧ7b789)ůB[[ϥ?[d_~?[)˩[[[[BZYY i) ޼I H?iTQ e@))e@e@#YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039057.823165 s, next control iter: 1743039058.183177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039058.203165 s.#J~,*AAQE@A|+8@A_~? AA %"AAwNA"AZAbAjArAzAAAFl,9@ANV sAg@AA?h=AmI?A ?A`?AԼ*A:?2AG׽:AF=BA:?JAG׽RAF=٘i)I9g@Y G J)ռJJJJE&K Y_~?y_EA E777:9)˯B[[2?[b_~?[[[[[ZZ¸BZYY i¸ڪ=) $ҼIG?i}tV @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039058.223165 s, next control iter: 1743039058.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039058.623165 s.U)J~,T⧔*AJ"J*J2J:J?BJ?nJ5vJAGz@A8{m@A_~? AA%"AAwNA"AZAbAjArAzAAAaI9@ADsAg@ASA=Ag?A`Q?AJ?AӼ*A:?2A׽:A=BA:?JA׽RA=٘i)I9g@Y G JӼJJJJE&K Y*"_~?y>EA E77{7<9)ѯB[[ ?[_~?[[[[[ZZBZYY i) ƼIG?iZ $@))$@$@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039058.643165 s, next control iter: 1743039059.023176 s, wait time: 0.380011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12557 , header.stamp.nsec: 0 0 temperature: 13.566902 * salinity: 33.375572 , density: 1025.000000 * values[0]: 0.573717 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039059.043165 s.è0J~,”*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039059.043300F (some fields omitted in printout)A= ף@A?Û@A_~? A2AQ%"AA=%wNA"AZAbAjArAzAAAT4Ի9@A[qxsASf@AAAc=AV?AZ?A9?A4<*A:?2A׽:A*<BA:?JA׽RA*<٘i)I9Sf@Y- G JeJJJJE&K Y&_~?yDAE)7ŧ7\>9B)ԯBE[[.?[D_~?[%[[[[ZZBZYY i) 6IG?iجd>] @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039059.083165 s, next control iter: 1743039059.443183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039059.463165 s.Q7J~,Ӥݔ*AJ"J*J2J:JBJnJvJAffff@Af\ن@Al_~? AMA%"AA'.wNA"AZAbAjArAzAAApE9@AysAxe@AgAW=A?A`:?A?AN*A:?2A@׽:Aw<BA:?JA@׽RAw Y(_~?y<`DA ?E77{7&@9)ۯB[[7M?[_~?[[[[[ZZBZYY i) IſG?iL8d T2 @))T2 @T2 @y"3=ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039059.483165 s, next control iter: 1743039059.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12558, header.stamp.nsec: 00 temperature: 13.567194* salinity: 33.375572, density: 1025.000000* values[0]: 0.572829F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039059.883165 s.z=J~,b*AA(@Ai@A_~? A`A%"AAG6wNA"AZAbAjArAzAAAUfj49@Az.SЈsAid@ALe;Ar=AX?A[?A}?Ap*Ap:?2A ׽:Ae<BAp:?JA ׽RAe<٘i)I9d@Y' G J.JJJJE&K YS*_~?ysCAEb7b7A9)B[[p?[2_~?[-[[[[ZZBZYY i) TI G?i0i  @)) @ @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039059.923165 s, next control iter: 1743039060.283177 s, wait time: 0.360012 s&S*_~?)&s rAdjusting time to match Gazebo time: 1743039060.303165 s.ZDJ~,g*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039060.303278F (some fields omitted in printout)AQ@A6D@A_~? Ak۪A!%"AA=wNA"AZAbAjArAzAAAUI9@AwGsAc@A9<A-=A 4?A?AY+?AӼ*A:?2A׽:A>;BA:?JA׽RA>;٘i)I9c@Y G JB=JJJJE&K Y,_~?yCAEZ7Z7C9B)BE[[??[_~?[[[[[ZZBZYY i) IG?iT*n C @))C @C @YtYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039060.323165 s, next control iter: 1743039060.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12559., header.stamp.nsec: 0.0 temperature: 13.567561.* salinity: 33.375576., density: 1025.000000.* values[0]: 0.571875.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039060.723165 s.KJ~,H.*AAz@A-z@A_~? ApӪA%"AA,DwNA"AZAbAjArAzAAA5?F9@A#OsAv;c@A=<A'W<A?Ao,?A??AԬ*A:?2A׽:A$ںBA:?JA׽RA$ں٘i)I9;c@YL G JļC=JJJJE&K Y-_~?y/CAE{7{7E9)B[[»?[2_~?[㈩[[[[ZZBZYY i)  I݃G?i^q @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039060.743165 s, next control iter: 1743039061.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039061.143165 s.[/RJ~,*I*AJ"J*J2J:JK?BJK?nJf5vJA ףp@A"d@A_~? Am˪AX&"AAIwNA"AZAbAjArAzAAA*_:@A-W}2zsA#b@Aq;A1<An?A Ae?A=P?AQ뀼*AF:?2Aֽ:A0BAF:?JAֽRA0٘i)I9b@Y G J,JJJJE&K Y/_~?y|BAE777QG9)B[[?[_~?[+[[[[ZZBZYY i) eIwoG?i.r _@))_@_@`MYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039061.183165 s, next control iter: 1743039061.543178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039061.563165 s.XJ~,x d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083425< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200382 time: 1743039061.563335F (some fields omitted in printout)A3333@A3O)@A`~? AfêAz&"AANwNA"AZAbAjArAzAAAX :@AkZRKusA\b@A%AA??A@4?A^?A'*A:?2Aqֽ:A 6BA:?JAqֽRA 6Y?B?y݀&ٓH`-ࣿm??ܣ@|0?p?)? I٘i)I9\b@Y G J<\B=JbGJJJE&K(w> Y._~?yDsBA?Eb77I9)B[[?[&_~?[ou[[[[ZZBZYY iy=) nIZG?i%¿xx @))@@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039061.603165 s, next control iter: 1743039061.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12560, header.stamp.nsec: 00 temperature: 13.567814* salinity: 33.375576, density: 1025.000000* values[0]: 0.571164F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039061.983165 s._J~,~*AJ"J*J2J:JBJnJvJA\(@A@A`~? AYAt&"AASwNA"AZAbAjArAzAAA\{:@A15bpsA%b@A3<AAܚ?A f?A gj?Alܢ*A;9?2Aֽ:AKBA;9?JAֽRAK٘i)I9%b@Y G JC=JJJJE&K Yl-_~?ysjBA"E77J9B)E[[3G?[w_~?[k[[[[ZZBZYY iE=) =[IZEG?iſ| w@))w@w@g)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039062.023165 s, next control iter: 1743039062.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039062.403165 s.&fJ~,͙*AAQ^@AHGQ@A`~? AIA/&"AAuVwNA"AZAbAjArAzAAAMg0_:@A _KvksABb@AC}YAA'1?A ?A`s?A9*A,9?2Aֽ:A"׼BA,9?JAֽRA"׼٘i)I9b@Y G J-&JJJJE&K YR,_~?yaBA%E{7{7L9)[[x?[_~?[a[[[[BZYY i) 1tHI/G?iȿ K@))K@K@/>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039062.443165 s, next control iter: 1743039062.803175 s, wait time: 0.360010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12561", header.stamp.nsec: 0"0 temperature: 13.567949"* salinity: 33.375572", density: 1025.000000"* values[0]: 0.570876"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039062.823165 s.lJ~,!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.071909< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039062.823270F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A[n@Ap`~? A7AG&"AA YwNA"AZAbAjArAzAAAQ:@APψfsA(#b@AAL_8A^?A ^?A`?z?A~!;*A9?2AKֽ:AWLBA9?JAKֽRAWL𼙘٘i)I9#b@Y G J ;JJJJE&K Y9+_~?yXBA'E77|N9)[[D?[_~?[W[[[[BZYY i) Q5I1G?iZɿ݀ @))@@y+=w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039062.863165 s, next control iter: 1743039063.223176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039063.243165 s.sJ~,mϕ*AAףp=ʈ@A]L3@AR `~? A"Aj&"AAZwNA"AZAbAjArAzAAA`^R:@AI7asAKb@Aa:A \A{?AH?A1~?A;*A59?2A׽:ARhBA59?JA׽RARh&I٘i)I9Kb@Y G J;JJJJE&K Y *_~?yOCA*E{7j7FP9B)BE[[*?[_~?[N[[[[BZYY i) "IG?iɿ (/@))(/@(/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039063.263165 s, next control iter: 1743039063.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039063.663165 s.zJ~,q*AJ"J*J2J:J*?BJ*?nJC5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12562, header.stamp.nsec: 00 temperature: 13.567873* salinity: 33.375587, density: 1025.000000* values[0]: 0.570957F (some fields omitted in printout)A@AE@A `~? A A&"AA[wNA"AZAbAjArAzAAA3}?]:@Af\sAb@AV<AzA'?A\?Am?A-<*A9?2Al?׽:AfBA9?JAl?׽RAfY??y z&<ٓHw 0N?֟?s¿@=?@;?@`?)? I٘i)I9b@Y G J<JJJJE&Kx> Y(&_~?yBGTCA?-E77R9)B[[?[_~?[LD[[[[BZYY i@h=)  IvF?i)Ϳ N p@))p@p@<*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039063.683165 s, next control iter: 1743039064.063185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039064.083165 s.DJ~, S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056702< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039064.083289F (some fields omitted in printout)A)\5@A(@Ay `~? AA&"AA[wNA"AZAbAjArAzAAA:@AgWsA>b@AkgR<AAc?Au+A`}?A'v[<*A9?2A7G׽:ABs BA9?JA7G׽RABs ٘i)I9b@Y G JQB<JJJJE&K Y1"_~?y>CA/E)7b7S9)B[[GD?[G_~?[z:[[[[BZYY i) 0I#F?iϿH儼 bN@))bN@bN@w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039064.123165 s, next control iter: 1743039064.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039064.503165 s.J "J *J 2J :J 3?BJ 3?nJ M5J~vJ,n4 *AARk@A{^@A`~? A㊪AyD&"AAA[wNA"AZAbAjArAzAAA,:@A#QRsA@c@A͉<A(ݒA+_?A֜A@Dz?A<*A9?2A׽:Ag BA9?JA׽RAg ٘i)I9@c@YO G Jt<B=JJJJE&K Y:_~?y5CA2EU9)B[[y?[ݦ_~?[0[[[[BZYY i) nIF?iѿ̅ @))@@s*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039064.523165 s, next control iter: 1743039064.903180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12563, header.stamp.nsec: 00 temperature: 13.567744* salinity: 33.375599, density: 1025.000000* values[0]: 0.571294F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039064.923165 s.=J~,;*AA{G@A@@A`~? AЂA4&"AAYwNA"AZAbAjArAzAAAe!D:@AMsAc@Aqc:AA?A rAft?Ar؜<*A9?2ADֽ:ABA9?JADֽRA٘i)I9c@Y G J&<C=JJJJE&K YB_~?y-PDA5Eŧ77qW9B)BE[[G?[_~?[&[[[[BZYY i=) 3ƻI#F?ieѿ v@))v@v@y[h=t*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039064.963165 s, next control iter: 1743039065.323179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039065.343165 s. elevatorAngleAction: 0.065932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743039065.343280F (some fields omitted in printout)Ap= ׉@AН`ɉ@A`~? AzA&"AAWwNA"AZAbAjArAzAAA®n:@A4HsAEd@AcA8A k?AA>l?A$@<*A9?2A)sֽ:ABA9?JA)sֽRA٘i)I9Ed@Y G JǤ<JJJJE&K YL_~?y]$DA8E777 Y_~?y EA?:E[9B)ۯBE[[J?[_~?[d[[[[BZYY i)  1I~F?i3ӿe+ N!@))N!@N!@yX=2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039065.803165 s, next control iter: 1743039066.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039066.183165 s.ˢJ~J,x*A"J*J2J:Jz?BJz?nJ5vJA(\B@A@5@A`~? AjA@&"AAPwNA"AZAbAjArAzAAA&'b:@AG.!?sApe@A}52A(A?AO[AAT?A<*A9?2Aֽ:A] BA9?JAֽRA] ٘i)I9pe@Y G J<JJJJE&K Y_~?yFuEA=Eŧ7b7\9)֯B[[wP?[Z_~?[ [[[[BZYY i) DVI#gF?iԿ 1#@))1#@1#@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039066.203165 s, next control iter: 1743039066.583180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039066.603165 s.74J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743039066.603285F (some fields omitted in printout)AQx@AGk@AE_~? AbAW&"AALwNA"AZAbAjArAzAAA*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039067.863294F (some fields omitted in printout)J"J*J2J:JBJnJvJA@AR @A _~? AJA* &"AAG9wNA"AZAbAjArAzAAA9@A .+sAg@A~D<AſAB?A:¿A?AGC<*A9?2A?׽:AvBA9?JA?׽RAvYE?&?y E<ٓH` տ` Y^~?yZGA&?HE77c9B)ůB E[[*?[fo_~?[[[[[BZYY i) 49I F?i+Կʇ )@)))@)@c*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039067.883165 s, next control iter: 1743039068.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039068.283165 s.2RĥJ~,*AA(\O@APB@A_~? ABA> &"AAq1wNA"AZAbAjArAzAAAҸ"9@A9h&sA^ elevatorAngleAction: 0.065932< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200412 time: 1743039069.123307F (some fields omitted in printout)AGẋ@A׭@A&_~? A$3A &"AAnwNA"AZAbAjArAzAAAX0g9@AĄ 1>sAOi@Aë8APA?AWȿA?A<*Ad9?2Aֽ:ABAd9?JAֽRA٘i)I9Oi@Y G Jɣ<JJJJE&K Y@^~?y}ب Y^~?yAȨHA@UE77l9B)BE[[@[4_~?[ϵ[[[[BZYY i@=) -;IE?iп, Tx1@))Tx1@Tx1@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039070.003165 s, next control iter: 1743039070.363182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039070.383165 s.J~,#*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743039070.383277F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A\O@A_~? AA &"AAvNA"AZAbAjArAzAAAh2Cz8W9@A(sAMj@AH:AgކAh@AͿAH?A<*A9?2A$׽:ABA9?JA$׽RA٘i)I9j@YG J[<JJJJE&K YT^~?yOVIAXEn9B)BE[[v@[ &_~?[[[[[BZYY i) ;IE?iϿRӄ  3@)) 3@ 3@ŷ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039070.403165 s, next control iter: 1743039070.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12569", header.stamp.nsec: 0"0 temperature: 13.386866"* salinity: 33.391655", density: 1025.000000"* values[0]: 0.695324"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039070.803165 s.yAJ~,g*AA둌@A@߄@A&_~? AGAaU&"AAvNA"AZAbAjArAzAAA7g=9@Aoi g sAhNk@A$<AA$@A,ϿA?A<*A(9?2APW׽:A;BA(9?JAPW׽RA;٘i)I9Nk@Y6G J<JJJJ E&K Y"^~?y]IAZE7p9)B[[P@[R_~?[:[[[[BZYY i) d;InE?iͿɃ 4@))4@4@|*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039070.823165 s, next control iter: 1743039071.203178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039071.223165 s.gJ~,HΗ*AJ"J*J2J:JBJnJvJAznj@AH7¢@A"_~? A A&"AAvNA"AZAbAjArAzAAA[Uca"9@A{sAk@ANT<AiA@AпA ?AU<*A9?2AT׽:A&FBA9?JAT׽RA&F٘i)I9k@YzG J<JJJJ E&K Y^~?ylJA]E{7{7Qr9)B[[@[_~?[[[[[BZYY i)  elevatorAngleAction: 0.076294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743039071.643293F (some fields omitted in printout)A ףp@A@g@A_~? A+A}&"AAvNA"AZAbAjArAzAAA79@A# .sAa.l@A<ATAY@A;ѿA?A,<*A!9?2A׽:ABA!9?JA׽RA٘i)I9.l@YG J<B=JJJJE&K Y^~?yyjJA`Eŧ7b7t9B)BE[[9@[^~?[2[[[[BZYY i) %s Yy^~?yJA@bE7u9)B[[ @[9^~?[ފ[[[[BZYY i)  AlA@A`4_ӿA``g?A <*AK9?2AGֽ:A;BAK9?JAGֽRA;٘i)I9m@YLG J<JJJJE&K YMj^~?yp#KAeE7w9 B)BE[[ֱ @[^~?[[[[[BZYY i) t0 elevatorAngleAction: 0.076294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743039072.903336F (some fields omitted in printout)AQ@A@A,_~? AA1&"AAfvNA"AZAbAjArAzAAA&uuߥ8@Ae&-rAm@AeTAݥAc) @AZ;ԿA3?A<*AT9?2Arֽ:A BAT9?JArֽRA ٘i)I9m@YG J<JJJJE&K Y[^~?y쑨KAhEb77|y9)B[[H @[^~?[z[[[[BZYY i) 5?Az @A$տA?Ac<*A9?2Aֽ:A BA9?JAֽRA ٘i)I9n@YG J<JJJJE&K YL^~?yhKAjE777G{9 B)BE[[q @[c^~?[r[[[[BZYY i) PuO@))t%>@t%>@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039073.363165 s, next control iter: 1743039073.723178 s, wait time: 0.360013 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12572*, header.stamp.nsec: 0*0 temperature: 13.386375** salinity: 33.391647*, density: 1025.000000** values[0]: 0.697633*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039073.743165 s.WJ~,uo*AJ"J*J2J:J2?BJ2?nJD;5vJAףp= @Am2@Au_~? AAL&"AA̅vNA"AZAbAjArAzAAAc!_8@AM@rA"n@AB-AʒAM @AiտA?AV<*AL9?2Amֽ:AQ BAL9?JAmֽRAQ ٘i)I9n@Y2G JƗ<JJJJE&K Y#>^~?yエ:LAmE}9)B[[-r@[V^~?[k[[[[BZYY i) L^ elevatorAngleAction: 0.076294< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199292 time: 1743039074.163282F (some fields omitted in printout)A@@A&2@Aqi_~? Ak٩AZ&"AAjsvNA"AZAbAjArAzAAA1R98@Aי:zrAo@A;A䔽A3*@A ֿA ?A<*A9?2AR:׽:A BA9?JAR:׽RA Y@D"@y㔽j;ٓH`Pvo9?h? aM?@:{?-?)@ I٘i)I9o@YG J<B=JLJJJE&Kbx> Y -^~?y{LA"@pEŧ7b7~9B)BE[[U@[^~?[c[[[[BZYY i) .n<A9Ae@A@tؿA` ?A<*Aq9?2Ar.׽:A BAq9?JAr.׽RA ٘i)I9p@YG J <JJJJ$E&K Y ^~?ymfMAuEr9B)BE[[.@[a^~?[T[[[[BZYY i2=) M elevatorAngleAction: 0.085486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199552 time: 1743039075.423285F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A;Ԏ@AA_~? AĩAq&"AA8vNA"AZAbAjArAzAAAyu7@ArAnp@A;A#+A;@ABٿA B?Az<*A9?2A0ֽ:A_( BA9?JA0ֽRA_( ٘i)I9p@YoG J<JJJJ'E&K Y]~?yfMAxE<9)B[[@[YL^~?[M[[[[BZYY i) ֽ:ABA_9?JA>ֽRA٘i)I9%q@YG J}<JJJJ)E&K Y]~?y_.NA{E)7ŧ79B)BE[[M@[6^~?["G[[[[BZYY i) V Yh]~?yjYNA@}E77҇9)B[[@[l ^~?[v@[[[[BZYY i)  elevatorAngleAction: 0.085486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039076.683303F (some fields omitted in printout)A(\@Atu@A_~? AA&"AAuNA"AZAbAjArAzAAA2*6P;7@AV!܉rA^Jr@AMA顽AE@AۿA?ACֲ<*A[9?2A`ֽ:ABA[9?JA`ֽRA٘i)I9Jr@YwG Jְ<B=JJJJ/E&K Y]~?yROAEb779B)BE[[ m@[ ^~?[9[[[[BZYY i) gr elevatorAngleAction: 0.085486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199072 time: 1743039077.943321F (some fields omitted in printout)J"J*J2J:JBJnJvJAq= #@AN@A^~? AhAt&"AA;uNA"AZAbAjArAzAAA&6@ArAt@A)<A6wA2@A@bݿA t?A<*As9?2A:׽:A5BAs9?JA:׽RA5٘i)I9t@YG J<JJJJ7E&K YJ]~?y?EPAE7)79B)yBE[[ @[]]~?['[[[[BZYY i) oֺ*AAY@A8L@A^~? A;A&"AA.uNA"AZAbAjArAzAAAvw6@ArAt@AM[R<A_/A<@A ޿A`?A <*A9?2A0׽:AkBA9?JA0׽RAkY0$ @T*@y++S<ٓH@q@)^? ?@#H~?@:K? d?)0$ @ I٘i)I9t@YG J{<JqJJJ9E&K\x> Ys]~?y9PA*@E77j7ǐ9)tB[[q @[]~?["[[[[BZYY i) U! elevatorAngleAction: 0.085486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039079.203311F (some fields omitted in printout)AQŐ@A!@Af^~? A4A&"AABbuNA"AZAbAjArAzAAA2N6@AUUrAu@AWAA"@A A`&?Aܼ<*At9?2Aֽ:ABAt9?JAֽRA٘i)I9u@YG J<JJJJ?E&K YH]~?y[.QAE77j7\9B)oB޹E[[q#@[ey]~?[P[[[[BZYY i) ))6%>S@=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039079.223165 s, next control iter: 1743039079.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039079.623165 s.VyJ~,X*AJ"J*J2J:JBJnJvJAG@A(@A{^~? A[A;O&"AAkGuNA"AZAbAjArAzAAAPT75@Aˬz*rAv@AzA'첽A@A YA ?A<*A9?2A2ֽ:Am=BA9?JA2ֽRAm=%I٘i)I9v@YG JR<B=JJJJAE&K Y:3]~?y(RAE{7{7'9)jB[[-%@[1`]~?[?[[[[BZYY i)  elevatorAngleAction: 0.085486< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039080.463294F (some fields omitted in printout)J"J*J2J:JBJnJvJAfffff@A|E^Y@A{^~? AzAX/&"AAuNA"AZAbAjArAzAAA!F*h5@A%M=rAX x@A\&AQA!@A A!%?An<*A9?2AOXֽ:ALnBA9?JAOXֽRALnYS@w!@y'ٓH@~?f?@P[q?`˄?)S@ I٘i)I9 x@YG J<B=JG)JJJGE&Kw> Y]~?ySA!@E79"B)bBعE[[2(@[,]~?[[[[[ZZZZ¸>BZYY i¸>6;) A Y-\~?y"UA6(@E779)IB[[/@[q\~?[[[[[ZZZZBZYY i) vMꛒ@A1^~? AZAr&"AA\tNA"AZAbAjArAzAAAQ4F^3@ABrA`|@AAԼA)@A`A@ ?A<*A۷9?2Aֽ:A<$:BA۷9?JAֽRA<$:٘i)I9|@YG J <JJJJWE&K Yy\~?y]UAEŧ7b7}9*B)EB˹E[['1@[>\~?[[[[[ZZZZBZYY i) ZJJJbE&Kv> Y\~?y9UA.@Eŧ7b79)@B[[7@[\~?[v[[[[BZYY iFql) H5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039085.503287F (some fields omitted in printout)AR@AHJzޓ@Ax]~? A@A&"AA2sNA"AZAbAjArAzAAAMƤqr2@A +rA}@A@Q<A,[=A@1@A@kA?A*A 9?2Aֽ:A~=BA 9?JAֽRA~=٘i)I9}@Y\G J;JJJJgE&K Y[~?y(UAE7777=93B)FBE[[99@[9[~?[[[[[BZYY i)  &s -2@A ɆrA2[}@A<<Ax=A֑2@A`A%E?A:*A9?2A4Kֽ:A"=BA9?JA4KֽRA"=٘i)I9[}@Y3G Js JJJJjE&K Y[~?yZUAEŧ7b794B)IBE[[[;@[[~?[ާ[[[[BZYY i) N5vJAp= W@Af2I@AS]~? A8A:&"AAESsNA"AZAbAjArAzAAA"J1@Al7M}rAe}@A@ȹA=A<3@A Aj?Ac*A9?2Aֽ:A =BA9?JAֽRA =٘i)I9}@YG JNJJJJlE&K Y[~?y,UAEZ7Z7Ҳ95B)MBE[[ <@[ [~?["ݧ[[[[BZYY i) : Y [~?yfߧTA55@E)7b79)PB[[7>@[([~?[ۧ[[[[BZYY im) ;IeC?i~1ú &#))&#n@ ƪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039086.803165 s, next control iter: 1743039087.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039087.183165 s.J~,k˛*AJ"J*J2J:JX5?BJX5?nJ'>5vJA(\”@Ab@A$]~? A1A&"AA sNA"AZAbAjArAzAAAy)Y1@A54+rA]*|@Ao=LA=A06@ALA`ѯ?AB*A29?2A(ֽ:A =BA29?JA(ֽRA =٘i)I9*|@YzG JC=JJJJrE&K Y+x[~?yܧjTAE77j7g97B)UBE[[7?@[by[~?[)ڧ[[[[BZYY i) U%;IxdC?i6ɽƀ y!))y! ))> q@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039087.643165 s, next control iter: 1743039088.003181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12586 , header.stamp.nsec: 0 0 temperature: 13.384288 * salinity: 33.391697 , density: 1025.000000 * values[0]: 0.707949 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039088.023165 s.ZJ~,{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039088.023280F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@Aw!@AZ\~? AR+AI &"AArNA"AZAbAjArAzAAA140@Aql6|rA{@AoкA(ѝ=A*9@A %A?A*A9?2Awֽ:A =BA9?JAwֽRA =٘i)I9{@YG JJJJJwE&K YaB[~?yWקSAE7797B)^BE[[uB@[)B[~?[ק[[[[BZYY i) hҋ;ICdC?i<9 ))Rs@ymn6٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039088.063165 s, next control iter: 1743039088.423180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039088.443165 s.=J~,W]*AAq= c@AV@A;\~? AN(A_ &"AArNA"AZAbAjArAzAAAa0@AYi"_zrADŽz@APf;Ab=Ao`:@A@A?A*Al9?2A5ֽ:A =BAl9?JA5ֽRA =٘i)I9z@YyG JB=JJJJzE&K Yy'[~?yԧGSAE7777Ȼ98B)dBE[[C@[&[~?[5ק[[[[BZYY i) UZ;IeC?i=o: \))\3t@تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039088.463165 s, next control iter: 1743039088.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12587, header.stamp.nsec: 00 temperature: 13.384571* salinity: 33.391716, density: 1025.000000* values[0]: 0.706863F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039088.863165 s.+ J~,>7*AJ"J*J2J:JBJnJvJA@AxW@A\~? Aq%A &"AA{rNA"AZAbAjArAzAAA:[60@AvxrAy@A H<A=Aק;@A:A 0?Axa*AC9?2A,'ֽ:AE =BAC9?JA,'ֽRAE =Y-@;@y=H<ٓH7nʿuLl?`TLBN?e^@1?@?)-@ I٘i)I9y@YG JC=JF<JJJ}E&Kw> Y [~?yҧRA;@Eb7799B)jBE[[bAE@[" [~?[֧[[[[BZYY i) #;IgC?i1>g: ))2v@ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039088.883165 s, next control iter: 1743039089.263179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039089.283165 s.;RJ~,R*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199722 time: 1743039089.283279F (some fields omitted in printout)A(\ϕ@AcAaP•@Ak\~? A"A &"AAVrNA"AZAbAjArAzAAAB(/@AmַvrALy@AC0<Az=Ay<@A0A ?A8*A9?2AUֽ:A=BA9?JAUֽRA=٘i)I9Ly@YG J˹JJJJE&K Y=Z~?yѧvRAE7]9)oB[[F@[Z~?[.֧[[[[BZYY i∽) :IKjC?iI>+; R~))R~cw@ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039089.323165 s, next control iter: 1743039089.683179 s, wait time: 0.360014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12588., header.stamp.nsec: 0.0 temperature: 13.384851.* salinity: 33.391739., density: 1025.000000.* values[0]: 0.705650.F (some fields omitted in printout).=Z~?).ѧ rAdjusting time to match Gazebo time: 1743039089.703165 s.ҺJ~,m*AJ"J*J2J:JBJnJvJAQ@A@A\~? A, A*!&"AA1rNA"AZAbAjArAzAAAE\B/@A^@hurAOx@Al;A=AM>@AXA?ALj*A#9?2A7ֽ:A<BA#9?JA7ֽRA<٘i)I9x@Y_G JJJJJJE&K YZ~?y/ϧRAE777(9;B)vBE[[( H@[DZ~?[է[[[[BZYY i) :ImC?i>~(; ))y@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039089.723165 s, next control iter: 1743039090.103174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039090.123165 s.;!J~,m⇜*AAG:@An-@Az\~? AAZ!&"AA/ rNA"AZAbAjArAzAAAj.@AYesrA}&x@AFAu=A?@A`}A`?A\*A9?2Ajֽ:A<BA9?JAjֽRA<٘i)I9&x@YG JJJJJE&K YZ~?y\ͧQAE7©9/U;  )) zz@ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039090.163165 s, next control iter: 1743039090.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039090.543165 s.I(J~,â*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066839< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199862 time: 1743039090.543285F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ףp@Ac@Aa\~? AA !&"AAlqNA"AZAbAjArAzAAA#ZQ.@A^rrAw@AI?A=Ab@@AKA@?A11*Al9?2AY׽:A8<BAl9?JAY׽RA8<٘i)I9w@YG JJJJJE&K Y`Z~?y˧>QAEj7j7ĩ9=B)BE[[J@[FZ~?[ ֧[[[[BZYY i)  ; 4;))4;{@ylYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039090.563165 s, next control iter: 1743039090.943176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12589, header.stamp.nsec: 00 temperature: 13.385132* salinity: 33.391705, density: 1025.000000* values[0]: 0.704535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039090.963165 s.~.J~, *AAffff@A>Y1\@AH\~? AsA^!&"AAoqNA"AZAbAjArAzAAA;{-@A!(>NqrA!w@AAA=AGB@AA8?Al*A;9?2A׽:A_}<BA;9?JA׽RA_} YHZ~?yʧPA:B@E{7Ʃ9)BE[[%L@[Z~?[\֧[[[[BZYY i) ŹI}C?ij>Ӓ; K))KjN}@뼪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039091.003165 s, next control iter: 1743039091.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039091.383165 s.5J~,8؜*AJ"J*J2J:JBJnJvJA(ܖ@A< ϖ@A}/\~? AA!&"AA=qNA"AZAbAjArAzAAA6A,@A_O!prAJv@ADûAj#=AeC@A`+A_?AE*A9?2Aֽ:Ae<BA9?JAֽRAe<٘i)I9v@YG JJJJJE&K Y0eZ~?yɧPAE)7ŧ7Sȩ9>B)BE[[M@[#hZ~?[֧[[[[BZYY i) NIC?i?; `h))`hU~@DYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039091.423165 s, next control iter: 1743039091.783178 s, wait time: 0.360013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12590", header.stamp.nsec: 0"0 temperature: 13.385379"* salinity: 33.391712", density: 1025.000000"* values[0]: 0.703527"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039091.803165 s.{A YY~?yƧOAH@Eŧ7b7}ϩ9@B)BE[[R@[{Y~?[ڧ[[[[BZYY i) >IC?iB?`2;  )) &@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039093.083165 s, next control iter: 1743039093.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039093.483165 s.w_WJ~,^*AA\@A;1ۗ@A[~? ARAn"&"AApNA"AZAbAjArAzAAAM ¥)@AakrASt@AA`=AHAJA?AI*AI9?2A/ֽ:ACL<BAI9?JA/ֽRACL<٘i)I9St@YG JJJJJE&K YiY~?yƧNAE77{7Hѩ9AB)BE[[=T@[`Y~?[ۧ[[[[BZYY i) IC?i"Q?< o ))o ؂@y촪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039093.503165 s, next control iter: 1743039093.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12592, header.stamp.nsec: 00 temperature: 13.385850* salinity: 33.391720, density: 1025.000000* values[0]: 0.701696F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039093.903165 s.]J~,y*AJ"J*J2J:JBJnJvJAQ@AӁ@A[~? A^AJ"&"AApNA"AZAbAjArAzAAA6Q=)@Aӟ&krAs@AA/=AFAiXA &?Ao~*A9?2A$׽:A!<BA9?JA$׽RA!<٘i)I9s@YrG JJJJJE&K Y(Y~?yƧkNAE{7ө9)BE[[U@[Y~?[gݧ[[[[BZYY i) jI C?iXa?8<  )) @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039093.923165 s, next control iter: 1743039094.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039094.323165 s.rdJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039094.323294F (some fields omitted in printout)AGzT@A:pG@A{[~? AAl"&"AAfpNA"AZAbAjArAzAAADŽ(@AyjrA|s@ALAi=AjEA dA_R?A)*A9?2A>&׽:A<BA9?JA>&׽RA<٘i)I9|s@Y1G J0~JJJJE&K YY~?yƧNAE77ԩ9BB)BE[[V@[Y~?[ߧ[[[[BZYY i) =!IC?iLs?< [ ))[ -9@XYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039094.343165 s, next control iter: 1743039094.723175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12593*, header.stamp.nsec: 0*0 temperature: 13.386041** salinity: 33.391712*, density: 1025.000000** values[0]: 0.700864*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039094.743165 s.WkJ~,d*AJ"J*J2J:Jk3?BJk3?nJ"<5vJAףp=@A"1}@Aa[~? A AY"&"AAcpNA"AZAbAjArAzAAA|(@A h:IjrAs@A~A?=AQ!DA@mA ?A3ᄼ*AN9?2Aֽ:Alp=BAN9?JAֽRAlp=٘i)I9s@YG JŁJJJJE&K YY~?yƧMAE)7b7֩9)BE[[1X@[Y~?[[[[[BZYY i) ?0IAC?i{?RL(< N))Nr@7YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039094.763165 s, next control iter: 1743039095.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039095.163165 s.u}rJ~,qʝ*AA@A If@AG[~? A~ A"&"AA;pNA"AZAbAjArAzAAA%f'@A]jrAНr@A%2YA-=ARBA`sAw?AQ*A`9?2Aֽ:A=BA`9?JAֽRA=YR;A@BBy-=YٓH`M7?` s@~`D&K?)R;A@ I٘i)I9r@YG J凼JG<JJJE&Kx> YgY~?yzǧ\MABE{7{7sة9CB)B}E[[׃Y@[~Y~?[[[[[BZYY i) >@IC?i?>0< ))@<ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039095.183165 s, next control iter: 1743039095.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039095.583165 s.xJ~,S*AJ"J*J2J:JQ3?BJQ3?nJ<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075589< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039095.583294F (some fields omitted in printout)A)\@A캷@A-[~? A1 A"&"AAfpNA"AZAbAjArAzAAAC0qu&@AiirA%r@A<A=AAAwA`ӓ?A*Aս9?2A2Zֽ:AU =BAս9?JA2ZֽRAU =٘i)I9%r@Y`G JJJJJE&K YjKY~?yTȧLAE77=ک9)BzE[[Z@[eY~?[[[[[BZYY i) ֪OIC?i-?9< Q))Q2F@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039095.603165 s, next control iter: 1743039095.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12594, header.stamp.nsec: 00 temperature: 13.386283* salinity: 33.391716, density: 1025.000000* values[0]: 0.700024F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039096.003165 s.t J~,;4*AAR+@ANA~@A[~? A A"&"AAoNA"AZAbAjArAzAAA*&@AҠ:irAcq@AK<AE=AQ@AtyAVr?A晼*A9?2AFFֽ:A =BA9?JAFFֽRA =$I٘i)I9q@YG JɖB=JJJJE&K YK/Y~?y.ɧLAE)7ŧ7ܩ9)BwE[[!\@[LY~?[D[[[[BZYY i) _I- D?iS?AD< 7))7K@=ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039096.023165 s, next control iter: 1743039096.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039096.423165 s.uJ~,*AJ"J*J2J:J3?BJ3?nJ;5vJA{Ga@AD=A?A`xA>BA*A߹9?2Aoֽ:ALh =BA߹9?JAoֽRALh =٘i)I9#q@YG JC=JJJJE&K Y0Y~?yʧ@LA EE{7{7ݩ9)B[[:l]@[4Y~?[[[[[BZYY i=) jnID?iQ?O< ))@˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039096.443165 s, next control iter: 1743039096.823179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12595, header.stamp.nsec: 00 temperature: 13.386509* salinity: 33.391693, density: 1025.000000* values[0]: 0.699109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039096.843165 s.݌J~,5*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039096.843333F (some fields omitted in printout)Ap= @A!@AZ~? AG A="&"AA$oNA"AZAbAjArAzAAA`.I$@A*irAȟp@A.qH;A=A1=A`uAAK)*AL9?2Aֽ:AD =BAL9?JAֽRAD =٘i)I9p@YsG J(JJJJE&K YX~?yʧKAEb77ߩ9DB)BtE[[^@[Y~?[8[[[[BZYY i) {}I$/D?i)?]\< u))u N@VΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039096.883165 s, next control iter: 1743039097.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039097.263165 s.J~, P*AJ"J*J2J:J2?BJ2?nJ;5vJA̙@A!#¿@AZ~? A A"&"AAvoNA"AZAbAjArAzAAAG7Q$@A cjrAp@AûA =AR<AoAҼAFŚ*As9?2A ׽:Aa =BAs9?JA ׽RAa =YG@Y YcX~?y̧{KAY<E77j7h9)ïBqE[[_@[Y~?[[[[[BZYY i) IVBD?i?Xd< *))*m@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039097.303165 s, next control iter: 1743039097.663176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12596., header.stamp.nsec: 0.0 temperature: 13.386781.* salinity: 33.391712., density: 1025.000000.* values[0]: 0.698112.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039097.683165 s.lJ~,Zk*AA(\@AD@AZ~? A)Az"&"AAaOoNA"AZAbAjArAzAAAU Q#@AjjjrAo@AAA =A:AgA`nA*A9?2A)׽:Ab =BA9?JA)׽RAb =٘i)I9o@YG JJJJJE&K YX~?y[ΧKAE7739)ǯBnE[[Ia@[X~?[[[[[BZYY i) IOVD?i͹?`m< c))cB@y)ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039097.683165 s, next control iter: 1743039098.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039098.103165 s.J~,*AJ"J*J2J:J2?BJ2?nJD;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039098.103292F (some fields omitted in printout)AQ8@AׇF+@AZ~? AA"&"AA(oNA"AZAbAjArAzAAA2/#@A]OBjrA o@Az;A8=A9A[A@cA*A9?2A׽:AE=BA9?JA׽RAE=٘i)I9o@YG J͝JJJJE&K YX~?yЧJA Eŧ779)˯BlE[[>b@[X~?[[[[[BZYY i) I*kD?i?e1x< ))Q@w٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039098.143165 s, next control iter: 1743039098.503177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039098.523165 s.J~,{*AAHzn@Ak a@AxZ~? AA׏"&"AAoNA"AZAbAjArAzAAA`z"@A\[krAn@AA =Al8AYNAv̵A+*A9?2Aôֽ:AB=BA9?JAôֽRAB=٘i)I9n@Y/G JUJJJJE&K YXX~?yѧIJA E{7Z79)ЯBiE[[c@[X~?[[[[[BZYY i) n9ID?i? Ё< CN))CNJ@+ުYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039098.543165 s, next control iter: 1743039098.923179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12597, header.stamp.nsec: 00 temperature: 13.387006* salinity: 33.391685, density: 1025.000000* values[0]: 0.697136F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039098.943165 s.XdJ~,B]*AJ"J*J2J:JBJnJvJAq= ף@A>̖@AP^Z~? AA}"&"AAnNA"AZAbAjArAzAAA+}!@AGUkrAqm@A;AO=A*7Ax>A`ډA*A9?2A Yֽ:A=BA9?JA YֽRA=٘i)I9m@YG JJJJJJE&K YlX~?yӧIAEj79)ԯBfE[[Ke@[X~?[[[[[BZYY i) ɤIӗD?i?\< )).@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039098.963165 s, next control iter: 1743039099.343178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039099.363165 s.J~,}>מ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039099.363286F (some fields omitted in printout)Aٚ@A3̚@ADZ~? AAh"&"AAnNA"AZAbAjArAzAAAtA!@Ap~lrA2am@A?5<A=A5A@A,A|EAߺ*Aי9?2A#ֽ:AP=BAי9?JA#ֽRAP=YAN@5yu= 5<ٓH2w ?`"ش`ҿ%֋@/ᧆ? ?)AN@ I٘i)I9am@YyG JgJb<JJJE&Kw> YQX~?y+֧rIA5E{7^9)ٯB[[[f@[dX~?[y[[[[BZYY i) 2%I^D?i?< C))CO@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039099.403165 s, next control iter: 1743039099.763177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12598&, header.stamp.nsec: 0&0 temperature: 13.387284&* salinity: 33.391685&, density: 1025.000000&* values[0]: 0.696070&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039099.783165 s.\J~,*AJ"J*J2J:JBJnJvJA(\@A S@A*Z~? A:A6P"&"AAnNA"AZAbAjArAzAAAI @ASKmrAl@A#H<A=A4AA@UAeR*A/9?2A1ֽ:A=BA/9?JA1ֽRA=٘i)I9l@YG JJJJJE&K Y6X~?yاIAE77{7(9)ޯBcE[[g@[!{X~?[[[[[BZYY i) #ID?i?ᨐ< y))yk@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039099.823165 s, next control iter: 1743039100.183181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039100.203165 s.çJ~, *AAQE@A 8@AhZ~? AA4"&"AAdnNA"AZAbAjArAzAAAD b @A3{lnrA-l@A;A=AF3AdA@d¿A¼*A9?2AYzֽ:Apf=BA9?JAYzֽRApf=٘i)I9l@YG JJJJJE&K YX~?y`ۧHAE779)B`E[[h@[BeX~?[[[[[BZYY i) ٺID?i?< ))Ց@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039100.223165 s, next control iter: 1743039100.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039100.623165 s.RɧJ~,H'*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039100.623278F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@A)$m@AY~? AbA"&"AAJ>nNA"AZAbAjArAzAAAB%@A LJoorA.{k@A4A߭=A1AAHĿA\ü*A9?2A2ֽ:A =BA9?JA2ֽRA =٘i)I9{k@YQG J;üJJJJE&K YX~?yݧ HAE779)B]E[[+j@[OX~?[O [[[[BZYY i) z4¼ID?i?a< '{))'{뿩1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039100.663165 s, next control iter: 1743039101.023176 s, wait time: 0.360011 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12599 , header.stamp.nsec: 0 0 temperature: 13.387576 * salinity: 33.391701 , density: 1025.000000 * values[0]: 0.694893 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039101.043165 s.ЧJ~,B*AA= ף@A:̗@AY~? A4A'!&"AAnNA"AZAbAjArAzAAAh.@ANfprAj@A/AΗ=A|0A9A@)ƿASļ*A,9?2A+׽:A+m=BA,9?JA+׽RA+m=٘i)I9j@YG JüJJJJE&K YW~?yGAE{7j79)BZE[[Yk@[:X~?[ [[[[BZYY i) ɼIE?ib?< ))鿩Ύ@SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039101.063165 s, next control iter: 1743039101.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039101.463165 s.WקJ~,]*AJ"J*J2J:JBJnJvJAffff@A?Zٛ@AsY~? A/A"!&"AAmNA"AZAbAjArAzAAA)~@A2qrA0j@AXLAD=AMB/AA`ȿANǼ*A9?2Aw ׽:A{+=BA9?JAw ׽RA{+=YT@T/y3A=VMٓH qV?ؿn: !`_?)T@ I٘i)I90j@YG JżJ5<JJJE&K0x> YW~?y9GAT/E{7S9)BWE[[Vl@[%X~?[[[[[BZYY i) мI1E?iA@Ir< ӄ))ӄ濩n@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039101.503165 s, next control iter: 1743039101.863179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12600, header.stamp.nsec: 00 temperature: 13.387884* salinity: 33.391678, density: 1025.000000* values[0]: 0.693678F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039101.883165 s.yݧJ~,#x*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084591< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039101.883292F (some fields omitted in printout)A(@Ah@AeY~? ATA!&"AArmNA"AZAbAjArAzAAAn*:N@A:srAbi@A A˲=A-AA@ɿA}̼*AP9?2A`ֽ:AT=BAP9?JA`ֽRAT=٘i)I9i@Y!G JɼJJJJE&K YW~?yvFA!Ej79)B[[m@[X~?[3[[[[BZYY i) ؼIeNE?i@<  )) 俩a @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039101.903165 s, next control iter: 1743039102.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039102.303165 s.YJ~,g*AJ"J*J2J:JBJnJvJAQ@A"D@A|Y~? AA{!&"AAmNA"AZAbAjArAzAAA]&F" @A7wtrAh@A}A=A,AgA`˿AyӼ*AA9?2Agֽ:AY=BAA9?JAgֽRAY=٘i)I9h@Y G JϼJJJJE&K YW~?yKFA#E779)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #78q/N^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) <߼)pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039102.323165 s, next control iter: 1743039102.703176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12601*, header.stamp.nsec: 0*0 temperature: 13.388159** salinity: 33.391659*, density: 1025.000000** values[0]: 0.692456*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039102.723165 s.J~,H*AAz@A;z@AzY~? A!AM!&"AAmNA"AZAbAjArAzAAAp#@A9urA$h@Ac<Aڴ=Ax+A BA`tͿAݑټ*Ax9?2Aֽ:A&=BAx9?JAֽRA&=٘i)I9$h@YI G JTּJJJJE&K Y ~W~?yXEA&Eb779CB)BQE[[0Kp@[W~?[[[[[ZZ¸BZYY i¸f9=) >ӼIlE?i @X< !߿)) !߿G@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039102.763165 s, next control iter: 1743039103.123179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039103.143165 s.X/J~,*ɟ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039103.143287F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AOe@A(bY~? A#A!&"AAZmNA"AZAbAjArAzAAAZD@A(wrAlg@AbD<Aa=A*A@AпA=޼*AL:?2A:A=BAL:?JARA=٘i)I9lg@Y G J ܼJJJJE&K YdW~?y]EA)E~9)BOE[[q@[SW~?["[[[[ZZBZYY i) $AǼIE?i@gW< %-ݿ))7ܿ@1YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039103.163165 s, next control iter: 1743039103.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039103.563165 s.J~,A *AA3333@AҊo(@AIY~? A&A &"AA^5mNA"AZAbAjArAzAAAp@A3&SJyrAf@AV<A_=A)A@A@пA}*Ak:?2A4½:Aފ<BAk:?JA4½RAފ/`!?P?)fZ@ I٘i)I9f@Y[ G JJJJJE&KzV> Y3KW~?yDA),E7777H9)BLE[[r@[W~?[&[[[[ZZBZYY i) AQIE?i@z< WAڿ))WAڿ@5YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039103.603165 s, next control iter: 1743039103.963174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12602, header.stamp.nsec: 00 temperature: 13.388504* salinity: 33.391685, density: 1025.000000* values[0]: 0.691131F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039103.983165 s.J~,*AJ"J*J2J:J0?BJ0?nJ95vJA\(@A<0@Ag1Y~? Ak)A &"AA\mNA"AZAbAjArAzAAArz@ArZ{rA2e@A:AX=AK(A*A-ѿAqR*A:?2AjpŽ:A{<BA:?JAjpŽRA{<٘i)I9e@Y G JB=JJJJE&K YL2W~?ytDA.Ej7Z79)B[[s@[W~?[+[[[[ZZBZYY i) _IE?is@"< ׿))׿Z@y:=ЪYhYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039104.023165 s, next control iter: 1743039104.383179 s, wait time: 0.360014 sL2W~?) rAdjusting time to match Gazebo time: 1743039104.403165 s.&J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743039104.403284F (some fields omitted in printout)AQ^@AQ@A9Y~? An,Anv &"AAlNA"AZAbAjArAzAAA؉ yU@AH6z|rAd@A*ܻAOp=A'A ]AѿA*AW:?2AYVȽ:AX<BAW:?JAYVȽRAX<٘i)I9d@YR G JC=JJJJE&K YkW~?y5DA1E{7j79BB)BIE[['u@[hW~?[/[[[[ZZBZYY i) qIlE?i{@L< gտ))gտ@0YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039104.423165 s, next control iter: 1743039104.803177 s, wait time: 0.380012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12603", header.stamp.nsec: 0"0 temperature: 13.388875"* salinity: 33.391647", density: 1025.000000"* values[0]: 0.689557"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039104.823165 s. J~,:4*AJ"J*J2J:JBJnJvJAGz@Auo@A4Y~? A/A: &"AAlNA"AZAbAjArAzAAAֽ12@Av~rA.d@A}BA+=A5D&A1A@?ҿA%ʼ*Aȋ:?2A˽:A״;BAȋ:?JA˽RA״;٘i)I9.d@Y G J߼B=JJJJE&K  9YW~? 9yZCA4E7779)!BFE[[>[v@[@W~?[4[[[[ZZBZYY i) ~IF?i @< ӿ))ӿO@PqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039104.863165 s, next control iter: 1743039105.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039105.243165 s.J~,yO*AAףp=ʝ@Aŏ1@A]X~? A2Ah&"AAlNA"AZAbAjArAzAAA@A{πrAgc@AA5A:<A$AkAuӿAˤ*AD:?2Aͽ:AHBAD:?JAͽRAH٘i)I9c@Y G JC=JJJJE&K YV~?y}CA6E77s9)%BCE[[|w@[xW~?[[9[[[[ZZBZYY i) 7I4F?i%@$< п))п@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039105.263165 s, next control iter: 1743039105.643179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039105.663165 s.J~,qj*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083117< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039105.663304F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12604, header.stamp.nsec: 00 temperature: 13.389208* salinity: 33.391651, density: 1025.000000* values[0]: 0.688220F (some fields omitted in printout)A@A%/@AX~? AB6AU&"AA~lNA"AZAbAjArAzAAA$pW@A?rAc@AA#<AŮ#A@2<AHԿA ~*Ak{:?2AϽ:A<6#BAk{:?JAϽRA<6#Y*j`@k#y<ٓH? Aq ps?)*j`@ I٘i)I9c@Y3 G JJ :JJJE&Ke> YV~?y[  CA#9E)7b7>9))B[[zx@[fW~?[X>[[[[ZZBZYY i,=) :IYF?i(@M< 6ο))6ο8@RYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039105.683165 s, next control iter: 1743039106.063181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039106.083165 s.D!J~,S*AA)\5@A9w(@AJX~? A9Axw&"AAZlNA"AZAbAjArAzAAAVtg@ADrAb@AUu;AA["AAտAa94*Al:?2A$ѽ:A܂BAl:?JA$ѽRA܂٘i)I9b@Y G J_JJJJE&K YbV~?y9CA)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039106.103165 s, next control iter: 1743039106.483180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039106.503165 s.'J~,;4*AJ"J*J2J:JBJnJvJARk@Aߩ{^@AX~? A=A0&"AA7lNA"AZAbAjArAzAAA.@y @AZ,SrAyb@A/#<ATYAi!AASտA%*Ab:?2A3ӽ:AxƦBAb:?JA3ӽRAxƦ٘i)I9yb@Y G JJJJJE&K YŠV~?yBA>E77{79AB)-B>E[[y${@[DW~?[H[[[[ZZBZYY i) .\I!F?i0@&< nɿ))nɿ8@n)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039106.523165 s, next control iter: 1743039106.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12605, header.stamp.nsec: 00 temperature: 13.389440* salinity: 33.391644, density: 1025.000000* values[0]: 0.687441F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039106.923165 s.>.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074715< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743039106.923327F (some fields omitted in printout)A{G@A.;?@A X~? A[AAE&"AAlNA"AZAbAjArAzAAAdrL @A'ϫrA_b@A.<A^ AͰA`AֿAΫ*AT:?2A+EԽ:AvʼBAT:?JA+EԽRAvʼ٘i)I9_b@Y G J|JJJJE&K Y%V~?yBAAE77 9).B;E[[3S|@[a4W~?[M[[[[BZYY i) mmHIF?i5@$< ǿ))ǿK@y>=7*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039106.943165 s, next control iter: 1743039107.323185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039107.343165 s.J "J *J 2J <5J~:J/?BJ/?nJ}85,ՠ*AvJAp= מ@Aɞ@AkuX~? AXEA&"AAkNA"AZAbAjArAzAAA i% @AHãrAcb@A;A_*6AaA:^A@׿AU;*AhH:?2A Խ:A!BAhH:?JA ԽRA!鼙٘i)I9cb@Y G J6:JJJJE&K YqV~?yBADE7h 9)-B[[^}@[j$W~?[R[[[[BZYY i) n4I F?i9@< øĿ))øĿ@t*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039107.363165 s, next control iter: 1743039107.743177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12606*, header.stamp.nsec: 0*0 temperature: 13.389473** salinity: 33.391640*, density: 1025.000000** values[0]: 0.687262*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039107.763165 s.7;J~,*AA @A?e@A^X~? AxIAK&"AAkNA"AZAbAjArAzAAA+@ABO_rAb@A;2A \AA ] AhؿAh;*A<:?2AFս:ANBA<:?JAFսRANY#g@qyU \n<3ٓH ]L?#? E@\?~?E_f&?)#g@ I٘i)I9b@Y G J#;B=JBJJJE&K{> Y[V~?yk$(CAFE7ŧ739@B),B8E[[~@[W~?[RX[[[[BZYY ig=) d~$IG?i<@< wY¿))wY¿}y@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039107.803165 s, next control iter: 1743039108.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039108.183165 s.BJ~,g *AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056410< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199762 time: 1743039108.183275F (some fields omitted in printout)A(\B@A\ 5@AHX~? AMA#&"AAkNA"AZAbAjArAzAAA/@A9rAb@AA9{AAA5ٿA-:<*A:2:?2APս:A BA:2:?JAPսRA ٘i)I9b@Y G J<C=JJJJE&K YEV~?y*rCAIE77779?B))B5E[[@[*W~?[][[[[BZYY i) =IEG?i`@@>< ))`@F*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039108.203165 s, next control iter: 1743039108.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039108.603165 s.94IJ~,&*AAQx@AtϺFk@A2X~? A"RA&"AAkNA"AZAbAjArAzAAA Y@A#rAf"c@A$?AA&}A3AڿAv<*A-:?2Aս:AVBA-:?JAսRAV٘i)I9"c@Y< G JW<JJJJE&K Y/V~?y/CALE79)&B1E[[a@[)V~?[@c[[[[BZYY iⷆ=) I>oG?i.D@< ))\@ƺ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039108.623165 s, next control iter: 1743039109.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12607 , header.stamp.nsec: 0 0 temperature: 13.389424 * salinity: 33.391632 , density: 1025.000000 * values[0]: 0.687621 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039109.023165 s.ZPJ~, |A*AJ"J*J2J:J0?BJ0?nJ85vJAHz@AC@AOX~? AVA}N&"AAkkNA"AZAbAjArAzAAAxY@A9jͮrAKc@AARA:(A WA (ڿA<*A,:?2A aֽ:ABA,:?JA aֽRA٘i)I9c@Y G J4<JJJJE&K YV~?y25DANES779)#B3E[[U@[V~?[h[[[[BZYY i) qIVG?i_H@<= +R))+RP;@yxcg=w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039109.043165 s, next control iter: 1743039109.423180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039109.443165 s.5VJ~,5]\*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743039109.443294F (some fields omitted in printout)Aq= @AOu֟@AX~? AY[A&"AAKkNA"AZAbAjArAzAAA,?A%,PrA{d@AM9AHIAAAݖۿA&Q<*A*:?2Aֽ:ArBA*:?JAֽRAr٘i)I9d@Y G Jϓ<JJJJE&K YAV~?y:ODAQE777^9)B0E[[3@[nV~?[_n[[[[BZYY i) pƻIiG?iL@)= )).Ϛ@y--=n*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039109.463165 s, next control iter: 1743039109.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12608, header.stamp.nsec: 00 temperature: 13.389274* salinity: 33.391621, density: 1025.000000* values[0]: 0.688447F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039109.863165 s.J "J *J 2J :J >0?BJ >0?nJ 85vJ +]J~,>w*AA@A> @A W~? A(`A#&"AA*kNA"AZAbAjArAzAAA}3.?Aq8xrAd@Aol<AAwuAA`]ܿA?}<*A&):?2AB׽:A[c BA&):?JAB׽RA[c Ym@~yk<ٓH@Tu?C ?2ʁ3? /???)m@ I٘i)I9d@Y G J<JOJJJE&Kz> YcU~?y ADATEb77)9)B[[B@[yV~?[t[[[[BZYY i) /IG?iO@= k))kd@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039109.903165 s, next control iter: 1743039110.263178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039110.283165 s.1RdJ~,*AA(\O@AmUB@AeW~? AeA9&"AAi kNA"AZAbAjArAzAAA% ?AH/}rAe@A ><ALA!A@FzA:!ݿAȁ<*A8(:?2Ac׽:A BA8(:?JAc׽RA ٘i)I9e@Yo G J}<JJJJE&K YU~?yLGEAVEj7j79>B)B,E[[%ׂ@[V~?[y[[[[BZYY i) &Ip H?iR@0= Z))Z @*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039110.303165 s, next control iter: 1743039110.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12609., header.stamp.nsec: 0.0 temperature: 13.389034.* salinity: 33.391594., density: 1025.000000.* values[0]: 0.689484.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039110.703165 s.պjJ~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039110.703299F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@AYx@AW~? A,jAY&"AAXjNA"AZAbAjArAzAAA V?A]ċŕrAe@A<AjAtA-A@ݿAꂫ<*A':?2AE׽:A BA':?JAE׽RA ٘i)I9e@Y G Js<JJJJE&K YU~?yMEAYE7{79=B)B)E[[j@[İV~?[[[[[BZYY i) XINH?imV@%< =  )) ی@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039110.723165 s, next control iter: 1743039111.103175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039111.123165 s.8qJ~,aǡ*AAGẠ@AY8֭@AW~? A_oA-s&"AAjNA"AZAbAjArAzAAAS[?A)¥rA9f@A]:A3$AA`A E޿A <*A':?2A׽:A BA':?JA׽RA ٘i)I99f@Y G JC<JJJJ E&K YŴU~?ySEA\Eŧ7b79>B) B*E[[@[ V~?[[[[[BZYY i) hwI~}H?iZZ@A = ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039111.143165 s, next control iter: 1743039111.523179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039111.543165 s.IxJ~,*AJ"J*J2J:JBJnJvJA= ף@AEИ@AtW~? AtA &"AAjNA"AZAbAjArAzAAAhe?AwrATf@A ػA蚽ALAVA`Q߿AS<*A':?2Aֽ:Az BA':?JAֽRAz #I٘i)I9f@Yz G J<JJJJE&K YU~?yZSFA^Ej7Z7S9=B)B'E[[m@[V~?[_[[[[BZYY i) AI]H?i^@= y))yh@(*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039111.583165 s, next control iter: 1743039111.943178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12610, header.stamp.nsec: 00 temperature: 13.388828* salinity: 33.391582, density: 1025.000000* values[0]: 0.690645F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039111.963165 s.z~J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039111.963294F (some fields omitted in printout)Affff&@AI[@A*W~? A#zA&"AA6jNA"AZAbAjArAzAAA:?ACDTrAhg@A9AޘAA`2<AAw<*AB(:?2Aֽ:ABAB(:?JAֽRAY#t@yۘˊ9ٓH`?z?@_ &@S??@ @?)#t@ I٘i)I9hg@Y G JA<Jm:JJJE&K y> Y.U~?y`FAaE77 9)B$E[["@[V~?[_[[[[BZYY i) IH?i,a@= c,))c,D@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039111.983165 s, next control iter: 1743039112.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039112.383165 s.؅J~,Q*AJ"J*J2J:JBJnJvJA(\@A)>>!O@A<|W~? AA'8&"AA:ujNA"AZAbAjArAzAAA?b1?AvbrAg@Ad$A`FAA@A@[A3`<*A(:?2Azֽ:AWBA(:?JAzֽRAW٘i)I9g@Y2 G J<B=JJJJE&K Ys}U~?yg GAdE7{7!9)B[[@[V~?[k[[[[BZYY i) 9II?id@= kᨿ))kᨿמ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039112.403165 s, next control iter: 1743039112.783176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12611&, header.stamp.nsec: 0&0 temperature: 13.388592&* salinity: 33.391563&, density: 1025.000000&* values[0]: 0.691803&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039112.803165 s.BJ~, j3*AA둡@A ㄡ@AiW~? AcAi&"AAXjNA"AZAbAjArAzAAAA׀v盿Asg2rAgh@AMcAuA] AA A<*A(:?2Aa.׽:A=BA(:?JAa.׽RA=٘i)I9h@Y G J<C=JJJJE&K YkU~?ynGAgEŧ7b7#9 elevatorAngleAction: 0.065780< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4198102 time: 1743039113.223269F (some fields omitted in printout)J"J*J2J:JBJnJvJAzǡ@A_@AWW~? A0AZZ&"AA Y8U~?yHAn oE{7{7)9)B[[E@[UV~?[[[[[BZYY iք=) ;IiFq@j= kΟ))kΟ@@2*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039114.083165 s, next control iter: 1743039114.463178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039114.483165 s.x_J~,잢*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039114.483311F (some fields omitted in printout)A\h@A`5[@AS#W~? AEA&"AAiNA"AZAbAjArAzAAAfAEP,rAj@A7;AA$AKI޿A Az<*A&:?2A<׽:ABA&:?JA<׽RA٘i)I9j@YG J<JJJJ!E&K Y})U~?yIAqE777*9,B)ׯBE[[P@[JKV~?[8[[[[BZYY i) "ˤ;Iis@}= ?))?K@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039114.523165 s, next control iter: 1743039114.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12613, header.stamp.nsec: 00 temperature: 13.388127* salinity: 33.391525, density: 1025.000000* values[0]: 0.694021F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039114.903165 s.ȭJ~,͹*AJ"J*J2J:JBJnJvJAQ@A֦@AW~? AA&"AAkiNA"AZAbAjArAzAAAR-A;EK)rA&%k@ACANAcAݿA $MA#<<*A!:?2Aֽ:AWBA!:?JAֽRAW٘i)I9%k@YG J<B=JJJJ#E&K YU~?yyoIAtEZ7Z7,9)ӯBE[[@[AV~?[[[[[BZYY i) ;Iiv@ = H))H=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039114.943165 s, next control iter: 1743039115.303179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039115.323165 s.sJ~,Ԣ*AAGzԢ@AoǢ@AW~? A۩A8 &"AAiNA"AZAbAjArAzAAA.T^A#turA k@AU AAA{ܿA>A'<*A:?2Aaֽ:A7BA:?JAaֽRA7٘i)I9k@YiG J<C=JJJJ&E&K Y U~?yڙIAwESI7SI7s.9+B)ίBE[[I@[8V~?[¨[[[[BZYY i) ;Ii@z@f) = [ ))[ D͢@y]o=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039115.363165 s, next control iter: 1743039115.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12614*, header.stamp.nsec: 0*0 temperature: 13.387923** salinity: 33.391525*, density: 1025.000000** values[0]: 0.695056*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039115.743165 s.WJ~,~*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039115.743309F (some fields omitted in printout)J"J*J2J:JBJnJvJAףp= @AN1@AV~? AMAr&"AAUiNA"AZAbAjArAzAAA0@A udrALl@A1;AfAAABA`. ܿAA09)ʯB[[#:@[>0V~?[&ɨ[[[[BZYY i) ߿ YaT~?yJA|Eb77 29*B)ƯBE[[+ʊ@['V~?[Ϩ[[[[BZYY i) > elevatorAngleAction: 0.074960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039117.003291F (some fields omitted in printout)AR@A3g}@AV~? A6ĩA &"AA]iNA"AZAbAjArAzAAAhmALrA$m@AȈ <A팽ARAAٿA@yAr<*A :?2Az׽:ABA :?JAz׽RA٘i)I9m@YG J*<B=JJJJ1E&K YT~?yAKAEb7b759)B[[@[oV~?[}ܨ[[[[BZYY i) ;B/ elevatorAngleAction: 0.074960< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199562 time: 1743039118.263283F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@AJ?@AxV~? AةAx&"AAiNA"AZAbAjArAzAAA3A+q$2rA8n@APy:A\AA i2׿A rAMg<*A9?2Aֽ:A- BA9?JAֽRA- Yۃ@y\y:ٓHK>׿?u? L׿:?@g?@*O?`?)ۃ@ I٘i)I9n@YoG J<Jw2JJJ9E&KXx> YvT~?yШ]LAEj7Z7:9)BE[[@@[V~?[[[[[BZYY i) &]E&K YT~?y#MAE{7{7>9)B[['@[aU~?[([[[[BZYY i) | elevatorAngleAction: 0.083730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039119.523292F (some fields omitted in printout)AHz@A\W@AxV~? A`A&"AAYhNA"AZAbAjArAzAAA BAMHrAՊp@AF AM-AAtԿA?A<*A9?2Aҽֽ:AhBA9?JAҽֽRAh٘i)I9p@YfG JX<JJJJAE&K YT~?y6MAEŧ77^@9)B[[P<@[U~?[[[[[BZYY i) *AAY@A3L@AcV~? A A&"AAHhNA"AZAbAjArAzAAA A;rAq@A;A̜AAҿA6A s<*A&9?2AI׽:ABA&9?JAI׽RAY@uy/̜a;ٓH ѿ`?8Q?x`Fѿ@;?`?u??)@ I٘i)I9q@Y G J@<B=J3JJJFE&Kpx> YT~?ySNAEZ7Z7C9)B[[BV@[U~?[[[[[BZYY i) nƔ elevatorAngleAction: 0.083730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039120.783293F (some fields omitted in printout)A(\@A'Q@AXV~? AwAZ+&"AA[hNA"AZAbAjArAzAAA>]x AsA'r@AԘ1<A"AWAҿAA<*A9?2AYc׽:ABA9?JAYc׽RA٘i)I9'r@YaG JF<C=JJJJIE&K Y;xT~?y`NAEb7b7E9)B[[F@[xU~?[[[[[BZYY i) FU~?[$[[[[BZYY i) bF elevatorAngleAction: 0.083730< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039122.043292F (some fields omitted in printout)A= ף0@AEИ#@A Y\T~?y}$jPA޿EZ7Z7L9)B[[@[U~?[O2[[[[BZYY i) i elevatorAngleAction: 0.083730:J< massPositionAction: 0.000000BJ4 buoyancyAction: 0.000500 dt: 0.419979nJ2 time: 1743039123.303282F (some fields omitted in printout)vJAѦ@A'"Ħ@A%V~? A?2A &"AAdhNA"AZAbAjArAzAAAqlJATsA'u@AlgػA.AٿA )8ɿAA@<*A9?2A:ֽ:AXBA9?JA:ֽRAX٘i)I9u@YG J<JJJJYE&K YYST~?y5OQAEj7Z7P9)yBE[[+@[QAEb77IR9&B)sB E[[@[U~?[bF[[[[BZYY i) = _U))_Uc@4*YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743039124.163165 s, next control iter: 1743039124.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039124.563165 s.HJ~,| $*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.092705< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039124.563298F (some fields omitted in printout)A3333s@A_(f@A V~? AIA &"AAFhNA"AZAbAjArAzAAARVAg+sA/w@A<<A mAѿAÿAAc><*A%9?2A2׽:A8 BA%9?JA2׽RA8 YR@ѿyj=<ٓH F`?aw`氿K?'&?`ٝ??)R@ I٘i)I9w@YG J<B=JqJJJaE&KRx> YGT~?yORAѿEb7b7U9)hB[[d͕@[U~?[S[[[[BZYY i) = Q))Q_@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039124.603165 s, next control iter: 1743039124.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12623, header.stamp.nsec: 00 temperature: 13.568877* salinity: 33.374996, density: 1025.000000* values[0]: 0.577744F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039124.983165 s.OJ~,>*AJ"J*J2J:JBJnJvJA\@AG5웧@A V~? AQAL &"AA>hNA"AZAbAjArAzAAAiҕAu/sAfvx@A<A~貽AοAA`f AY<*A9?2Aֽ:ABA9?JAֽRA٘i)I9vx@Y9G J<C=JJJJdE&K YFT~?yX#SAE)7ŧ7W9'B)cBE[[X@[U~?[uZ[[[[ZZZZ¸>BZYY i¸>o) sAz@Aҥ9ACAZǿA@6A`?AF=*A9?2AMֽ:A~BA9?JAMֽRA~٘i)I9z@YG JD=JJJJlE&K Yg@T~?y sTAEb77 ]9)QBE[[\Ŀ[U~?[wn[[[[ZZZZBZYY i) = Y`AT~?y{TAĿESI7SI7^9)JB[[{0¿[U~?[&u[[[[ZZZZBZYY i) SJJJ|E&Kw> YIT~?yԧ VAEg9):B[[)[[U~?[W[[[[ZZZZBZYY i |r) nZ?A`nAl*A`9?2Aֽ:A!<BA`9?JAֽRA!<٘i)I9~@YG JJJJJE&K YTT~?y©UAEŧ7b7*m9)B[[E[U~?[[[[[BZYY i) *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.069915< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039130.863297F (some fields omitted in printout)J"J*J2J:JBJnJvJA@Ac@AEU~? A'ªA¹&"AAhNA"AZAbAjArAzAAAjA矍tsA|}@Az1;A@Ɖ=AA?Au\Atyj*A9?2AHֽ:AK=BA9?JAHֽRAK=Y c@yƉ=1;ٓH@h?8?]? ?㰿p5@@/f?p?) c@ I٘i)I9|}@YHG JLJ=JJJE&Kjw> Y_T~?y^ө=UAEb7b7p9-B)ABE[[[=U~?[[[[[BZYY i>i) lFJE&K YyT~?ySAE7w9)SBE[[U磿[V~?[Щ[[[[BZYY i) ;Ii@ vH= }))}}תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039132.583165 s, next control iter: 1743039132.943182 s, wait time: 0.380017 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12631, header.stamp.nsec: 00 temperature: 13.567965* salinity: 33.374992, density: 1025.000000* values[0]: 0.580129F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039132.963165 s.}ΩJ~,=*AAffff@A0[@AV~? AAԬ%"AA+8hNA"AZAbAjArAzAAA)+AZ-t/sAz@A A:=AAL?AA)*Aż9?2Apֽ:A0=BAż9?JApֽRA0=Y@y^9=VI ٓH>?*??@@*X?@jb@Q\/?)@ I٘i)I9z@YG JkJ6<JJJE&KDx> YT~?ycSAE)7ŧ7y9)WB[[ѿ[! V~?[%ש[[[[BZYY i) U;Ii,@2G= ))ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039132.983165 s, next control iter: 1743039133.363176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039133.383165 s.թJ~,+X*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066266< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199872 time: 1743039133.383285F (some fields omitted in printout)J"J*J2J:JBJnJvJA(ܫ@Aqϫ@AMV~? AA%"AA?hNA"AZAbAjArAzAAA*^hGAgsALz@ADEA=A暿A8/?AA*AI9?2A׽:A!=BAI9?JA׽RA!=٘i)I9Lz@YWG J8JJJJE&K YT~?y5RAE77{9)\B[[[V~?[uݩ[[[[BZYY i) F;Ii@|G= >?))>?쾩>?ҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039133.403165 s, next control iter: 1743039133.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12632", header.stamp.nsec: 0"0 temperature: 13.568209"* salinity: 33.374989", density: 1025.000000"* values[0]: 0.579440"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039133.803165 s.AܩJ~,gs*AA@A$a@A#V~? AAx%"AA9HhNA"AZAbAjArAzAAAA5Av&sAǼy@AGAݖ=ARA ?A@A͔*A9?2A^ֽ:A=BA9?JA^ֽRA=٘i)I9y@YG JHJJJJE&K YT~?yRAE777J}9/B)aBE[[Ao[V~?[[[[[BZYY i) :Ii؛@zG= N))N㾩NϪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039133.823165 s, next control iter: 1743039134.203184 s, wait time: 0.380019 s"T~?)" rAdjusting time to match Gazebo time: 1743039134.223165 s.gJ~,H*AJ"J*J2J:J??BJ??nJs5vJAzG@A.:@A} V~? AA%"AAlQhNA"AZAbAjArAzAAAKC&gA\~UsA-y@ABܺAq=AɕA?A` AN*A9?2AFֽ:A =BA9?JAFֽRA =٘i)I9-y@YG JeJJJJE&K YNT~?y*RAE790B)fBE[[F[V~?[[[[[BZYY i)  :Ii@G= fھ))fھfھy]̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039134.263165 s, next control iter: 1743039134.623177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039134.643165 s.|J~, **AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066266< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039134.643288F (some fields omitted in printout)A ףp}@AhZbep@AY'V~? A{ A"F%"AAe[hNA"AZAbAjArAzAAAAWZsAx@A;f;A =AgBAr?AQA`*A9?2AZ`ֽ:A=BA9?JAZ`ֽRA=٘i)I9x@YQG JJJJJE&K YT~?yQAEb7b7߀9)kB[[['V~?[.[[[[BZYY i) SֹIi<@G= [Ҿ))[Ҿ[Ҿ*ɪYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12633]:, header.stamp.nsec: 00 temperature: 13.568450* salinity: 33.374989, density: 1025.000000* values[0]: 0.578777F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743039134.663165 s, next control iter: 1743039135.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039135.063165 s.J~,J ħ*AJ"J*J2J:JBJnJvJA3333@A (@A.V~? A:Aa%"AA#fhNA"AZAbAjArAzAAA(AJ#gѤsAx@A;?<A1V=AA?A7rA*A9?2AQֽ:A2=BA9?JAQֽRA2=Y@QyS=H?<ٓHB?@?P?y@wG?`v汿?c?)@ I٘i)I9x@YG JJbJJJE&K$x> YĴT~?y'aQAE7791B)pB!E[[[/V~?[V[[[[BZYY i) Ii@/G= λɾ))λɾλɾŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039135.083165 s, next control iter: 1743039135.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039135.483165 s.~_J~,ާ*AA\@A۬@A6V~? AA%"AAqhNA"AZAbAjArAzAAAsCNO A qsA|w@A*<A0=A\A[?AMA3*A(9?2AUwֽ:A<BA(9?JAUwֽRA<٘i)I9w@YG J뤼JJJJE&K YT~?y /QAE7777u9)tB[[-Δ[7V~?[u[[[[BZYY i) qIi+@F= ))YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039135.503165 s, next control iter: 1743039135.883180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12634, header.stamp.nsec: 00 temperature: 13.568715* salinity: 33.374992, density: 1025.000000* values[0]: 0.578126F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039135.903165 s.J~,*AJ"J*J2J:J?BJ?nJ05vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066266< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199052 time: 1743039135.903291F (some fields omitted in printout)AQ@AKxB@A>V~? A A%"AA}hNA"AZAbAjArAzAAAr.j5 Av 0sAUw@Al;A<:=AhA-?AG&Az9*AJ9?2Aֽ:Ay<BAJ9?JAֽRAy<٘i)I9w@YUG J}JJJJE&K YT~?y7PAE77?9)yB"E[[Ѥ[@V~?[[[[[BZYY i) ,SIi@GF= s))ssYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039135.923165 s, next control iter: 1743039136.303178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039136.323165 s.tJ~,*AAGzT@AWoG@AGV~? A+(A%"AAhNA"AZAbAjArAzAAA\ AS۱ҲsAv@AJ"A 1=AAG?A`AɁ*A 9?2A׽:Aw<BA 9?JA׽RAw<٘i)I9v@YG JɖJJJJE&K YT~?y>APAEj7j7 92B)~B%E[[m{[yIV~?[[[[[BZYY i) MIiӚ@,F= ͯ))ͯͯYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743039136.343165 s, next control iter: 1743039136.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12635*, header.stamp.nsec: 0*0 temperature: 13.568906** salinity: 33.375015*, density: 1025.000000** values[0]: 0.577534*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039136.743165 s.W J~,\/*AJ"J*J2J:JBJnJvJAףp=@A!X4}@A5QV~? A/AX%"AAĘhNA"AZAbAjArAzAAA'Ec ApClsA v@A5AH=AA e?A AY*At9?2A=$׽:A<BAt9?JA=$׽RA<٘i)I9 v@YG JJJJJE&K YT~?yFOAEb77Չ9)B[[Q[RV~?[[[[[BZYY i)  Ii@MF= >'))>'>'YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039136.763165 s, next control iter: 1743039137.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039137.163165 s.v}J~,qJ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066266< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039137.163296F (some fields omitted in printout)A@A'@A[V~? A.7AZ%"AAShNA"AZAbAjArAzAAA A,MsA-u@A89Az=AvA@H?A@A*A9?2A׽:A9<BA9?JA׽RA9 YT~?ywNOAE{7j793B)B(E[[M)[_\V~?[[[[[BZYY iy۞) mIƻIi@ DE= ~))~~-YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039137.203165 s, next control iter: 1743039137.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039137.583165 s.J~,Re*AJ"J*J2J:JBJnJvJA)\@A=@AqeV~? A>A4%"AAhNA"AZAbAjArAzAAAԅAY_sA}!u@AAO=A耿A a(?A@qA**A9?2Aֽ:A6S<BA9?JAֽRA6S<٘i)I9!u@Y1G JJJJJE&K Y4U~?yV-OAEj94B)B)E[[[QfV~?[g[[[[BZYY i) ņIi{@uD= ޕ))ޕޕ5YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039137.623165 s, next control iter: 1743039137.983176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12636, header.stamp.nsec: 00 temperature: 13.569087* salinity: 33.374996, density: 1025.000000* values[0]: 0.577026F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039138.003165 s. J~,r4*AAR+@A;y@AIpV~? AEAФ%"AAhNA"AZAbAjArAzAAAVAsA4t@A~J;A\=AI|Aw?A=>AR)*AO9?2Aֽ:A0<BAO9?JAֽRA0<٘i)I9t@YG J?JJJJE&K YU~?y]NAEj7595B)B,E[[ԇ[pV~?[A [[[[BZYY i) 1cIi@C= 3))33YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039138.023165 s, next control iter: 1743039138.403182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039138.423165 s.u&J~,*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077567< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743039138.423277F (some fields omitted in printout)A{Ga@A{)9?2Alֽ:A=BA>9?JAlֽRA=٘i)I9s@Y^G JJJJJE&K Y.U~?yl NA E777ʒ9)B[[}["V~?[+[[[[BZYY i) !Ii@nC= w))wwYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039138.883165 s, next control iter: 1743039139.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039139.263165 s.4J~,Ш*AJ"J*J2J:J?BJ?nJ5vJA̮@A¿@AV~? A[A%"AAhNA"AZAbAjArAzAAA~}Al-sAQs@A;AT=A-mA`?AA'*AE9?2Aֽ:A=BAE9?JAֽRA=Yk@ my_=r;ٓH0? m?`槡?_ d8?*­`2"~?`E?)k@ I٘i)I9Qs@YG J׊J0;JJJE&KAx> Y>U~?ysMA mEŧ7b797B)B0E[[)T[UV~?[z1[[[[BZYY i) &1Ii@)B= af))afaf~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039139.303165 s, next control iter: 1743039139.663175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12638., header.stamp.nsec: 0.0 temperature: 13.569431.* salinity: 33.375027., density: 1025.000000.* values[0]: 0.576013.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039139.683165 s.l:J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077567< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039139.683299F (some fields omitted in printout)A(\@A*n@A^V~? AbA1r%"AA iNA"AZAbAjArAzAAAb-@IALzsAr@AG0A1=AgAf?A[A~*Ao9?2Aֽ:A&=BAo9?JAֽRA&=٘i)I9r@YG JWJJJJE&K YOU~?yzgMAEj7j7_9)B[[ R~[ޜV~?[7[[[[BZYY i) q@Iiߖ@A= U))UUYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039139.683165 s, next control iter: 1743039140.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743039140.103165 s.AJ~,*AJ"J*J2J:Jd?BJd?nJ5vJAQ8@AAF+@AV~? AiAX%"AA!iNA"AZAbAjArAzAAAljD_h AwwºsAir@A'Aj=AwbA ;?AA܊*Aƾ9?2A%׽:AZ=BAƾ9?JA%׽RAZ=٘i)I9ir@YG J8JJJJE&K Y`U~?y MAE77*98B)B3E[[y[V~?[<[[[[BZYY i) G/PIi=@SO@= @C))@C@CĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039140.123165 s, next control iter: 1743039140.503176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039140.523165 s.GJ~,{!*AAHzn@Atxa@A2V~? AmpA&b%"AA5iNA"AZAbAjArAzAAAyAVasAq@A1CA.=A(3]A ?AAk*AX9?2A^&׽:A=BAX9?JA^&׽RA=٘i)I9q@YBG J,JJJJE&K YqU~?yʈLAE77779)B6E[[ u[V~?[3B[[[[BZYY i) U_Iiʕ@޻?= 82))8282 ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039140.543165 s, next control iter: 1743039140.923176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12639, header.stamp.nsec: 00 temperature: 13.569602* salinity: 33.375038, density: 1025.000000* values[0]: 0.575495F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039140.943165 s.[dNJ~,O]<*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077567< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039140.943295F (some fields omitted in printout)Aq= ף@A Ж@AIV~? A7wA%"AAJiNA"AZAbAjArAzAAA)VA2sAyq@A=AxQ=A XA`h?A A*A<9?2Aֽ:A =BA<9?JAֽRA =٘i)I9yq@YG JB=JJJJE&K YU~?yՏQLAEj7j79)B[[cAq[qV~?[G[[[[BZYY i) 7oIi@-d?=  ))  YͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039140.963165 s, next control iter: 1743039141.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039141.363165 s.UJ~,y>W*AAٯ@A;э̯@AV~? A}AX%"AA`iNA"AZAbAjArAzAAAfpA(sAp@AJA 9=ARA?AsTAne*A9?2A]ֽ:A =BA9?JA]ֽRA =Y|@eSy 9=sٓH۫?@|?0?l?@ P`?)|@ I٘i)I9p@YG JC=Jw<JJJE&Kx> YU~?yKKASESI7SI79:B)B:E[[3l[-V~?[ M[[[[BZYY i) V~IiY@== `m))`m`mZѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039141.403165 s, next control iter: 1743039141.763174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12640&, header.stamp.nsec: 0&0 temperature: 13.569766&* salinity: 33.375031&, density: 1025.000000&* values[0]: 0.574970&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039141.783165 s.U[J~,r*AJ"J*J2J:J1?BJ1?nJW5vJA(\@A.R@AV~? AA%"AAviNA"AZAbAjArAzAAAB:A̹^1sAlrp@A;A,=AhMAHg?A@AG*A>9?2AVֽ:A=BA>9?JAVֽRA=٘i)I9rp@YWG JJJJJE&K YAU~?yœKA Ej7Z7U9)B[[h[@V~?[[R[[[[BZYY i) Ii[@^<= `))``ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039141.823165 s, next control iter: 1743039142.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039142.203165 s.cJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.077567< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200372 time: 1743039142.203342F (some fields omitted in printout)AQE@ARf8@A*V~? AAV%"AAЍiNA"AZAbAjArAzAAAp"EPA pn*sAo@AּA<A؟=AHA@*?A Az*Aa9?2A@ֽ:Am=BAa9?JA@ֽRAm=٘i)I9o@YG JJJJJE&K YlU~?y8KA"Eŧ7ŧ7 9;B)B=E[[3d[V~?[W[[[[BZYY i) *KIi@”;= ٽ))ٽٽlתYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039142.223165 s, next control iter: 1743039142.603176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039142.623165 s.YiJ~,e⧩*AJ"J*J2J:JBJnJvJAGz@A@m@AW~? AqAx%"AAkiNA"AZAbAjArAzAAAUwQA0@fsASo@AП%<A=AuCAh?A|A/*Aٯ9?2Ahֽ:Až=BAٯ9?JAhֽRAž=٘i)I9So@YG J JJJJE&K YU~?yJA%E7777ꢪ9)B[[_[^V~?[\[[[[BZYY i@!) ڕIi@:= ))k٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039142.663165 s, next control iter: 1743039143.023178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12641 , header.stamp.nsec: 0 0 temperature: 13.569943 * salinity: 33.375046 , density: 1025.000000 * values[0]: 0.574401 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039143.043165 s.pJ~,©*AA= ף@AHS=@A2W~? AA*\%"AAiNA"AZAbAjArAzAAAݰa>AxʿysAn@AJ;Ag-=A7>A?A/A=*A9?2Aֽ:AR=BA9?JAֽRAR=٘i)I9n@YOG JJJJJE&K YU~?y$SJA(E{7j79=B)ǯBAE[[p[[dW~?[a[[[[BZYY i) jIiy@55:= ))ڪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039143.083165 s, next control iter: 1743039143.443179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039143.463165 s.YwJ~,ݩ*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086977< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039143.463295F (some fields omitted in printout)Affff@At ^ٰ@A&W~? AA%"AAiNA"AZAbAjArAzAAÄy.A3 sA/n@A,5A=A8Aj?A@A_0*A9?2A:׽:A9=BA9?JA:׽RA9=Y@q8ya=:ĵٓH?`%???@d`v?)@ I!I٘i)I9/n@YG JJ <JJJE&K/x> YU~?yIA8*Eb779>B)̯BDE[['W[W~?[f[[[[BZYY i) ޤIi@z8= T`))T`T`ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039143.503165 s, next control iter: 1743039143.863180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12642, header.stamp.nsec: 00 temperature: 13.570164* salinity: 33.375046, density: 1025.000000* values[0]: 0.573751F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039143.883165 s.y}J~,8*AA(@AZ!@A7W~? AAi%"AA iNA"AZAbAjArAzAAAr,ƸA:)psA)m@A7At=A{3A@#?A)A禫*A+9?2A׽:A=BA+9?JA׽RA=٘i)I9m@YG J JJJJE&K Y" V~?yȻ{IA-E777J9)ѯB[[3R[+!W~?[k[[[[BZYY i) |QIi@6= U))UUy ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039143.903165 s, next control iter: 1743039144.283180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039144.303165 s.RJ~,fg*AJ"J*J2J:J?BJ?nJ5vJAQ@AǸD@ARIW~? A A%"AA' jNA"AZAbAjArAzAAA?9ڿA}dtAm@A%4A=AM.A`?Au;A*A9?2Aֽ:A8=BA9?JAֽRA8=٘i)I9m@YGG JJJJJE&K YN"V~?yIA0E779)֯BGE[[QN[ 0W~?[p[[[[BZYY i) -ijIi@!5= 8))88YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039144.323165 s, next control iter: 1743039144.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12643., header.stamp.nsec: 0.0 temperature: 13.570325.* salinity: 33.375065., density: 1025.000000.* values[0]: 0.573146.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039144.723165 s.J~,H.*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086977< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039144.723279F (some fields omitted in printout)Az@Aťz@A%[W~? A꯫A%"AA$jNA"AZAbAjArAzAAAC8]`kɿAy YcV~?yZҪGA8Eb77u9AB)BOE[[A[W^W~?[,[[[[BZYY i) xɼIi@S1= <))<<HYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039145.583165 s, next control iter: 1743039145.963176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12644, header.stamp.nsec: 00 temperature: 13.570560* salinity: 33.375057, density: 1025.000000* values[0]: 0.572484F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039145.983165 s.J~,~*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.086977< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200542 time: 1743039145.983324F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@At @AڒW~? AAD1%"AAYxjNA"AZAbAjArAzAAAu?i?AtA^j@A!@<AO=A7A@?A߿AP[̼*A9?2A +ֽ:A=BA9?JA +ֽRA=٘i)I9j@YG JɼJJJJE&K YzV~?yxתNGA:E7ŧ7@9BB)BRE[[/<[MnW~?[Ń[[[[BZYY i) 2ѼIi@x@0= jE=))jE=jE=FYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039146.003165 s, next control iter: 1743039146.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039146.403165 s.S'J~,dϙ*AAQ^@A{Q@A$W~? ACƫAc%"AAIjNA"AZAbAjArAzAAA%?A QtAi@A;A*=AAy?A߿Aμ*A:9?2AQpֽ:A&=BA:9?JAQpֽRA&=٘i)I9i@YXG JͼJJJJE&K YV~?yܪFA=E77j7 9)BUE[[M8[~W~?[L[[[[BZYY i) wؼIi@.= =))==YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039146.423165 s, next control iter: 1743039146.803178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12645", header.stamp.nsec: 0"0 temperature: 13.570777"* salinity: 33.375053", density: 1025.000000"* values[0]: 0.571759"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039146.823165 s.J~,`*AJ"J*J2J:J^?BJ^?nJ{5vJAGz@Ao@AǹW~? A˫A]%"AAòjNA"AZAbAjArAzAAAp YV~?y.tEAEEŧ7b7j9)B[E[[+[W~?[b[[[[ZZ¸BZYY i¸Sު=) ڼIi@a*= _=))_=_=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039147.683165 s, next control iter: 1743039148.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039148.083165 s.DJ~,S*AA)\5@AA(@AW~? AګAb3%"AAPkNA"AZAbAjArAzAAA%/N?A]ۡtA"g@A Ap=AA)) > >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039148.103165 s, next control iter: 1743039148.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039148.503165 s.ǪJ~,;4 *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039148.503284F (some fields omitted in printout)J"J*J2J:JBJnJvJARk@A*z^@A X~? Ac߫A%"AA-kNA"AZAbAjArAzAAAkF?A7r7"tAWf@AADZ=AA` ?A@VKۿA*AÆ9?2Aiֽ:A<BAÆ9?JAiֽRA<٘i)I9Wf@Y0 G JJJJJE&K YW~?y~DAJE77{79EB)B_E[[ "[W~?[[[[[ZZBZYY i) ¼IiL@&= >))>>fYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039148.523165 s, next control iter: 1743039148.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12647, header.stamp.nsec: 00 temperature: 13.571258* salinity: 33.375095, density: 1025.000000* values[0]: 0.570267F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039148.923165 s.<ΪJ~,;*AA{G@AB:<@A X~? AAy%"AAMkNA"AZAbAjArAzAAA&@A1"{%tAue@A;A͹=AAgP?AjڿA &*A@9?2A59ֽ:Aڿ<BA@9?JA59ֽRAڿ<٘i)I9ue@Y G JJJJJE&K YX!W~?yCDAMEb77˽9FB)BbE[[c[W~?[[[[[ZZBZYY i) Ii+@U%= ->))->->y8=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039148.943165 s, next control iter: 1743039149.323180 s, wait time: 0.380015 sX!W~?)C rAdjusting time to match Gazebo time: 1743039149.343165 s.<ժJ~,U*AJ"J*J2J:JBJnJvJAp= ׳@Aʳ@Ay6X~? AA%"AA)nkNA"AZAbAjArAzAAA/xk!1@Aԯ:(tAd@A[S:<Az=AL|A@Q?AٿAE*Aǟ9?2AG9ֽ:A?x<BAǟ9?JAG9ֽRA?x<٘i)I9d@Y G JJJJJF&K Y9W~?yCAPESI7SI79)"BeE[[+[W~?[[[[[ZZBZYY i) Ii9@ $= @?>))@?>@?>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039149.383165 s, next control iter: 1743039149.743176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12648*, header.stamp.nsec: 0*0 temperature: 13.571571** salinity: 33.375122*, density: 1025.000000** values[0]: 0.569271*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039149.763165 s.8۪J~,#p*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083432< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039149.763305F (some fields omitted in printout)A @Ae@AOLX~? AA1%"AAkNA"AZAbAjArAzAAAeglVB@A*tA-c@At<A{5=A&־A #?AؿAպ׼*A9?2AMֽ:AI;BA9?JAMֽRAI;٘i)I9c@Y G JJJJJF&K YTRW~?y CAREŧ7b7`9GB)(BhE[[ë[ X~?[|[[[[ZZBZYY i) 㓞Ii~@d)#= `Q>))`Q>`Q>~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039149.783165 s, next control iter: 1743039150.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039150.183165 s.J~,Z*AJ"J*J2J:J?BJ?nJ5vJA(\B@A#J{5@AnbX~? AA[[[[ZZBZYY i) Ii}@o"= c>))c>c>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039150.223165 s, next control iter: 1743039150.583175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039150.603165 s.<4J~,Ú*AAQx@A]Ek@AxX~? A0A#%"AAkNA"AZAbAjArAzAAA z @A@`/tAŦb@A6Aݕ!<A*A`V?A`dQ׿A`*An9?2A=ֽ:A%BAn9?JA=ֽRA%٘i)I9b@Y G JԛJJJJF&K YKW~?y BAXEb77Ī9)2BkE[[ [+0X~?[氪[[[[ZZBZYY iB=) pIi }@!= Чu>))Чu>Чu>%vYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039150.623165 s, next control iter: 1743039151.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12649 , header.stamp.nsec: 0 0 temperature: 13.571797 * salinity: 33.375126 , density: 1025.000000 * values[0]: 0.568481 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039151.023165 s.ZJ~,{*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.093218< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199882 time: 1743039151.023278F (some fields omitted in printout)AHz@A @A~X~? A"Ar%"AA*kNA"AZAbAjArAzAAA6{V @AC^2tAHb@AYIA(ŻA'A ?A`+~ֿA+.*Aӡ9?2A%ֽ:A_BAӡ9?JA%ֽRA_٘i)I9Hb@Y G J_JJJJF&K YɛW~?yAAZE)7ŧ7ƪ9HB)5BnE[[ [ZCX~?[u[[[[ZZBZYY i) νtIi|@h!= ރ>))ރ>ރ>(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039151.043165 s, next control iter: 1743039151.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039151.443165 s.5J~,5]ܫ*AAq= @A8ִ@AjX~? AA%"AAlNA"AZAbAjArAzAAAfB @AX 4tA b@A7AƩA2ZA`c?AտA;ɻ*Aӓ9?2AU+ֽ:ALBAӓ9?JAU+ֽRAL٘i)I9 b@Y G J,B=JJJJF&K YJW~?yn!AA]E77Ȫ9JB)9BrE[[O[VX~?[귪[[[[ZZBZYY i) ƕ\Ii>!= >))>>N)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039151.463165 s, next control iter: 1743039151.843177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12650, header.stamp.nsec: 00 temperature: 13.571919* salinity: 33.375126, density: 1025.000000* values[0]: 0.568059F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039151.863165 s.+J~,>*AJ"J*J2J:JBJnJvJA@AƼ @AX~? AA@%"AA9lNA"AZAbAjArAzAAAw{X@Aqd6tAa@AmA8 AߡA?A` ԿA C*A.9?2AYֽ:A޼BA.9?JAYֽRA޼Y@ʡyڔ ГٓHe??xӿ`i?`ܞ? ?Iwr?)@ I٘i)I9a@Y G JC=JJJJF&K> Y+W~?y+QAAʡ`Eb7Uʪ9):B[[-G[jX~?[7[[[[BZYY iS=) CKIix@Y,= ؕ>))+xؕ>ؕ>y=-;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039151.903165 s, next control iter: 1743039152.263181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039152.283165 s.6RJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.242291> elevatorAngleAction: 0.051536< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039152.283291F (some fields omitted in printout)A(\O@A=&RB@AX~? AA%"AA\lNA"AZAbAjArAzAAAD\@AIE9tAKa@A#\;Au#?AuFA8?A@ӿA_;*Av9?2Aʙֽ:ABAv9?JAʙֽRA٘i)I9Y J ¸JJJJ F&K YW~?yAAcESI787 ̪9);BuE[[ J[}X~?[o[[[[BZYY i=) f9Iiu@= ՞>)) ՞>՞>y=U*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039152.303165 s, next control iter: 1743039152.683178 s, wait time: 0.380013 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12651., header.stamp.nsec: 0.0 temperature: 13.571853.* salinity: 33.375118., density: 1025.000000.* values[0]: 0.567983.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039152.703165 s. J~,i-*AJ"J*J2J:JBJnJvJAQ@Ax@AX~? AsA%"AAlNA"AZAbAjArAzAAAc˵s9@Ax;tAb@A.<AwhA0A o?A3ӿA[m;*AN9?2Aս:A 'BAN9?JAսRA '٘i)I9b@Y G Jƙ;B=JJJJ F&K YX~?yAAeE{7j7ͪ9):BxE[[=[X~?[[[[[BZYY i) 1(Iiq@= >))>>yGV=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039152.723165 s, next control iter: 1743039153.103178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039153.123165 s.7J~,]G*AAGẵ@Aխ@AwY~? A Axw%"AAylNA"AZAbAjArAzAAAJ#Z@A6w˂=tAONb@A<7<AiAςAࠞ?A@0ҿAw7<*Aw9?2A*ս:ACD BAw9?JA*սRACD ٘i)I9Nb@Y G J<C=JJJJ F&K YX~?yeAAhE{7Ϫ9KB)8B{E[[=*[ܥX~?[Ī[[[[BZYY i) @JIi o@= y>))y>y>ynF=C*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039153.143165 s, next control iter: 1743039153.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039153.543165 s.IJ~,b*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067337< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039153.543274F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AEИ@AY~? A A!:%"AAlNA"AZAbAjArAzAAA &q~@At>tAb@AuQ;AǏAqA`?ATѿAr<*AZ9?2Ajս:ABAZ9?JAjսRA٘i)I9b@Y G J)S<JJJJ F&K Y:X~?y# BAkE77Ѫ9)6B~E[[ ؾ[UX~?[Ǫ[[[[BZYY i) Iil@ k= >))>> *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039153.563165 s, next control iter: 1743039153.943177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12652, header.stamp.nsec: 00 temperature: 13.571658* salinity: 33.375156, density: 1025.000000* values[0]: 0.568285F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039153.963165 s.{J~,}*AAffff&@AJ[\@A4Y~? AA%"AAWlNA"AZAbAjArAzAAA*Zv@A{GHF@tAc@An;A?A]A?A fwпA‘<*A9?2Aս:A2BA9?JAսRA2YX"@ N]y~;ٓH7+?y?Cv`?_˿ A?E8?`?mg9?)X"@ I٘i)I9c@Y5 G JÄ<JĽJJJF&K~s> YUVX~?y"tBAN]mE{7{7KӪ9)2BE[[ Ͼ[X~?[Qʪ[[[[BZYY ig=) Iidh@&= >)) >>`*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039154.003165 s, next control iter: 1743039154.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039154.383165 s.%J~,/*AJ"J*J2J:JBJnJvJA(\@A O@A0MY~? AbA%"AA4mNA"AZAbAjArAzAAAȧ@A.ódBtAc@Ap$ASAVIA`?A`-ϿAd<*AY9?2A ս:ABAY9?JA սRA٘i)I9c@Y G J9<JJJJF&K YqX~?y#BApE77ժ9)/BE[[ž[dX~?[ͪ[[[[BZYY i) mwϻIid@6H= )->)) )->)->*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039154.403165 s, next control iter: 1743039154.783178 s, wait time: 0.380013 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12653", header.stamp.nsec: 0"0 temperature: 13.571357"* salinity: 33.375145", density: 1025.000000"* values[0]: 0.568858"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039154.803165 s.yA,J~,g*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056593< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039154.803287F (some fields omitted in printout)A둶@A'"@AeY~? AA%"AAZ7mNA"AZAbAjArAzAAA%s@A#"^CtAK*d@ADAAQ4A`)I?A_]ͿAj'<*A9?2A%FԽ:ABA9?JA%FԽRA٘i)I9*d@Y G J<JJJJF&K Y|X~?y%ACAsEj7SI7֪9TB)2B[[Ѽ[WX~?[Ϫ[[[[BZYY i) N?Iia@= M>))M>M>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039154.843165 s, next control iter: 1743039155.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039155.223165 s.g3J~,Iά*AJ"J*J2J:JBJnJvJAzǶ@AH@A~Y~? ArAa%"AA\mNA"AZAbAjArAzAAAy*#@AXz{EtAd@AgAًA( A8n?Am˿A <*A9?2AAԽ:AwBA9?JAAԽRAw٘i)I9d@Y; G J<B=JJJJF&K YX~?y'CAuE777ت9).BE[[u[ Y~?[Ҫ[[[[BZYY i) .Ii ^@= A}>))A}>A}>ych=*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039155.263165 s, next control iter: 1743039155.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039155.643165 s.y9J~,**AA ףp@AWe@AY~? AAi3%"AAkmNA"AZAbAjArAzAAAC^Q@ARLFtAae@A?:ArA A?A [ɿA=e<*A9?2Aoս:A BA9?JAoսRA ٘i)I9ae@Y G Jƺ<C=JJJJF&K YX~?y)DAxEb77vڪ9))BE[[Yi[#Y~?[xԪ[[[[BZYYtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12654, header.stamp.nsec: 00 temperature: 13.570954* salinity: 33.375191, density: 1025.000000* values[0]: 0.569630F (some fields omitted in printout) i) iIi[[@Bc = ]>))]>]>d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039155.683165 s, next control iter: 1743039156.043179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039156.063165 s.@J~,J *AJ"J*J2J:JvPublished command to Gazebo (printed only once in a while):BJnJ( dropWeightState: 1vJ8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056593< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039156.063300F (some fields omitted in printout)A33333@Au+&@AY~? AA%"AAOmNA"AZAbAjArAzAAA @Af1HtApe@A<AEA_A ϲ?AǿA^@<*A9?2Aս:A0BA9?JAսRA0Y\@0y' <ٓH ?I?z_?b?`z?1ԁ? ?)\@ I٘i)I9e@Y G J&<B=J|JJJF&Ku> YX~?y*wDA0{E77@ܪ9)$BE[[ I[_8Y~?[֪[[[[BZYY i0=) :x-IiV@ = >))9{>>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039156.103165 s, next control iter: 1743039156.463177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039156.483165 s.u_GJ~,*AA\h@A"[@AY~? AAw%"AAkmNA"AZAbAjArAzAAAY@Ac|gItAf@AF<A¦AgA@?A,ƿAvB<*A9?2A5ֽ:ABA9?JA5ֽRA٘i)I9f@YT G Jm<C=JJJJF&K YX~?y+DA}Ej7Z7 ު9)BE[[9[MY~?[ت[[[[BZYY i) IiR@= }>)) }>}>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039156.523165 s, next control iter: 1743039156.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12655, header.stamp.nsec: 00 temperature: 13.570560* salinity: 33.375187, density: 1025.000000* values[0]: 0.570446F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039156.903165 s.MJ~,9*AJ"J*J2J:JBJnJvJAQ@AӁ@A&Y~? A A0%"AAmNA"AZAbAjArAzAAA@t_@A &JtA$g@A0<AnBAFA*?A1ĿA<*A9?2AmԽ:A5BA9?JAmԽRA5٘i)I9$g@Y G JO<B=JJJJF&K YY~?y,HEAEZ7SI7ߪ9)BE[[׎[cY~?[ڪ[[[[BZYY i) UIi*O@ڕ= ?))??*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039156.943165 s, next control iter: 1743039157.303176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039157.323165 s.uTJ~,!T*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065388< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039157.323373F (some fields omitted in printout)AGzԷ@AGZ*oǷ@AY~? A\"A%"AAAnNA"AZAbAjArAzAAAOqJ@AD KtAg@AH:AZAaA?A.g¿A}<*A9?2AZԽ:A7gBA9?JAZԽRA7g٘i)I9g@Y G J<C=JJJJF&K Y4Y~?y-EAE779)BE[[[ zY~?[ܪ[[[[BZYY i) k8IiK@+y= J?))J?J?y=*YqYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039157.363165 s, next control iter: 1743039157.723176 s, wait time: 0.360011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12656*, header.stamp.nsec: 0*0 temperature: 13.570157** salinity: 33.375202*, density: 1025.000000** values[0]: 0.571211*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039157.743165 s.W[J~,o*AJ"J*J2J:JBJnJvJAףp= @A*3@A3Z~? A#Ax%"AAAnNA"AZAbAjArAzAAA89) @A|sLtA;h@AA@‹AAc?A*An<*A9?2AgԽ:ABA9?JAgԽRA٘i)I9;h@YW G JN<JJJJF&K YPY~?y.FAE77{7k9SB)BE[[\x[kY~?[ު[[[[BZYY i) ʅ:IiH@=  ?)) ? ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039157.763165 s, next control iter: 1743039158.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039158.163165 s.}bJ~,q*AA@@A,-#2@A/Z~? A8%A\%"AAhnNA"AZAbAjArAzAAAq @Ap GMtAh@AV@AoA|A`3?A@)}A<*AJ9?2AT&ս:AOBAJ9?JAT&սRAOYR@rym 8AٓH?`)?8`K@o?`+?@v ?@& C?)R@ I٘i)I9h@Y G JS<J<JJJF&K u> YmY~?y.uFArEZ7Z769) B[[;e[Y~?[6[[[[BZYY i) ;IiKD@A< L?))5wL?L?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039158.183165 s, next control iter: 1743039158.563182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039158.583165 s.hJ~,S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241416> elevatorAngleAction: 0.065388< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199612 time: 1743039158.583262F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\u@A#h@AIZ~? Ai&AC%"AAnNA"AZAbAjArAzAAATa!@A~JNtAvDi@AC*AqAOݞ;AF?A฿A¦<*AL9?2Aս:A.BAL9?JAսRA.٘i)I9Di@Y G J<JJJJF&K Y]Y~?y.FAE779) BE[[2S[$Y~?[[[[[BZYY i) "G?;Ii@@`< 8C?))vx8C?8C?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039158.603165 s, next control iter: 1743039158.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12657, header.stamp.nsec: 00 temperature: 13.569757* salinity: 33.375244, density: 1025.000000* values[0]: 0.571957F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039159.003165 s.z pJ~,U4*AAR@AO}@AscZ~? Ap'A-%"AAͶnNA"AZAbAjArAzAAAdǩ!@AʤNtAi@AcA.AL<AX?AҵAa<*A:?2AVHԽ:A*|BA:?JAVHԽRA*|񼙘٘i)I9i@YCG J<B=JJJJF&K YY~?y/,GAE9)BE[[g@[Y~?[)[[[[BZYY iK=) E}};Ii!<@< ?)) ??0*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039159.043165 s, next control iter: 1743039159.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039159.423165 s.uvJ~,ۭ*AJ"J*J2J:JBJnJvJA{G@Ac>Ը@AZ}Z~? AM(AQ%"AAnNA"AZAbAjArAzAAAI"@A#b(OtAc4j@A4$;AAG:=A`e?A#AAB<*A:?2AԽ:AoBA:?JAԽRAo켙 I٘i)I94j@YG J<C=JJJJ F&K YY~?y*/GAE77779)BE[[{-[Y~?[t[[[[BZYY i) %ם;Ii8@T< ?))??ۯ*Y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039159.443165 s, next control iter: 1743039159.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12658, header.stamp.nsec: 00 temperature: 13.569419* salinity: 33.375237, density: 1025.000000* values[0]: 0.572622F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039159.843165 s.|J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039159.843295F (some fields omitted in printout)Ap= @A  @ANZ~? A)A %"AALoNA"AZAbAjArAzAAA1H8#@AsqOtAj@A[8<A\A=Acp?Ab̬A|<*A:?2ATս:A|BA:?JATսRA|٘i)I9j@YG J'<JJJJ!F&K YY~?yK/GAEb77a9)BE[[#z[ Z~?[[[[[BZYY i) ;Ii5@Y< Rq"?))Rq"?Rq"?ͮ*YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039159.883165 s, next control iter: 1743039160.243179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039160.263165 s.J~,*AJ"J*J2J:JBJnJvJAL@A?@AMZ~? A)A~%"AA,oNA"AZAbAjArAzAAAYQ#@AJNOtAj k@A8<AAuN=A@x?A MIA;x<*A :?2Aeս:ABA :?JAeսRAY,@خ=yN9<ٓH?`{`<ɵ?$? ???@7?),@ I٘i)I9 k@Y G JGy<JP <JJJ#F&KSt> YDY~?y.:HAٮ=EZ7SI7+9RB)BE[[k[Z~?[[[[[BZYY i) \m;Ii0@*< @$'?))s@$'?@$'?yv=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039160.283165 s, next control iter: 1743039160.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12659., header.stamp.nsec: 0.0 temperature: 13.569072.* salinity: 33.375252., density: 1025.000000.* values[0]: 0.573239.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039160.683165 s.lJ~,k+*AA(\@Au@ARZ~? A)AO%"AAToNA"AZAbAjArAzAAAGUs$@A&PtAsk@A;AA =A}?A`$A|<*A:?2A0ս:A"BA:?JA0սRA"٘i)I9sk@YLG Jy<JJJJ$F&K YkZ~?y-HAE7779)BE[[v[70Z~?[[[[[BZYY i) 7;Ii?,@lz< +?))܃+?+?ر*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039160.683165 s, next control iter: 1743039161.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743039161.103165 s.J "J *J 2J :J ?BJ ?nJ 5 J~vJ,ԚF*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257538> elevatorAngleAction: 0.074481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039161.103304F (some fields omitted in printout)AQ@AF@A^Z~? A%*A]%"AA{oNA"AZAbAjArAzAAA/AF?A@Ax~<*A :?2Aӽ:ABA :?JAӽRA٘i)I9k@YG JP<JJJJ%F&K Y2Z~?y -HAE77{79)BE[[Fý[GZ~?[N[[[[BZYY i) + A@d?AEe?A<<*A":?2Aw{ӽ:ABA":?JAw{ӽRA٘i)I9Ol@YG J<JJJJ'F&K YNZ~?yJ,>IAE)7b79)B[[Vќ[N_Z~?[[[[[BZYY i) tA ?A@4M?A<*A:?2A(Խ:AyBA:?JA(ԽRAy٘i)I9l@YG J,<JJJJ(F&K YjZ~?y+IAEb7V9QB)BE[[El[ wZ~?[q[[[[BZYY i) h3-*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074481< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200332 time: 1743039162.363311F (some fields omitted in printout)AY@ALhL@A3[~? A)A3%"AAoNA"AZAbAjArAzAAA)m&@APtAA9m@AxAAv<>A@~?A@ ?AF<*A:?2AԽ:AfBA:?JAԽRAfY@Wx=>yŧ;BٓHta?c|ǿ |~~? t?`Gv q?~}?)@ I٘i)I99m@YaG J<B=JIJJJ)F&Kr> YZ~?y)IAx=>Eŧ77!9)BE[[,[Z~?[[[[[BZYY i) x<Ax?A` ?Aq<*A=:?2A~ս:A<BA=:?JA~սRA<٘i)I9m@YG Jq<C=JJJJ+F&K YkZ~?yL(QJAEb79PB)BE[[[uZ~?[[[[[BZYY i) O!L'n@Ao <A/7At"g>APq?A ?Aؓ<*A3:?2Aӽ:ABA3:?JAӽRA٘i)I9'n@YG J<JJJJ,F&K Y-Z~?y&JAE77779)߯BE[[w[lZ~?[[[[[BZYY iA=) ʕ[ elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039163.623295F (some fields omitted in printout)J"J*J2J:JBJnJvJAG@A @A[~? A(A%"AAEhpNA"AZAbAjArAzAAA+oG(@ALOtAn@ATE<AA75{>A@f?A`,?A#<*A9:?2Aӽ:AFvBA9:?JAӽRAFv٘i)I9n@Y;G J<JJJJ-F&K YZ~?y% KAE79OB)گBE[[B<[Z~?[ [[[[BZYY i)  kA#Y?A&?A <*A1:?2A Խ:A BA1:?JA ԽRA ٘i)I9o@YG J<JJJJ/F&K YZ~?yo#jKAEZ7Z7K9)֯BE[[t=[Z~?[[[[[BZYY i) NzAH?AwȺ?A]<*A$):?2AQԽ:A|BA$):?JAQԽRA|Yc=3>y䄘S:ٓHv?ѿ9??^) ?*lJ?J?)c= I٘i)I9o@YG J<JtJJJ0F&Kq>  9Y[~? 9y KA>Eb779NB)ѯBùE[[Te=[[~?[z[[[[BZYY i) Є elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039164.883282F (some fields omitted in printout)A(@A`@A [~? A$AH%"AApNA"AZAbAjArAzAAA_0R*@A{۩ MtA"!p@AAӛA>A!6?Ap?AO<*A5 :?2A Խ:ABA5 :?JA ԽRA٘i)I9!p@Y&G Jޟ<JJJJ1F&K Y+[~?y7LAEj7j79)ͯB[[z =[[~?[[[[[BZYY i) s_A"?AB*?As<*A<:?2ALҽ:ASBA<:?JALҽRAS٘i)I9p@Y|G Jէ<JJJJ3F&K YG[~?yLAE77779)ȯBƹE[[=[M7[~?[V[[[[BZYY i) XA ?A?Ai<*Au@:?2Aҽ:ABAu@:?JAҽRA٘i)I9@q@YG Jح<JJJJ4F&K Y b[~?yMAE{7{7v9MB)ïBɹE[[jo=[O[~?[[[[[BZYY i) j} elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039166.143287F (some fields omitted in printout)A ףp=@A?d0@A\~? A5 A%"AARqNA"AZAbAjArAzAAA%]k,@A6JtA/q@A?A*ARϹ>AM?A?Aa<*AD:?2Aҽ:ABAD:?JAҽRA٘i)I9q@Y/G Ju<JJJJ5F&K Y9}[~?yjMAEb77A9LB)B̹E[[>[Rh[~?[[[[[BZYY i)  A?A Ñ?APX<*A<:?2ASӽ:ABA<:?JASӽRAY'>>y2%;ٓH@;?`{׿@ϲ ?@?mWg?w?@?)'> I٘i)I9kr@YG Jc<JƋJJJ7F&Kp> Yg[~?yMA>E 9)BϹE[[5>[[~?[[[[[BZYY i) hA@[ژ[~?[A[[[[BZYY i) ı elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199642 time: 1743039167.403267F (some fields omitted in printout)AQ޼@AѼ@Ag\~? A(A%"AAqNA"AZAbAjArAzAAA)]E7.@ArA`?AJ?Ad<*A!S:?2AWҽ:AtBA!S:?JAWҽRAt٘i)I9s@YGG J<JJJJ9F&K Y[~?y: NAE{7j7 9IB)BѹE[[D>[Q[~?[[[[[BZYY i) w!Ay?A?A<*AeX:?2APҽ:ABAeX:?JAPҽRA٘i)I9Bt@YG J<JJJJ;F&K Y[~?y +OAE)7ŧ7l9HB)BԹE[[EY>[[~?[H[[[[BZYY i) O~AV?A`b?A<*A,]:?2A\ҽ:ABA,]:?JA\ҽRA٘i)I9t@YG Jx<JJJJ<F&K Y\~?yOAE77{769GB)B׹E[[ sm>[|[~?[ߪ[[[[BZYY i) M elevatorAngleAction: 0.083621< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039168.663271F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12667, header.stamp.nsec: 00 temperature: 13.566102* salinity: 33.375401, density: 1025.000000* values[0]: 0.578948F (some fields omitted in printout)A@Aǀr@A\~? AA%"AA6rNA"AZAbAjArAzAAAa[[/@ADUAtAu@AU5-AwA4>A 0?Ao?A<*A V:?2Aҽ:ABA V:?JAҽRAYX1>b>ytQ-ٓH`eB?Ñݿ`䴿`? `?bw'?@?)X1> I٘i)I9u@YzG J<JSCJJJ=F&Kxo> Y\~?yPAb>E7779FB)BڹE[[Ӏ>[[~?[ݪ[[[[BZYY i) r[\~?[۪[[[[BZYY i) rL?a< H?))ӁH?H?*Y|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039169.123165 s, next control iter: 1743039169.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039169.503165 s.J~,U4`*AJ"J*J2J:JBJnJvJAR@Ay޽@A\~? A A %"AACrNA"AZAbAjArAzAAA\!^b0@Aa.M>tAw@A޻A6A??A@?A`?A|<*Al:?2Aҽ:ABAl:?JAҽRA٘i)I9w@YUG J<JJJJ@F&K YK\~?yqQAEb779)B[[J>[^+\~?[v٪[[[[BZYY i=) { elevatorAngleAction: 0.092646< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039169.923289F (some fields omitted in printout)A{G!@AemS<@A \~? A AA%"AArNA"AZAbAjArAzAAAh0@A[⿝[C\~?[ת[[[[ZZZZ¸>BZYY i¸>M) dցYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039169.943165 s, next control iter: 1743039170.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039170.343165 s.<%J~,*AJ"J*J2J:JBJnJvJAp= W@AI@A]~? AA%"AAvrNA"AZAbAjArAzAAA^:[6\\~?[Ԫ[[[[ZZZZBZYY i) >Nq?y""F<ٓH? f]hx?ܿ?۬?q?1?)a> I٘i)I9(y@YG J<B=J4;JJJDF&KWp> Y\~?yzcRAq?E{7{79@B)wBE[[e>[4t\~?[Ѫ[[[[ZZZZBZYY i) [9\~?[ Ϫ[[[[ZZZZBZYY i) Q[A\~?[̪[[[[ZZZZBZYY i) dpYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039171.623165 s, next control iter: 1743039172.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12670 , header.stamp.nsec: 0 0 temperature: 13.564667 * salinity: 33.375416 , density: 1025.000000 * values[0]: 0.581823 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039172.023165 s.Z@J~,{*AJ"J*J2J:JBJnJvJAHz.@AVc !@Ap]~? A[A%"AAXsNA"AZAbAjArAzAAA:,>>2@At31tAf{@AAuP/Aތ#?Aí?A X?A<*AW:?2Abҽ:AC ˻BAW:?JAbҽRAC ˻٘i)I9{@YG J<JJJJHF&K Y\~?yߪSAEV 9?B)bBE[[O>[F\~?[Ȫ[[[[ZZZZBZYY i) ͕B)\BE[[>[A\~?[tŪ[[[[ZZZZBZYY i) ݉7*AJ"J*J2J:J5?BJ5?nJt5vJA@Aя@A]~? AUA*%"AA'sNA"AZAbAjArAzAAAgp2@AS`C,tA4|@A Au A0-?A`B;?A`"?A=K<*A:?2AԽ:A<BA:?JAԽRA-?y!  ٓH ?~??V?b?` f?)`> I٘i)I9|@YG J<C=JI9>JJJKF&Kkq> Y+ ]~?yԪ?TA-?E{7#9)XB[[>[\~?[[[[[ZZZZBZYY i) [V]~?[D[[[[ZZZZBZYY i) ^l5]~?yɪVTAE77'98B)NBE[[ >[]~?[d[[[[BZYY i) ѯX<A =AJJJRF&Ks> Ypu]~?yL$TAOG?Eŧ7ŧ7,96B)E[[C?[3`]~?[[[[[BZYY i|.h)  !HR; M?))APtM?M?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039174.983165 s, next control iter: 1743039175.363177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039175.383165 s.J "J *J 2J :J t?BJ t?nJ 5vJ uJ~,Mر*AA(@Ap!@Am^~? AԫA7%"AActNA"AZAbAjArAzAAA<)Q4@ANMtA)|@AAfzz=AmL?A@N?A?A'/*A||:?2Ayս:A4 =BA||:?JAyսRA4 =٘i)I9|@YG J4B=JJJJSF&K Y]~?ySA EEb7.9)OB[[?[v]~?[7[[[[BZYY i) x$; ?))??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039175.423165 s, next control iter: 1743039175.783179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12674&, header.stamp.nsec: 0&0 temperature: 13.563608&* salinity: 33.375458&, density: 1025.000000&* values[0]: 0.583737&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039175.803165 s.zA|J~,g*AA@Au@A3^~? AϫA?%"AAKtNA"AZAbAjArAzAAAĦʭ`4@Ap <tA|@AW)A9=AYQ?A`[?A?Af*A:?2A7Խ:A =BA:?JA7ԽRA =I٘i)I9|@YG JSIC=JJJJTF&K Y]~?yꫪSAEb77w092B)MBE[[z?[L]~?[[[[[BZYY iEE) с)`; Gű?)) Gű?Gű?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039175.843165 s, next control iter: 1743039176.203179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039176.223165 s.gJ~,H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199532 time: 1743039176.223286F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A:@A$H^~? AʫAh%"AA,tNA"AZAbAjArAzAAAe~4@A#tA4|@ArR3A{=A.V?AV?AQL?A㈼*A:?2AYԽ:A6 =BA:?JAYԽRA6 =٘i)I94|@YG JP{JJJJVF&K Yӱ]~?yGSAE77A291B)OBE[[ ?[]~?[[[[[BZYY i) !z;Ii>G<; j?))j?j?yhȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039176.243165 s, next control iter: 1743039176.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039176.643165 s.yЉJ~,*)*AA ףp}@Awep@A\^~? AūA`%"AAtNA"AZAbAjArAzAAA)5@Ah4tA{@A9A =A[?A@q?A~?A-*A:?2AdԽ:A0=BA:?JAdԽRA0=٘i)I9{@Y6G JJJJJWF&K Y]~?yRAE 49)SB[[%?[]~?[~[[[[BZYY i) S;Ii(v>; rR?))rR?rR?yIˆaЪYO YFFF]:tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12675, header.stamp.nsec: 00 temperature: 13.563656* salinity: 33.375496, density: 1025.000000* values[0]: 0.583412F (some fields omitted in printout)Waiting for Gazebo time sync: latest Gz time: 1743039176.663165 s, next control iter: 1743039177.043176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039177.063165 s.J~,N D*AJ"J*J2J:JZ?BJZ?nJ5vJA3333@A)@Ao^~? A,A%"AArtNA"AZAbAjArAzAAA D5@A-fAtA4{@A');Al=A.`?A,u?A@?A*AU:?2AԽ:A=BAU:?JAԽRA=Ym(? `?yl=);ٓH\?`ܡ0˩? ?`3m?I ?h$e?d?)m(? I٘i)I94{@YG JJnZ=JJJXF&Kt> Y]~?y˜RA`?F{7j759/B)VBE[[c+?[C]~?[P[[[[BZYY i) ء;Ii*>: ?))bw??ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039177.103165 s, next control iter: 1743039177.463178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039177.483165 s.{_J~,^*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.241588@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039177.483294F (some fields omitted in printout)A\@A_=@A^~? AA3%"AAtNA"AZAbAjArAzAAA#0~5@A?: tAڢz@A<<A]=A;e?Ap#?A.?Aر*Ad:?2AiKս:A=BAd:?JAiKսRA=٘i)I9z@YG JɬJJJJZF&K Y]~?y-RAF7{779)ZB[[p0?[]~?[[[[[BZYY i) Ã;Ii=: &ڼ?)) &ڼ?&ڼ?rتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039177.503165 s, next control iter: 1743039177.883179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12676, header.stamp.nsec: 00 temperature: 13.563804* salinity: 33.375492, density: 1025.000000* values[0]: 0.582873F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039177.903165 s.ȝJ~,y*AJ"J*J2J:JBJnJvJAQ@A]@A^~? A A%"AAuNA"AZAbAjArAzAAAb7;5@AgtA z@A<<Af=A k?A?A@?A*A:?2Aӽ:AN=BA:?JAӽRAN=٘i)I9 z@Y/G JJJJJ[F&K Y]~?y4QAF77l99+B)E[[1>6?[]~?[b[[[[BZYY i) fK;Ii )=^9 ?))??N٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039177.923165 s, next control iter: 1743039178.303180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039178.323165 s.{J~,:*AAGzT@AsG@A^~? AKA%"AA4uNA"AZAbAjArAzAAAW},5@A'ItA|py@A\;A=A4p?Ay?A?A,*A:?2A~Խ:AM =BA:?JA~ԽRAM =٘i)I9py@YG J÷JJJJ\F&K Y^~?ym\QAF)7ŧ77;9)_B[[";?[^~?[[[[[BZYY i) $:;II?i/} u?))u?u?تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039178.343165 s, next control iter: 1743039178.723180 s, wait time: 0.380015 s^~?)m*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12677*, header.stamp.nsec: 0*0 temperature: 13.564013** salinity: 33.375511*, density: 1025.000000** values[0]: 0.582224*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039178.743165 s.WJ~,*AJ"J*J2J:J ?BJ ?nJJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039178.743314F (some fields omitted in printout)Aףp=@A~7}@A^~? ApA%"AAPuNA"AZAbAjArAzAAAŪ %6@AxŶtAx@A+Ad=A}u?A"?Ah1?A*A:?2Aqxս:A=BA:?JAqxսRA=٘i)I9x@YtG JB=JJJJ^F&K Y ^~?y}PAF77=9*B)cBE[[БA?[B#^~?[~[[[[BZYY i) z:II?ib, <>?))<>?<>?ժYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039178.783165 s, next control iter: 1743039179.143181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039179.163165 s.}J~,qʲ*AA@A <@A^~? AyA%"AAkuNA"AZAbAjArAzAAA [6@A[eY<sABx@ALWAHt=Az?A@;?A`҃?A}'*A":?2AG+ֽ:Ah=BA":?JAG+ֽRAh=YBB?z?yr=ȸٓH?7ء? }??? )ꀿ`?)BB? I٘i)I9Bx@YG JC=JJJJ_F&Ku> Y/^~?yWvPAz?F{7Z7>9)gB[[0G?[=7^~?[x[[[[BZYY i)  9I7 I?i ?))sz??DӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039179.183165 s, next control iter: 1743039179.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039179.583165 s.測J~,R*AJ"J*J2J:JBJnJvJA)\@A5@A^~? AeAh%"AAOuNA"AZAbAjArAzAAAN6@A}\sAKw@AE=A_=AW?A??A`?A*A.:?2A.ֽ:A$=BA.:?JA.ֽRA$=٘i)I9w@YG JJJJJ`F&K Y?^~?y o&PAF777@9%B) E[[+L?[J^~?[r[[[[BZYY i) (I I?iA ޵?)) ޵?޵?lЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039179.603165 s, next control iter: 1743039179.983175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12678, header.stamp.nsec: 00 temperature: 13.564181* salinity: 33.375504, density: 1025.000000* values[0]: 0.581593F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039180.003165 s. J~,5*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200762 time: 1743039180.003374F (some fields omitted in printout)AR+@AOwx@A^~? A5AG%"AA?uNA"AZAbAjArAzAAAQUU6@AܖsA w@AG3A9=A;?A?A`4'?A[*A:?2A;ս:A3=BA:?JA;սRA3=٘i)I9 w@YiG JƪJJJJbF&K YDO^~?ygOA FZ7Z7aB9)lB[[R?[j^^~?[l[[[[BZYY i) 5ĺI<I?i+{ ~?))~?~?ͪYFFF]y:Waiting for Gazebo time sync: latest Gz time: 1743039180.023165 s, next control iter: 1743039180.403176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039180.423165 s.uƬJ~,*AJ"J*J2J:JBJnJvJA{Ga@A[sAQv@A<źA(=AF?Ac?A@Lq?A*A:?2AVս:A =BA:?JAVսRA =٘i)I9v@YG JJJJJcF&K Y_^~?yk`XOA F)7ŧ7,D9#B)oB E[[XX?[q^~?[e[[[[BZYY i) ^I1I?iwx@ M?))M?M?vʪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039180.443165 s, next control iter: 1743039180.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12679, header.stamp.nsec: 00 temperature: 13.564371* salinity: 33.375511, density: 1025.000000* values[0]: 0.580983F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039180.843165 s.̬J~,5*AAp= @Af2@A_~? AA%"AAPuNA"AZAbAjArAzAAA#!&7@AtsA)v@A]J;Aɰ=A%?A ?AU?AԨ*A£:?2Aս:A=BA£:?JAսRA=٘i)I9v@YG J=JJJJdF&K Yn^~?yYNA F{7Z7E9)sB[[$^?[I^~?[^[[[[BZYY i) xZIH?i0[ #?))#?#?NǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039180.883165 s, next control iter: 1743039181.243182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039181.263165 s.ԬJ~,#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: -0.066050< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039181.263299F (some fields omitted in printout)A@Aqſ@A<_~? AAkS%"AAmuNA"AZAbAjArAzAAAvګU7@A6qsA'wu@Aa8<AF=A.?A|?AI?AP*A:?2Axս:A==BA:?JAxսRA==Yw\?JH?yGD=9<ٓH?6`jץ? (?M0?`.?ıL??)w\? I٘i)I9wu@YeG J˧B=JTJJJfF&Kv> Y|^~?yWQNAH?F77G9"B)vBE[[@c?[d^~?[W[[[[BZYY i>) )I H?i; ?))}??ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039181.283165 s, next control iter: 1743039181.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 126802, header.stamp.nsec: 020 temperature: 13.5645612* salinity: 33.3755342, density: 1025.0000002* values[0]: 0.5803692F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039181.683165 s.lڬJ~,ck*AA(\@A,j@A~-_~? Ar}A%"AAvNA"AZAbAjArAzAAA7@A"nsA2t@AG#<A1ދ=Alό?A@L ?A I?AT2*A:?2A?ֽ:Am<BA:?JA?ֽRAm<٘i)I9t@YG JMC=JJJJgF&K Y\^~?yI2NAFj7j7I9B)uBE[[hi?[$^~?[P[[[[BZYY i) IH?i\쾉E ȹ?)) ȹ?ȹ?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039181.683165 s, next control iter: 1743039182.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039182.103165 s.J~,*AJ"J*J2J:JBJnJvJAQ8@AIH+@AP<_~? AvAsT%"AAvNA"AZAbAjArAzAAAMڰ7@A.APsADit@A7X];A=Arq?AQ?A@~?A&*A|:?2A+ս:A<BA|:?JA+սRA<٘i)I9it@YG JJJJJhF&K Y^~?yAMAF{7WK9B)xBE[[o?[^~?[I[[[[BZYY i) ޼ɻIH?iY ?))??`YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039182.143165 s, next control iter: 1743039182.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039182.523165 s.J~,|*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743039182.523301F (some fields omitted in printout)AHzn@A a@AJ_~? AoA%"AA.vNA"AZAbAjArAzAAAބHp7@AKMsAes@A_ãA.=A?Ak?AX?A*A:?2A8ֽ:Ap <BA:?JA8ֽRAp <٘i)I9s@YuG JJJJJjF&K Y^~?y :sMAF{7"M9){B[[hu?[z^~?[wB[[[[BZYY i) IH?i Lo?))Lo?Lo?y)aY$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039182.563165 s, next control iter: 1743039182.923185 s, wait time: 0.360020 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12681, header.stamp.nsec: 00 temperature: 13.564732* salinity: 33.375538, density: 1025.000000* values[0]: 0.579795F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039182.943165 s.XdJ~,B]*AJ"J*J2J:Jm?BJm?nJ5vJAq= ף@A˖@AX_~? A!iA\%"AA\DvNA"AZAbAjArAzAAA238@A%uusArts@A"/A=A?A?A?Av*A:?2Aֽ:Ata<BA:?JAֽRAta<٘i)I9ts@Y,G JˎJJJJkF&K YG^~?yD2MAF)7ŧ7N9B)~BE[[fR{?[^~?[:[[[[BZYY i) zIH?i[ û T?))T?T?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039182.983165 s, next control iter: 1743039183.343176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039183.363165 s.J~,u>׳*AA@AĐ@Af_~? A/bA%"AA+YvNA"AZAbAjArAzAAA/8@A9h7sA_r@A0A @=AR?A?AQ?A*Ao:?2A!ֽ:A<BAo:?JA!ֽRA Y^~?y*LA:?F7{7P9B)E[[뗀?[^~?[d3[[[[BZYY i) AIH?ik(,׻ )?)))?)?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039183.383165 s, next control iter: 1743039183.763174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12682&, header.stamp.nsec: 0&0 temperature: 13.564885&* salinity: 33.375538&, density: 1025.000000&* values[0]: 0.579270&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039183.783165 s.SJ~,*AJ"J*J2J:JK?BJK?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.251936@ elevatorAngleAction: -0.074827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039183.783293F (some fields omitted in printout)A(\@AO@A"s_~? A'[Ak%"AAImvNA"AZAbAjArAzAAAJ@W8@A sA׆r@AiA=AM?A`'?Ah?A*AS:?2Aֽ:A=BAS:?JAֽRA=٘i)I9r@YG JVJJJJnF&K Y^~?y!XLAF7777R9)B[[?[)^~?[+[[[[BZYY i) /"IH?i68 h?)) h?h?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039183.823165 s, next control iter: 1743039184.183175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039184.203165 s.J~, *AAQE@A8@A_~? A TA%"AAvNA"AZAbAjArAzAAAf6$}8@ABsAa r@AN!P;AҎ=Af?A@:?A?AB*A7:?2AXս:A=BA7:?JAXսRA=٘i)I9 r@YPG JJJJJoF&K Yq^~?yKAFLT9B)BE[[?[ _~?[#[[[[BZYY i) 2IjH?iB 6 ?))??ĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039184.243165 s, next control iter: 1743039184.603178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039184.623165 s.f J~,'*AJ"J*J2J:J(?BJ(?nJZ5vJAGz@A"0m@A̋_~? ALAd%"AAovNA"AZAbAjArAzAAASӡ8@AԺ3sAMq@A!<A=A??A`Yf?A`?A@*A:?2Aս:Awu =BA:?JAսRAwu =٘i)I9q@YG JzJJJJpF&K Y*^~?yKAFj7Z7V9)B[[@?[v_~?[[[[[BZYY i) `AIfH?iLt ?))??ƪYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039184.663165 s, next control iter: 1743039185.023183 s, wait time: 0.360018 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12683, header.stamp.nsec: 00 temperature: 13.565029* salinity: 33.375542, density: 1025.000000* values[0]: 0.578740F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039185.043165 s.J~,B*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074827< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199402 time: 1743039185.043293F (some fields omitted in printout)A= ף@A($@Ao_~? AEAV%"AAuvNA"AZAbAjArAzAAA]8@A$sAq@A:<A4=A?A-?A4?A-*A&x:?2A ֽ:Ar =BA&x:?JA ֽRAr =٘i)I9q@YG JJJJJrF&K Y^~?y @KAFZ7W9B)BE[[ ?[P%_~?[|[[[[BZYY i) QIH?iU]W V?))V?V? ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039185.063165 s, next control iter: 1743039185.443182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039185.463165 s.QJ~,Ӥ]*AJ"J*J2J:JBJnJvJAffff@A;q9^@A_~? AE>A%"AAĶvNA"AZAbAjArAzAAA&8@A:TLsAop@A;A=A4&?AM?AMh?A *Ap:?2Aֽ:A =BAp:?JAֽRA =YU*?6?yן=A;ٓH ? Ǜ?|?@3?+?o@0u|?`?)U*? I٘i)I9p@YaG JB=J<JJJsF&K9w> Y^~?yJA6?F777Y9)B[[c?[t2_~?[> [[[[BZYY i) ;C`IH?icN ?))??˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039185.483165 s, next control iter: 1743039185.863175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12684, header.stamp.nsec: 00 temperature: 13.565210* salinity: 33.375553, density: 1025.000000* values[0]: 0.578190F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039185.883165 s.yJ~,4x*AA(@AA @AF_~? A6Af,%"AAXvNA"AZAbAjArAzAAA1m,N9@A"xȻsA\o@AA=A֦?A^?A@?Ak؝*AGi:?2A׽:A =BAGi:?JA׽RA =٘i)I9o@YG JyC=JJJJtF&K Y^~?yyJAF7)7w[9B)BE[[?[?_~?[[[[[BZYY i) oIÎH?ipy j?))j?j?̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039185.903165 s, next control iter: 1743039186.283176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039186.303165 s.U$J~,sg*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: -0.083864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039186.303288F (some fields omitted in printout)AQ@A?D@Au_~? Aj/Am%"AA.vNA"AZAbAjArAzAAA|C".&9@AXa_:sAxo@A A r=A膩?A?A?A|*A!b:?2A]׽:A=BA!b:?JA]׽RA=٘i)I9xo@YG JJJJJvF&K Y^~?y3JAF77B]9)B[[?[K_~?[N[[[[BZYY i) ~I?H?iq{ ؏?))؏?؏?ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039186.323165 s, next control iter: 1743039186.703175 s, wait time: 0.380010 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12685*, header.stamp.nsec: 0*0 temperature: 13.565397** salinity: 33.375568*, density: 1025.000000** values[0]: 0.577588*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039186.723165 s.+J~,H*AAz@Az]z@A%_~? A'AO%"AAEvNA"AZAbAjArAzAAA@)dC9@AKz̐sA&n@AƮ<Ab=A+?A?AM?A *AV:?2A|׽:Aȇ =BAV:?JA|׽RAȇ =٘i)I9n@YoG J㜼JJJJwF&K Y_~?yIAF77{7 _9B)BE[[N?[V_~?[[[[[BZYY i)  IBsH?io& ؉?))؉?؉?|ѪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039186.743165 s, next control iter: 1743039187.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039187.143165 s.X/2J~,*ɴ*AJ"J*J2J:JBJnJvJA ףp@Afd@AU_~? AN A%%"AAvNA"AZAbAjArAzAAA g_9@AsApn@AR A=A?A@'?AB ?AC_*A(L:?2A!]׽:A =BA(L:?JA!]׽RA =٘i)I9pn@YG JJJJJyF&K Y_~?yQߩPIA Fb77`9)B[[?[ca_~?[[[[[BZYY i) ֟IdH?i{* ?))??y,ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039187.163165 s, next control iter: 1743039187.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039187.563165 s.8J~,[ *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200782 time: 1743039187.563364F (some fields omitted in printout)A3333@A)@A_~? AAw%"AA/wNA"AZAbAjArAzAAAy9@AH.XsAm@A4OAY=ALL?ANk?AG?Ax*AA:?2A?׽:A2=BAA:?JA?׽RA2=Y=?IJ?yV=*PٓH?8s? )[?@?p?`e`I?)=? I٘i)I9m@YG J(B=JG<JJJzF&Ky> Y0_~?y֩HAJ?"F'8#8b9 B)BE[[r?[zk_~?[[[[[BZYY i) ZIUH?i0q3 @))@@C٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039187.603165 s, next control iter: 1743039187.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12686, header.stamp.nsec: 00 temperature: 13.565606* salinity: 33.375565, density: 1025.000000* values[0]: 0.576991F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039187.983165 s.?J~,*AJ"J*J2J:JBJnJvJA\(@A>x@A6_~? AAF %"AAwNA"AZAbAjArAzAAAϓ9@Ap^sAUm@A֫;Ao =A"ճ?AN?Al?AXG*A7:?2Aֽ:Av=BA7:?JAֽRAv=٘i)I9Um@YrG J櫼C=JJJJ{F&K Yf_~?yΩ|HA#F7b7ld9 B)BE[[ ǡ?[t_~?[ש[[[[BZYY i) I&FH?iᑿ: U:@))U:@U:@RݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039188.003165 s, next control iter: 1743039188.383180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039188.403165 s.&FJ~,*AAQ^@AūQ@A_~? A> Aգ%"AAwNA"AZAbAjArAzAAAcv 9@AtAsA&l@AL;<Aã=Ag?A?A@W?A[*A.:?2Aֽ:A=BA.:?JAֽRA=٘i)I9l@YG J@JJJJ}F&K Y_~?y]ũHA$FZ7SI77f9)B[[Uۤ?[}_~?[ͩ[[[[BZYY i) !I5H?i@ r@))r@r@YFFF]v:Waiting for Gazebo time sync: latest Gz time: 1743039188.423165 s, next control iter: 1743039188.803175 s, wait time: 0.380010 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12687", header.stamp.nsec: 0"0 temperature: 13.565828"* salinity: 33.375572", density: 1025.000000"* values[0]: 0.576358"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039188.823165 s.LJ~,)4*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743039188.823297F (some fields omitted in printout)AGz@AKTo@A_~? AuAP;%"AA`&wNA"AZAbAjArAzAAAd9@Ah-sA$l@A<A2=A ?A'?A "?Av*A%:?2Aֽ:A=BA%:?JAֽRA=٘i)I9$l@YG JJJJJ~F&K Y#_~?yGA&F{7j7h9)B[[k?[_~?[ĩ[[[[BZYY i) 2Ia%H?i29_E =@))=@=@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039188.863165 s, next control iter: 1743039189.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039189.243165 s.SJ~,qO*AAףp=@A5@A_~? AA%"AA0wNA"AZAbAjArAzAAAg9@AgfsAk@A/<;AUn=Aɹ?A Y?A?A'*A:?2AH׽:AM=BA:?JAH׽RAM=٘i)I9k@YXG JdB=JJJJF&K Y )_~?y=GA'F7{7i9)B[[?[r_~?[[[[[BZYY i) o IH?iΜĵH @))@@{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039189.263165 s, next control iter: 1743039189.643176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039189.663165 s.ZJ~,qj*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12688, header.stamp.nsec: 00 temperature: 13.566071* salinity: 33.375584, density: 1025.000000* values[0]: 0.575680F (some fields omitted in printout)A@A<@A_~? AAl%"AA:wNA"AZAbAjArAzAAAgfpt9@A!sAj@AYAΕ=Am?AQ+?A?AG*A:?2Aӑ׽:A>=BA:?JAӑ׽RA>=YR?^?y(=ٓHH?X?#?=?W?UL6Kvz?)R? I٘i)I9j@YG JϼC=JLn<JJJF&K:y> Yd+_~?yLFA^?(FZ7Z7k9B)BE[[j$?[+_~?[E[[[[BZYY i) [IH?iLP B@))B@B@mYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039189.683165 s, next control iter: 1743039190.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039190.083165 s.DaJ~,S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083864< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039190.083295F (some fields omitted in printout)A)\5@AI(@A_~? AA%"AACwNA"AZAbAjArAzAAAu.z9@A=q njsA>Hj@A?<2A1=A?A,F?A ?Ar*A:?2A׽:A*=BA:?JA׽RA*=٘i)I9Hj@YG J<B=JJJJF&K Y-_~?yXFA*F7{7bm9)B[[??[5_~?[娩[[[[BZYY i) Ь¼IG?iV  @)) @ @SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039190.103165 s, next control iter: 1743039190.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039190.503165 s.gJ~,@4*AJ"J*J2J:JF?BJF?nJm5vJARk@Ay^@A`~? AAO%"AAKwNA"AZAbAjArAzAAAX:@A8sAi@AR-A=A?Ab?A?A%Nļ*A:?2A׽:A}=BA:?JA׽RA}=٘i)I9i@Y3G JC=JJJJF&K Y0_~?yęEA+F7-o9B)BE[[^?[_~?[n[[[[BZYY i) EɼIG?i[ jK @))jK @jK @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039190.523165 s, next control iter: 1743039190.903176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12689, header.stamp.nsec: 00 temperature: 13.566353* salinity: 33.375572, density: 1025.000000* values[0]: 0.574943F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039190.923165 s.9nJ~,*AA{G@A=@A)`~? A٪A<%"AASwNA"AZAbAjArAzAAANU:@AnsATh@A0)A=Az@?A?A0?Aʼ*A`:?2A6׽:AQ=BA`:?JA6׽RAQ=٘i)I9h@Y G J%ǼJJJJF&K Yt2_~?ysEA,F7)7p9)B[[ƀ?[%_~?[䕩[[[[BZYY i) hNѼIG?iS^#_ 4 @))4 @4 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039190.943165 s, next control iter: 1743039191.323178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039191.343165 s. YJ4_~?ypDAk?/F777t9)ƯB[[Ž?[_~?[[[[[ZZ¸BZYY i¸I=) ̼IfG?i-g :@)):@:@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039191.803165 s, next control iter: 1743039192.163176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039192.183165 s.˂J~,c *AJ"J*J2J:JBJnJvJA(\B@Ar5@A`~? AA&"AAedwNA"AZAbAjArAzAAAy4:@AQ gtsAyf@A"c8<An=A?A ?A@^?Ay׼*A9?2Azֽ:Am|=BA9?JAzֽRAm|=٘i)I9f@Y G J׼JJJJF&K Y3_~?yvDA0Fj7Z7Wv9)̯B[[N?[u_~?[y[[[[ZZBZYY i) =I|G?i7m rl@))rl@rl@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039192.203165 s, next control iter: 1743039192.583178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039192.603165 s.=4J~,Ț&*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.084614< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200432 time: 1743039192.603310F (some fields omitted in printout)AQx@AJGk@A9`~? A乪A&"AAhwNA"AZAbAjArAzAAAоZ<:@Ayae~osA!f@AFu;AVԬ=A?A?A@f?A*A9?2Aֽ:Ag<BA9?JAֽRAg<٘i)I9!f@Y G JJJJJF&K Y@3_~?ymCA2F77"x9B)ЯBE[[L?[_~?[\o[[[[ZZBZYY i) 2I@}G?i3p @))@@yb=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039192.623165 s, next control iter: 1743039193.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12691 , header.stamp.nsec: 0 0 temperature: 13.566939 * salinity: 33.375584 , density: 1025.000000 * values[0]: 0.573347 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039193.023165 s.ZJ~,{A*AJ"J*J2J:JBJnJvJAHz@A @A+`~? AֱAK&"AAkwNA"AZAbAjArAzAAAV@B:@A)_jsA Ge@A)AMܖ=AB?A@ ?An?A*A9?2A #׽:A1<BA9?JA #׽RA1<٘i)I9Ge@Y G JJJJJF&K Y2_~?ye!CA3Fb77y9)ׯB[[w*AvPublished command to Gazebo (printed only once in a while):J( dropWeightState: 1"J*J2J8 propOmegaAction: 25.132812< rudderAngleAction: -0.261799:JBJ> elevatorAngleAction: 0.084614nJ< massPositionAction: 0.000000vJ4 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039193.863284F (some fields omitted in printout)A@A 5 @Av`~? AA&"AAQpwNA"AZAbAjArAzAAA4I:@A"U`sAc@ANKAX.=A?Ard?Ay?A`ɼ*Ad:?2A׽:A;BAd:?JA׽RA;Yk?Ex?yzU.=~KٓHۑ [?߾ܤ? ɥ`i ?)k? I٘i)I9c@Y G JݼB=JbڽJJJF&Kx> Y._~?ySnBAx?6F77}9B)BE[[?[;_~?[R[[[[ZZBZYY i&=) őIF?G?i/ÿy @))@@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039193.903165 s, next control iter: 1743039194.263179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039194.283165 s.3RJ~,*AA(\O@AjQB@A`~? AA#&"AAHqwNA"AZAbAjArAzAAAICJ:@AZ[sA#c@AAr<A?A a`?A |?AJ̥*AQ:?2A׽:A.BAQ:?JA׽RA.٘i)I9c@Y: G JC=JJJJF&K Yk+_~?yJ3BA7F77j7M9B)BE[[?[_~?[OH[[[[ZZBZYY i) [I)G?iMƿ} .@)).@.@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039194.323165 s, next control iter: 1743039194.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12693., header.stamp.nsec: 0.0 temperature: 13.567647.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.571496.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039194.703165 s.ۺJ~J"J,&*A*J2J:JM?BJM?nJh5vJAQ@A]Px@A`~? AA&"AAqqwNA"AZAbAjArAzAAA I:@AVsABb@A斸A(<A?A`hA_|?A^}*A0:?2Aֽ:ABA0:?JAֽRA٘i)I9b@Y G JӕJJJJF&K Y(_~?yBAA8F)7ŧ79)B[[5?[r_~?[>[[[[ZZBZYY i) mxIiG?iZȿ : @))@@`cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039194.743165 s, next control iter: 1743039195.103179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039195.123165 s.9ᱭJ~,eǶ*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074781< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200472 time: 1743039195.123325F (some fields omitted in printout)AG@A@֭@A`~? AvA`_&"AApwNA"AZAbAjArAzAAA~1G:@AaQsABb@AD;AͻAP?A븜A`y?Ab*2*A9?2AI׽:AqBA9?JAI׽RAq٘i)I9Bb@Y G J>^JJJJF&K Y$_~?y>9AA:Fb77₫9)B[[&?[^_~?[4[[[[ZZBZYY i'=) fbIF?iUɿnڀ lQ@))lQ@lQ@y֘=%(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039195.163165 s, next control iter: 1743039195.523180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039195.543165 s.IJ~,*AJ"J*J2J:JBJnJvJA= ף@A@A`~? AcA&"AAWowNA"AZAbAjArAzAAA˦C:@AnMsAb@AS{5<Ax㥼Ah?A AWt?Aʻ*A9?2A4׽:AWBA9?JA4׽RAW٘i)I9b@Y G JJJJJF&K Y:!_~?y}0AA;F7779)B[["Z?[_~?[*[[[[ZZBZYY i) NMIF?i=ɿʀ @))@@y=*)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039195.583165 s, next control iter: 1743039195.943177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12694, header.stamp.nsec: 00 temperature: 13.567881* salinity: 33.375572, density: 1025.000000* values[0]: 0.570950F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039195.963165 s.zJ~,*AAffff&@A6^@A`~? ASyA&"AAmwNA"AZAbAjArAzAAA2-]>:@AHsA=a@A*<A<2As?A@Ak?A(ߺ*A)9?2Aֽ:A2sʼBA)9?JAֽRA2sʼYr?f~?y0?<ٓH`.̿5ƹ?b2?@T<̿ݞN?`E?`/?)r? I٘i)I9a@Y} G JB=J,8JJJF&Kw> Y_~?y'AA~?<F7x9B)E[[c?[ݟ_~?[1![[[[BZYY iho=) ;I$F?iqׂ̿ Ku@))Ku@Ku@ygB=3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039195.983165 s, next control iter: 1743039196.363180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039196.383165 s.ŭJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058553< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039196.383274F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A(>O@A`~? AFqA8&"AAjwNA"AZAbAjArAzAAAU{a7:@AI[*CsANa@A4;A6A?AAd`?AgA;*A49?2Aɾֽ:ApBA49?JAɾֽRAp٘i)I9a@Y~ G J9C=JJJJF&K Y_~?yGAA>F77B9)[[?[n_~?[y[[[[BZYY i=) k*IF?iοy4 !!@))!!@!!@y=u*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039196.423165 s, next control iter: 1743039196.783174 s, wait time: 0.360009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12695&, header.stamp.nsec: 0&0 temperature: 13.567938&* salinity: 33.375587&, density: 1025.000000&* values[0]: 0.570775&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039196.803165 s.A̭J~,g3*AA@A#,*@A`~? A=iA&"AA.fwNA"AZAbAjArAzAAAɼ(.:@AeSC>sAb@ACĻA,]A?A^AR?A<*A9?2Awֽ:A!&BA9?JAwֽRA!&٘i)I9b@Y G J;B=JJJ?FJF&K Y_~?y BA?F7 9B)E[[?[4_~?[ [[[[BZYY i) "IF?iϿᄼ ^"@))^"@^"@yh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039196.843165 s, next control iter: 1743039197.203181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039197.223165 s.J "J *J 2J :J !?BJ !?nJ :5vJ gӭJ~,HN*AAz@A8+@Ak `~? A9aAq&"AAawNA"AZAbAjArAzAAAT$:@A"u^9sASb@AK:A#i{A4?A#!A@B?AA<*A;9?2ASֽ:A BA;9?JASֽRA ٘i)I9Sb@Y G J"<C=JJJJF&K YJ_~?y9BA@F؋9B)BE[[@-?[2_~?[![[[[BZYY i)  IKF?iϿ܄ 0$@))0$@0$@y{=&*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039197.263165 s, next control iter: 1743039197.623179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039197.643165 s.٭J~,,*i*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068608< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039197.643315F (some fields omitted in printout)A ףp@Ad@A`~? A;YA &"AA\wNA"AZAbAjArAzAAADQ:@A%7~4sALb@AW2AlA?A`&轿A 0?A4r<*AT9?2Alֽ:ABAT9?JAlֽRA٘i)I9b@Y G J:Y<JJJJF&K Y_~?yugBABF779)B[[Ic?[k_~?[[[[[BZYY i) IzF?i~ο' %@))%@%@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039197.663165 s, next control iter: 1743039198.043179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12696, header.stamp.nsec: 00 temperature: 13.567876* salinity: 33.375591, density: 1025.000000* values[0]: 0.570997F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039198.063165 s.J~,V *AJ"J*J2J:J,?BJ,?nJF5vJA33333@A4(&@A)`~? ADQA &"AAUwNA"AZAbAjArAzAAAJt :@A#K/sA=c@AAwNAGy?AA?Av<*A=9?2Atֽ:AdBA=9?JAtֽRAdY.x?{?y N.ٓHPԿ@V8?KB?XԿ l E?s?).x? I٘i)I9c@Y8 G J<JaJJJF&K x> Y^~?yBA?CF{7m9)B[[:?[|_~?[ [[[[BZYY iTo=) λIcF?iп; jY'@))jY'@jY'@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039198.103165 s, next control iter: 1743039198.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039198.483165 s.w_J~,잷*AA\h@AwJ[@A>_~? AUIA1E &"AANwNA"AZAbAjArAzAAA]ִ9@AWК*sAc@Arv;A昽A)?Am¿A@?A^<*A9?2A׽:ABA9?JA׽RA٘i)I9c@Y G JՐ<JJJJF&K Y^~?y+CADF77789)B[[?[s_~?[[[[[BZYY i) OIMF?iѿD  (@)) (@ (@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039198.523165 s, next control iter: 1743039198.883179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12697, header.stamp.nsec: 00 temperature: 13.567705* salinity: 33.375576, density: 1025.000000* values[0]: 0.571440F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039198.903165 s.J~,͹*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200292 time: 1743039198.903321F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@Aլ@A_~? AnAA &"AA GwNA"AZAbAjArAzAAAw39@Aq%sA4d@A "(<Am%A?A )ĿA,?A<*Ah9?2A7׽:AeBAh9?JA7׽RAe٘i)I9d@Y G J<JJJJF&K Y^~?yjCAFF7S79B)B E[[?[i_~?[;ި[[[[BZYY i) I6F?iѿJ W*@))W*@W*@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039198.943165 s, next control iter: 1743039199.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039199.323165 s.uJ~,!Է*AAGz@A@7n@A_~? A9Ay &"AAn>wNA"AZAbAjArAzAAA9@A+;)!sAd@Ax9<Ag螽As?A@́ƿA@?AA<*A9?2A+׽:AL BA9?JA+׽RAL ٘i)I9d@Y) G J<JJJJF&K Y^~?yCAGF77{7͔9)ݯB[[7?[^_~?[Ԩ[[[[BZYY i) dI F?iпР ,@)),@,@ygp=b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039199.343165 s, next control iter: 1743039199.723177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12698*, header.stamp.nsec: 0*0 temperature: 13.387928** salinity: 33.391640*, density: 1025.000000** values[0]: 0.690527*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039199.743165 s."WJ~,*AJ"J*J2J:JBJnJvJAףp= @An½2@A[_~? A1A &"AA 5wNA"AZAbAjArAzAAAZ[x9@A%bsA=;e@AcY;ANA?AZȿA?AL<*A9?2ASֽ:A˰ BA9?JASֽRA˰ ٘i)I9;e@Y G Jİ<JJJJF&K Y^~?yۨRDAIF779)دB[[l?[1S_~?[˨[[[[BZYY i) 'I F?iοF -@))-@-@:*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039199.763165 s, next control iter: 1743039200.143184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039200.163165 s.w}J~,q *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.058544< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039200.163293F (some fields omitted in printout)A@@A;2@A^_~? A)A &"AA*wNA"AZAbAjArAzAAAA@G9@As/BsAe@ArRAƜA1?A d.ʿA ?As<*A9?2AǦֽ:ABA9?JAǦֽRAYv?Í?yƜٓHZZڿ`C%@ȣ?`?lڿ ꓳ?@M]?)v? I٘i)I9e@Y G J<B=J`GJJJF&K9x> Yt^~?yӨDA?JF{7c9B)կBE[[o?[F_~?[¨[[[[BZYY i) N,׺IE?iϿ C/@))C/@C/@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039200.183165 s, next control iter: 1743039200.563177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039200.583165 s.J~,R%*AJ"J*J2J:JBJnJvJA)\u@ACVh@A_~? A6"A3C &"AAwNA"AZAbAjArAzAAAϷg9@A3hsASqf@A+AuAy @A˿Al?A,<*A9?2Ayֽ:AeBA9?JAyֽRAe٘i)I9qf@Y@ G J8<C=JJJJF&K Yͽ^~?y˨$EAKF77-9B)ЯBE[[tj@[9_~?[[[[[BZYY iT =) e>I&E?iϿ_ 0@))0@0@X*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039200.603165 s, next control iter: 1743039200.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12699, header.stamp.nsec: 00 temperature: 13.387694* salinity: 33.391647, density: 1025.000000* values[0]: 0.691549F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039201.003165 s.{ J~,Y4@*AAR@A,y@A_~? AA &"AA:wNA"AZAbAjArAzAAA?`P9@A;6sA g@A=A";AT@AYͿAG?A!<*Ah9?2A߁ֽ:ABAh9?JA߁ֽRA٘i)I9 g@Y G J<JJJJF&K Y$^~?yèEAMF7779)˯B[[@[7,_~?[ǰ[[[[BZYY i) F9IE?iϿH| _m2@))_m2@_m2@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039201.023165 s, next control iter: 1743039201.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039201.423165 s.uJ~,[*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067403< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039201.423304F (some fields omitted in printout)J"J*J2J:JBJnJvJA{G@A߄B@Aa_~? AAo&"AAwNA"AZAbAjArAzAAAOh9@AA sAg@AAeאA!@AϿA, ?Avo<*A9?2Aֽ:A xBA9?JAֽRA x٘i)I9g@Y G J6<B=JJJJF&K Yz^~?yEANF{7{7Ý9B)ȯBE[[C@[_~?[[[[[BZYY i) b:IװE?i̿[. 4@))4@4@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039201.463165 s, next control iter: 1743039201.823178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12700, header.stamp.nsec: 00 temperature: 13.387482* salinity: 33.391651, density: 1025.000000* values[0]: 0.692607F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039201.843165 s.J~,u*AAp= @A @Aa_~? AK Af&"AAvNA"AZAbAjArAzAAA?AM9@A^,sA/h@AVA&A)@A9пA ?A^<*A/9?2A׽:AсBA/9?JA׽RAс٘i)I9/h@YP G Jӧ<C=JJJJF&K YӚ^~?y`FAOF779)įB[[R6@[_~?[c[[[[BZYY i) Vn;I%E?iɿ1 5@))5@5@y={*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039201.883165 s, next control iter: 1743039202.243181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039202.263165 s.$J~,ؐ*AJ"J*J2J:JBJnJvJAL@A?@A_~? AA&"AAvNA"AZAbAjArAzAAA0q09@ABSsAijh@A<A$8AT@AѿA?AY<*A9?2A;׽:ABA9?JA;׽RAY?L@y 7<ٓH`,ޤ?? ̫@C???)? I٘i)I9h@Y G Js<J°<JJJF&Kax> Y^~?yFAL@QF7{7X9B)BE[[@[^~?[ܖ[[[[BZYY i) oB;IkE?iʿ,Q J.7@))J.7@J.7@j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039202.283165 s, next control iter: 1743039202.663177 s, wait time: 0.380012 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12701., header.stamp.nsec: 0.0 temperature: 13.387252.* salinity: 33.391666., density: 1025.000000.* values[0]: 0.693554.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039202.683165 s.l*J~,c*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067403< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039202.683280F (some fields omitted in printout)A(\@A8ӄu@A_~? ANAl*&"AAvNA"AZAbAjArAzAAAbYW!9@AOi*rA0i@A?<AA@AzҿAd?A<*A9?2A0F׽:ABA9?JA0F׽RA9٘i)I90i@Y G J<JJJJF&K Ya~^~?ykGARFZ7Z7"9)B[[h@[^~?[w[[[[BZYY i) 6;IoE?i-ɿ 8@))8@8@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039202.683165 s, next control iter: 1743039203.083177 s, wait time: 0.400012 s rAdjusting time to match Gazebo time: 1743039203.103165 s.1J~,Ƹ*AJ"J*J2J:JBJnJvJAQ@AF@Ad_~? AA&"AAKvNA"AZAbAjArAzAAAܨT8@A@rAi@A<A\A@AbӿA`g?A<*A9?2A ׽:A؟BA9?JA ׽RA؟𼙘٘i)I9i@Y6G J<JJJJF&K Y(p^~?yϜwGASF7)79)B[[ @[x^~?[6[[[[BZYY i) S8;I]ZE?i:ǿ+ X:@))X:@X:@d*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039203.143165 s, next control iter: 1743039203.503175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039203.523165 s.7J~,|*AAHz@A] @Al_~? AAK&"AAvNA"AZAbAjArAzAAA.,*8@A76rAb!j@A3 ;A~An7 @Am?ԿA 4?Aiy<*A$9?2Aֽ:A'BA$9?JAֽRA'٘i)I9!j@YG J8<B=JJJJF&K Ya^~?y2GAUF779 B)BE[[@ @[^~?[~[[[[BZYY i=) `:;ICEE?i6Ŀ&{ j;@))j;@j;@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039203.543165 s, next control iter: 1743039203.923187 s, wait time: 0.380022 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12702, header.stamp.nsec: 00 temperature: 13.387098* salinity: 33.391674, density: 1025.000000* values[0]: 0.694381F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039203.943165 s.Vd>J~,:]*AJ"J*J2J:J1?BJ1?nJe:5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.076200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039203.943299F (some fields omitted in printout)Aq= #@AUJ@A_~? AOA&"AAvNA"AZAbAjArAzAAANW-_8@AM|؄XrA1j@A<˻Au݄A<| @AfտA@)?A3<*A9?2A)ֽ:A0iBA9?JA)ֽRA0i٘i)I9j@YG J<C=JJJJF&K YS^~?y0HAVF{7{79)BE[[- @[^~?[0v[[[[BZYY i) <;;I0E?i"u =@))=@=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039203.963165 s, next control iter: 1743039204.343177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039204.363165 s.EJ~,>*AAY@AI-L@A_~? AߩA8g&"AAtvNA"AZAbAjArAzAAA)?8@A4IrAik@Axx8A A @AHտA7?A֌<*A9?2Aֽ:ABA9?JAֽRAY? @y᪄8ٓH@v(b?*?o 0 d? L?)? I٘i)I9k@YG J<JJ;JJJF&KAx> YC^~?ywHA @WFŧ7ŧ7M9 B)BE[[@[^~?[bn[[[[BZYY i) ;IE?i[t ?@))?@?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039204.403165 s, next control iter: 1743039204.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12703&, header.stamp.nsec: 0&0 temperature: 13.386905&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.695142&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039204.783165 s.]KJ~,2*AJ"J*J2J:J1?BJ1?nJ:5vJA(\@AvR@Aw_~? AةA&"AAvNA"AZAbAjArAzAAAIl߶d8@AV rAk@AT*AcA@A4ֿAČ?A<*A9?2A|ֽ:ABA9?JA|ֽRA٘i)I9k@YXG J<JJJJF&K Yq2^~?yXHAYFZ7SI79)B[[Z@[^~?[f[[[[BZYY i)  elevatorAngleAction: 0.076200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039205.203273F (some fields omitted in printout)AQ@Ae@Aj_~? AЩA}&"AAuvNA"AZAbAjArAzAAA-=8@Al4YSrAk@AAʆArh@A+׿AO?A<*AF9?2Akֽ:ABAF9?JAkֽRA٘i)I9k@YG J=<JJJJF&K Y!^~?y9xrAl@A+<AiA@A CٿAm?AB<*A9?2APK׽:ABA9?JAPK׽RA٘i)I9l@Y'G J<JJJJF&K Y^~?yiIA]Fb7b7x9B)BE[[@[oU^~?[P[[[[BZYY i) J< elevatorAngleAction: 0.076200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200112 time: 1743039206.463306F (some fields omitted in printout)Afffff@Aq[Y@AA_~? AfA&"AA8vNA"AZAbAjArAzAAADm7@A[rALm@A<5<A)RATb@AڿA?AY<*A9?2AR5׽:AuBA9?JAR5׽RAuYO@U@yOĬ5<ٓHQ3? ? YcSƱ?`r?@?)O@ I٘i)I9Lm@YmG Jԇ<J7JJJF&KPx> Y]~?ymcMJAU@^Fj7j7C9B)BE[[@[?^~?[I[[[[BZYY i) @L?A%<*A9?2Aֽ:AП BA9?JAֽRAП I٘i)I9@n@YG J<JJJJF&K Y]~?yQV KAaF77{7ض9B)BE[[@[ ^~?[<[[[[BZYY i) P k elevatorAngleAction: 0.076200< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199712 time: 1743039207.723267F (some fields omitted in printout)Az@AO崧@AS_~? AAm&"AAuNA"AZAbAjArAzAAAGXt77@A;rAn@AVAgAk2@A `ܿA?AH<*A9?2Amֽ:A{BA9?JAmֽRA{٘i)I9n@YQG Jb<B=JJJJF&K Y]~?yOlKAbFj79B)BE[[zX@[]~?[>6[[[[BZYY ir=) @nzx> YT]~?yJC3LA@eF{789B)E[[cr@[]~?[*[[[[BZYY i) r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039208.983285F (some fields omitted in printout)J"J*J2J:JBJnJvJA\@A@AQ^~? AȕA &"AAѫuNA"AZAbAjArAzAAAޢ6@AXMj1rAl`p@A^9A Ab(@A͛޿A [?A 1<*AU9?2AGֽ:A^BAU9?JAGֽRA^٘i)I9`p@YLG J3<JJJJF&K Ypx]~?y^=LAfF9)B[[@[]~?[I$[[[[BZYY i) ))K>jhS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039209.843165 s, next control iter: 1743039210.223177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039210.243165 s.J~,i*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039210.243291F (some fields omitted in printout)Aףp=J@A^2=@A^~? A惩Aj&"AA]uNA"AZAbAjArAzAAA?9xH6@AEFrALr@A<AJA@A\A@?AN;<*A9?2Aֽ:ABA9?JAֽRA٘i)I9r@YNG J<JJJJF&K Y9]~?y+MAjF{7cë9B)B޹E[[Ɨ$@[i]~?[+[[[[BZYY i)  Y #]~?ya&CNA] @kF777.ū9 B)B۹E[[&@[CP]~?[-[[[[BZYY i)  elevatorAngleAction: 0.085179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199462 time: 1743039211.503287F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@Ao(|@Av^~? A sA&"AA uNA"AZAbAjArAzAAA⫡nY5@AQQrA_s@A4:AtA""@AWA?A<*AR9?2A8ֽ:ABAR9?JA8ֽRA٘i)I9s@YpG Jg<JJJJF&K Y\~?y&OAnFb7b7ȫ9)B[[U*)@[5]~?[[[[[BZYY i) p@AGc^~? AmA!&"AAtNA"AZAbAjArAzAAAWC5@AD<޴rAt@A=L%A6A7$@AA` ?A<*A9?2A\ֽ:ADBA9?JA\ֽRAD٘i)I9t@YG J<JJJJF&K Y\~?yOAoFŧ77ʫ9#B)~BչE[[*@[]~?[[[[[BZYY i)  elevatorAngleAction: 0.085179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039212.763277F (some fields omitted in printout)Ǎ@AȗP@Av;^~? AIcAG&"AA-tNA"AZAbAjArAzAAA@I4@A;#G^rAu@Aנ;ASA&@AFA`h?A<*Ai9?2Aֽ:A1BAi9?JAֽRA1Y\@&@y첽t;ٓH@Ep GI޳?8:?ތ@ّPV?t? ?)\@ I٘i)I9u@YG J<J4JJJF&KKx> Y\~?y PA&@rFŧ7#Ϋ9'B)xBιE[[ -@[\~?[q[[[[BZYY i) q(@AA[?A3<*A9?2A"׽:A `BA9?JA"׽RA `٘i)I9v@YG Jl<JJJJF&K Y\~?yPAsF777ϫ9)sB[[+/@[\~?[[[[[BZYY i)  elevatorAngleAction: 0.085179< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039214.023303F (some fields omitted in printout)AHz.@Ad!@AD]~? ATAt&"AARtNA"AZAbAjArAzAAA$M\3@A%0urAqw@AFî;AhA*@A@?#A?AHZ<*At9?2Aֽ:ArBAt9?JAֽRAr٘i)I9w@YG Jh<JJJJF&K Y#g\~?yQAvFj7ӫ9*B)kBȹE[[)#2@[%{\~?[[[[[ZZZZ¸>BZYY i¸>E>) *AJ"J*J2J:Jx4?BJx4?nJ==5vJA@AƼ@AG]~? AKAW&"AAtNA"AZAbAjArAzAAA\d4g3@Ä́rA{y@Ak A[AU-@A Aӈ?A=*A9?2A'ֽ:ABBA9?JA'ֽRABYM]@qc-@yVY!ٓH `ڿcҲ?? `=ꦿ`P?M ?)M]@ I٘i)I9{y@YG J<J;;JJJF&Kw> Y>5\~?yiRAc-@yFb7b7׫9)`B[[,5@[7D\~?[[[[[ZZZZBZYY i) g@y졧*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039215.303165 s, next control iter: 1743039215.683175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 127142, header.stamp.nsec: 020 temperature: 13.3845632* salinity: 33.3917122, density: 1025.0000002* values[0]: 0.7064422F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039215.703165 s.ԺJ~,*AJ"J*J2J:JBJnJvJAQ@A@A+]~? ACAm&"AAsNA"AZAbAjArAzAAA&#MK2@ArA6{@A;ֻAutA/@A'A ?A<*A9?2A3]ֽ:AjBA9?JA3]ֽRAj٘i)I96{@YG J{=JJJJF&K Y\~?y SA{Fګ9/B)UBE[[8@[ \~?[[[[[ZZZZBZYY i) JJJF&Kw> Y[~?yTA3@F7779)JB[[l[<@[G[~?[ݧ[[[[ZZZZBZYY i%) #5vJA(@A֎@AJ]~? A3A&"AAEsNA"AZAbAjArAzAAA1@AtY_rA q}@A<<Au;A-5@AA@?A8-<*AW9?2A^ֽ:A<BAW9?JA^ֽRA<٘i)I9q}@YAG JY<JJJJF&K Y>[~?yTAFZ7SI794B)IBE[[=@[5[~?[ۧ[[[[ZZZZBZYY i) Аzا[[[[BZYY i) g?>JJJF&Kw> Y_-[~?yRاTAa:@Fb7799B)LBE[[C@[-[~?[cק[[[[BZYY ibe) 2/<A*=AE:>@A#TAj?A۔*A9?2A7ֽ:Ai=BA9?JA7ֽRAi=٘i)I9|@YG JJJJJF&K YZ~?yNҧSAF77c9{: o))ox@y6f7ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039220.363165 s, next control iter: 1743039220.723183 s, wait time: 0.360018 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12719*, header.stamp.nsec: 0*0 temperature: 13.384237** salinity: 33.391712*, density: 1025.000000** values[0]: 0.708348*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039220.743165 s.WKJ~,u/*AJ"J*J2J:JBJnJvJAףp=@An½2}@AG\~? ABA5w!&"AA"rNA"AZAbAjArAzAAA/@ArsrA0|@A-F6<A?=A?@A@xA?A*Aǟ9?2A$ֽ:A=BAǟ9?JA$ֽRA=٘i)I90|@Y~G JiJJJJF&K Y=Z~?yMЧSAF{7j7.9=B)[BE[[I@[@Z~?[է[[[[BZYY i) ;IC?i?Z> ; |))|9z@yK{AͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039220.763165 s, next control iter: 1743039221.143176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039221.163165 s.s}RJ~,qJ*AA@AO@ANp\~? AA!&"AATqNA"AZAbAjArAzAAAk.@AqrA{@A;Agp=A.@@A`A&?A| *A9?2Avֽ:AS=BA9?JAvֽRAS=Y2@@@yo=a ;ٓHæY5@B?`ʼ@B?} `s?8?)2@ I٘i)I9{@Y-G JJU=JJJF&Kw> Yy&*; /))/{@ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039221.183165 s, next control iter: 1743039221.563176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039221.583165 s.XJ~,Se*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743039221.583286F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@A=@A/W\~? AA/!&"AA`qNA"AZAbAjArAzAAA}AnS-@AF8_prA!{@AA} =A5B@A AI?Aj*Ai9?2A%ֽ:AqR =BAi9?JA%ֽRAqR =٘i)I9!{@YG J(JJJJF&K Y:Z~?yΧRAFS779@B)gBE[[K@[dZ~?[H֧[[[[BZYY i) D;IҎC?ik>jVM; '))'|@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039221.623165 s, next control iter: 1743039221.983179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12720, header.stamp.nsec: 00 temperature: 13.384526* salinity: 33.391682, density: 1025.000000* values[0]: 0.707364F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039222.003165 s. `J~,n4*AAR+@Ap{@A=\~? AA~!&"AA6qNA"AZAbAjArAzAAA2:-@A>2orAҕz@A.AY=AcC@AA`i?AE*At9?2Aֽ:Ab=BAt9?JAֽRAb=٘i)I9z@YG JJJJJF&K Y9kZ~?y̧QRAF{7Z79?B)jBE[[@M@[ImZ~?[֧[[[[BZYY i) ^׀;IC?i>0u; ))c~@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039222.043165 s, next control iter: 1743039222.403180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039222.423165 s.-ufJ~,*AJ"J*J2J:J4?BJ4?nJ=5vJA{Ga@A?=T@A$\~? A<A"&"AAډqNA"AZAbAjArAzAAA'vQS,@A;p nrA_z@Aj@AHx=AD@AA?A`*A9?2Aֽ:Ab=BA9?JAֽRAb=٘i)I9z@Y-G J`JJJJF&K Y7OZ~?y˧QAF77Y9)oBE[[N@[qRZ~?[bק[[[[BZYY i)  )E;IC?iJ>Ӑ; S))S@ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039222.463165 s, next control iter: 1743039222.823179 s, wait time: 0.360014 s7OZ~?)˧tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12721, header.stamp.nsec: 00 temperature: 13.384764* salinity: 33.391701, density: 1025.000000* values[0]: 0.706291F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039222.843165 s.lJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039222.843333F (some fields omitted in printout)Ap= @AS@A \~? AA;"&"AAPcqNA"AZAbAjArAzAAAP,@A.AR$mrAxy@AڻA$|=A!F@A0 A ?A-*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9xy@YG JJJJJF&K Y53Z~?yʧQAF7777$9)sB[[gO@[7Z~?[1ا[[[[BZYY i) ;I*C?iJ?2U; Y))Y.@[ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039222.863165 s, next control iter: 1743039223.243178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039223.263165 s.tJ~,#н*AJ"J*J2J:J4?BJ4?nJs=5vJA@A Tƿ@A{[~? A/AY"&"AAx@A:A(֗=AcG@A"A` ?AS*Aŷ9?2Amֽ:Ag=BAŷ9?JAmֽRAg=Y`9@AfG@y֗=C:ٓH`̽ l!? 1@ \o?Ot_?`{?)`9@ I٘i)I9x@Y}G JoJ"7JJJF&Kx> YZ~?ywʧQAfG@Fj7j79@B)yBE[[UQ@[Z~?[0٧[[[[BZYY i) nZ:IC?i?T&; ߃))߃M@%ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039223.303165 s, next control iter: 1743039223.663176 s, wait time: 0.360011 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 127222, header.stamp.nsec: 020 temperature: 13.3850312* salinity: 33.3917242, density: 1025.0000002* values[0]: 0.7051972F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039223.683165 s.lzJ~,|*AA(\@AOr@A[~? AAnt"&"AAqNA"AZAbAjArAzAAACC*@A,5vykrA Tx@A<Aߙ=AcH@A 5AE?AE*Aͻ9?2AJ?ֽ:A6=BAͻ9?JAJ?ֽRA6=I٘i)I9Tx@Y$G J>JJJJF&K YY~?y<ʧPAFZ79AB)~BE[[>R@[Z~?[Zڧ[[[[BZYY i) Lz9IzC?i?E; u))u @ΪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039223.683165 s, next control iter: 1743039224.083181 s, wait time: 0.400016 s rAdjusting time to match Gazebo time: 1743039224.103165 s.J~,К*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039224.103289F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ8@AE+@A [~? AA"&"AApNA"AZAbAjArAzAAAg2*@ALd{jrAw@AD<A=A,HA`FA $?Aܘ*A9?2AjFֽ:A6=BA9?JAjFֽRA6=٘i)I9w@YG J~JJJJF&K YY~?yʧSPAFb779)BE[[T@[ZY~?[ۧ[[[[BZYY i) 3I޺C?i.?Ū; ] ))] @vʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039224.143165 s, next control iter: 1743039224.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039224.523165 s.J~,{!*AAHzn@A7N a@A7[~? A A"&"AApNA"AZAbAjArAzAAA#U)@Ac4jrA2w@A<AN =ATFA UA !W?A*AB9?2Akֽ:Am=BAB9?JAkֽRAm=٘i)I92w@YsG J6JJJJF&K  9YNY~? 9yɧOAF77N9BB)BE[[^U@[iY~?[*ݧ[[[[BZYY i) ҺI7C?ir@?T; T ))T e@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039224.563165 s, next control iter: 1743039224.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12723, header.stamp.nsec: 00 temperature: 13.385313* salinity: 33.391701, density: 1025.000000* values[0]: 0.704082F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039224.943165 s.J "J *J 2J :J >4?BJ >4?nJ =5vJ WdJ~,>]<*AAq= ף@A͖@AS[~? A A߱"&"AApNA"AZAbAjArAzAAAB (@A& irAmv@A?8AD=AMEA@bAρ?A *Av9?2Aֽ:A<BAv9?JAֽRA<٘i)I9v@Y G J0JJJJF&K YY~?yɧOAFS779)BE[[QV@[ѴY~?[ާ[[[[BZYY i) L%IC?iS?<  )) @ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039224.983165 s, next control iter: 1743039225.343177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039225.363165 s.J~,>W*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065447< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200532 time: 1743039225.363341F (some fields omitted in printout)A@A΅@Adp[~? Ac A"&"AAAypNA"AZAbAjArAzAAA*"[(@AV]QUirA'v@AAT׊=A,DAlAQ?Aj於*A<9?2A ׽:AUi<BA<9?JA ׽RAUi YY~?y8ʧ*OA5DFŧ7ŧ79)BE[[X@[Y~?[[[[[BZYY i®) cIC?i`?< ǐ))ǐwDŽ@_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039225.403165 s, next control iter: 1743039225.763179 s, wait time: 0.360014 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12724&, header.stamp.nsec: 0&0 temperature: 13.385573&* salinity: 33.391701&, density: 1025.000000&* values[0]: 0.703056&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039225.783165 s.VJ~,r*AJ"J*J2J:JBJnJvJA(\@AU@AjV[~? A A"&"AAQpNA"AZAbAjArAzAAAAX'@A irAu@AEAk݈=ABAsA@?Aq*A9?2A׽:A<BA9?JA׽RA<٘i)I9u@YG J:JJJJF&K YmY~?yʧNAF779CB)B}E[[\Y@[Y~?[[[[[BZYY i) 쐻IC?in?I< /))/w@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039225.803165 s, next control iter: 1743039226.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039226.203165 s.J~,*AAQE@A8@Aj<[~? A Af"&"AA*pNA"AZAbAjArAzAAAH '@AhrA2u@A3A=A8AADxA?A댼*A9?2Aֽ:A<BA9?JAֽRA<٘i)I92u@Y<G JJJJJF&K YQY~?y˧oNAF{7j7y9)B[[IZ@[fhY~?[[[[[BZYY i) ௻I:C?i ?F9#< e))e'@YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039226.223165 s, next control iter: 1743039226.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039226.623165 s.VJ~,X⧾*AJ"J*J2J:J3?BJ3?nJx<5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039226.623303F (some fields omitted in printout)AGz@AͰQm@Af"[~? A| A"&"AApNA"AZAbAjArAzAAAtZ &@AI<7$hrAt@AAy=AK@A@ zAx:s?A<*A9?2Aֽ:A-<BA9?JAֽRA-<٘i)I9t@YG JmJJJJF&K Yh5Y~?y8̧NAF77D 9)BzE[[k[@[OY~?[[[[[BZYY i) {λID?is?.< 'r))'rֆ@y亪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039226.643165 s, next control iter: 1743039227.023178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12725 , header.stamp.nsec: 0 0 temperature: 13.385805 * salinity: 33.391708 , density: 1025.000000 * values[0]: 0.702108 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039227.043165 s.J~,¾*AA= ף@As@Aa[~? A A"&"AAoNA"AZAbAjArAzAAÄ́,%@A7.hrAEt@A N;AF=A?A`yAA*A9?2ASiֽ:A#=BA9?JASiֽRA#=٘i)I9Et@YG JJJJJF&K Y=Y~?y̧MAF7ŧ7 9)BwE[[~I]@[)7Y~?[j[[[[BZYY i) ID?iY1\@A_Z~? A A#"&"AACoNA"AZAbAjArAzAAA_tG%@A0\hrAs@A?<A6=A[=A`vA |Aː*AZ9?2APֽ:Ae=BAZ9?JAPֽRAe=YgF@=yP4=@<ٓHm@z?e@1ƿ3`A#??)gF@ I٘i)I9s@YbG JJJJJF&Kx> YmX~?yqΧYMA=F777 9DB)BtE[[^@[Y~?[[[[[BZYY i) pI &D?i?SC< Q))Q23@꼪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039227.483165 s, next control iter: 1743039227.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12726, header.stamp.nsec: 00 temperature: 13.386061* salinity: 33.391705, density: 1025.000000* values[0]: 0.701216F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039227.883165 s.yJ~,8*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039227.883321F (some fields omitted in printout)A(@Ac`@AaZ~? A A"&"AAیoNA"AZAbAjArAzAAAګT٩$@Aէ irA=Ss@Ac1<A^=Ap<A` qA^Aܐ*AG9?2Aoֽ:A)=BAG9?JAoֽRA)=٘i)I9Ss@YG J␼JJJJF&K YX~?yϧLAF9)BqE[[F_@[cY~?[[[[[BZYY i) PI77D?iџ?L< ^))^@}YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039227.903165 s, next control iter: 1743039228.283175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039228.303165 s.UįJ~,sg*AJ"J*J2J:JBJnJvJAQ@AGD@AjZ~? A A"&"AA{eoNA"AZAbAjArAzAAA{j $@A{[qirA r@ACH;AI=A;A` iA d Al*AJ9?2Aֽ:AY=BAJ9?JAֽRAY=٘i)I9r@YG JGJJJJF&K YX~?yѧLAF77n9)BoE[[2a@[X~?[[[[[BZYY i) }%IDID?i?}V< ))썉@^YFFF]w:Waiting for Gazebo time sync: latest Gz time: 1743039228.323165 s, next control iter: 1743039228.703176 s, wait time: 0.380011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12727., header.stamp.nsec: 0.0 temperature: 13.386285.* salinity: 33.391701., density: 1025.000000.* values[0]: 0.700323.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039228.723165 s.˯J~,H.*AAz@AWz@A}Z~? A? A"&"AA)>oNA"AZAbAjArAzAAAĭ9o#@Aq"irA1br@AyZAf=A9Au^AޱAz鍼*A^9?2ALֽ:Ar=BA^9?JALֽRAr=٘i)I9br@YG JJJJJF&K YX~?yӧDLAF7799)BlE[[S{b@[ X~?[[[[[BZYY i) /5II\D?i԰?tWb< U))U^:@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039228.743165 s, next control iter: 1743039229.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039229.143165 s.\/үJ~, *I*AJ"J*J2J:J+3?BJ+3?nJ;5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074552< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200502 time: 1743039229.143331F (some fields omitted in printout)A ףp@A[d@AZ~? AAM"&"AAoNA"AZAbAjArAzAAA;EX"@A ǔB`jrAq@Aa2AT=ABo8AJQA贵A:&*A9?2A"׽:A^=BA9?JA"׽RA^=٘i)I9q@Y<G JՍJJJJF&K Y6X~?yԧKAF{7j79)BiE[[ c@[X~?[[[[[BZYY i) DIXpD?i?n< {)){@:ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039229.163165 s, next control iter: 1743039229.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039229.563165 s.دJ~,F d*AA3333@Aƃ-@AlZ~? AAI"&"AAnNA"AZAbAjArAzAAAg5"@AC_ SjrArq@A<Ak=A*!7AAAyAkE*Aٹ9?2A@׽:A=BAٹ9?JA@׽RA=YL@.7yi=i=ٓH ? ѿ h9)ҝ`?)L@ I٘i)I9rq@YG J3B=J:<JJJF&Kx> Y sX~?yקKA.7F9)B[[ e@[ҨX~?[[[[[BZYY i) SID?i?v< ))y@ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039229.583165 s, next control iter: 1743039229.963178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12728, header.stamp.nsec: 00 temperature: 13.386506* salinity: 33.391685, density: 1025.000000* values[0]: 0.699431F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039229.983165 s.J "J *J 2J :J 3?BJ 3?nJ ;5vJ ߯J~,~*AA\(@Aّ@ASZ~? AGA"&"AAnNA"AZAbAjArAzAAAmALǙ!@AѵkrAp@AףǻAw=AR5A/A@nEA*A`9?2Aֽ:A=BA`9?JAֽRA=٘i)I9p@YG JC=JJJJF&K YWX~?y٧%KAF779)BfE[[Rf@[X~?[_[[[[BZYY iê) U*cID?i?" < M))M`<@ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039230.023165 s, next control iter: 1743039230.383180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039230.403165 s.&J~,͙*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039230.403294F (some fields omitted in printout)AQ^@A`;Q@Aj9Z~? AAn"&"AAnNA"AZAbAjArAzAAAv@7 @Al{lrAZup@Ab3(;AnC=Ab4AUAAQޝ*A19?2Ayֽ:A =BA19?JAyֽRA =٘i)I9up@YYG JB=JJJJF&K YTnNA"AZAbAjArAzAAAe@ATrnrAfo@A%E<A^J=A2AA6ĿA"Ĥ*A89?2AEHֽ:AT=BA89?JAEHֽRAT=٘i)I9fo@YG JJJJJF&K YxX~?yJAF7779)ɯB]E[[hj@[PX~?[A [[[[BZYY i) ID?i?O< ))뿩.@yҪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039231.283165 s, next control iter: 1743039231.643177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039231.663165 s.J~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039231.663292F (some fields omitted in printout)J"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12730, header.stamp.nsec: 00 temperature: 13.386960* salinity: 33.391682, density: 1025.000000* values[0]: 0.697568F (some fields omitted in printout)A@A"8@AY~? AA"&"AA-nNA"AZAbAjArAzAAA c^@AUOorAn@A<A5=A0AA@MƿAB'*A9?2AMֽ:AB=BA9?JAMֽRAB=YhnS@,0y=]<ٓH 0 F?ʲ@׿๵j o??)hnS@ I٘i)I9n@Y_G JoJB<JJJF&Kx> YBW~?yIA0F779)ͯBZE[[\k@[:X~?[) [[[[BZYY i) ID?i?P< ))迩mЎ@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039231.683165 s, next control iter: 1743039232.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039232.083165 s.DJ~,R*AA)\5@Aȳ˷(@AY~? AA!&"AAmnNA"AZAbAjArAzAAA)V,@A:"prAOn@A=йA0=A\/A@VA@ǿA*A%9?2Aֽ:A=BA%9?JAֽRA=٘i)I9On@Y G JrJJJJF&K YW~?y[/IAF7)7 9)ѯB[[Kl@[R%X~?[,[[[[BZYY i) ᓗIxE?i?x< z))z濩!q@٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039232.123165 s, next control iter: 1743039232.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039232.503165 s.J~,/4 *AJ"J*J2J:JBJnJvJARk@Aty^@AúY~? AA!&"AAOmNA"AZAbAjArAzAAASz@ArrAHm@A% A=A.A #A!ɿAJ*A9?2Aq׽:Al=BA9?JAq׽RAl=٘i)I9m@YG J;JJJJ F&K YڷW~?yHAF77Y"9)֯BWE[[m@[X~?[I[[[[BZYY i) I.E?i?<< ))㿩@>ݪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039232.543165 s, next control iter: 1743039232.903176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12731, header.stamp.nsec: 00 temperature: 13.387228* salinity: 33.391666, density: 1025.000000* values[0]: 0.696535F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039232.923165 s.@J~,;*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200322 time: 1743039232.923312F (some fields omitted in printout)A{G@A]=@AաY~? AA!&"AAhmNA"AZAbAjArAzAAAVRq)@Ac8vwsrA4m@A$DAգ=A,AkA˿A֫*A 9?2A׽:Aó=BA 9?JA׽RAó=٘i)I94m@Y^G JJJJJ F&K YW~?y^HAF)7ŧ7$$9)گBTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #79q/O^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) ).YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039232.943165 s, next control iter: 1743039233.323180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039233.343165 s.<J~,U*AJ"J*J2J:J.2?BJ.2?nJ:5vJAp= @Aё\@AY~? ApAl!&"AAmNA"AZAbAjArAzAAAe=qġ@AttrA9l@AOAծ=Agi+AEA@vͿAg*Av9?2AAֽ:A=BAv9?JAAֽRA=٘i)I9l@YG JJJJJ F&K YoW~?y-GAF777%9CB)ޯBRE[[Tp@[1W~?[[[[[BZYY i) < IJE?i@< k߿)) k߿@L@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039233.383165 s, next control iter: 1743039233.743178 s, wait time: 0.360013 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12732&, header.stamp.nsec: 0&0 temperature: 13.387498&* salinity: 33.391659&, density: 1025.000000&* values[0]: 0.695487&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039233.763165 s.4J~,p*AA @A"@AzpY~? A"A:!&"AAWpmNA"AZAbAjArAzAAAQw@A"vrAzl@AA3<=A*A A пAt}*A=_:?2A<;½:AU=BA=_:?JA<;½RAU=YY@*y<=;ٓH@YS@j?>Mݿ@kW@Z!`?)Y@ I٘i)I9l@YG JJ|<JJJF&Kj> Y`jW~?y8GA*F77'9)BOE[[q@[PW~?[="[[[[BZYY i) uIgE?i@< ݿ))ܿ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039233.803165 s, next control iter: 1743039234.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039234.183165 s."J~,c*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743039234.183269F (some fields omitted in printout)A(\B@Aݙ 5@AXY~? A$A!&"AA!KmNA"AZAbAjArAzAAAKf O@A6 JxrAKgk@AD;ANy=A)AAࠊпAļ*Ao:?2A}½:A_=BAo:?JA}½RA_=٘i)I9gk@YEG JۿJJJJF&K YOQW~?yCGAF7)9)B[[sr@[W~?[&[[[[BZYY i) H˼IE?i @< ڿ))ڿ@yYYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039234.203165 s, next control iter: 1743039234.583177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039234.603165 s.:4)J~,*AAQx@AIk@A?Y~? A'A &"AA&mNA"AZAbAjArAzAAA7'@A mzrA/j@Aɘ8<A"K=Ar(AAW+ѿAMʼ*At:?2A Ž:A=BAt:?JA ŽRA=٘i)I9j@YG JƼJJJJF&K Y>8W~?yNFAF{7{7O+9)BLE[[t@[W~?[l+[[[[BZYY i)  ļIȤE?ix@\< ǩ׿))ǩ׿i%@YTYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039234.623165 s, next control iter: 1743039235.003180 s, wait time: 0.380015 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12733 , header.stamp.nsec: 0 0 temperature: 13.387780 * salinity: 33.391670 , density: 1025.000000 * values[0]: 0.694358 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039235.023165 s.Z0J~,|*AJ"J*J2J:JBJnJvJAHz@A_ @Ax'Y~? A*A &"AA;mNA"AZAbAjArAzAAA4@Ak{rAj@A{/<Aڦ=A<'AAѿA oͼ*Acr:?2Aǽ:A9=BAcr:?JAǽRA9=٘i)I9j@YwG J˼JJJJF&K Y.W~?yY/FAF77-9)BIE[[=u@[W~?[!0[[[[BZYY i) Bv˼IE?i@0/< ;տ));տ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039235.043165 s, next control iter: 1743039235.423185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039235.443165 s.76J~,>]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083381< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039235.443316F (some fields omitted in printout)Aq= @A(@AlY~? A-AY &"AAlNA"AZAbAjArAzAAA6Ӟ@A$}rAgi@A;A=AZ&AAYҿA&μ*Ak:?2A˽:A=BAk:?JA˽RA=٘i)I9gi@YG J μJJJJF&K YW~?ycEAF77.91B)BFE[[brv@[W~?[4[[[[BZYY i) ҼI_E?i@;< ҿ))ҿ,[@ZYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039235.483165 s, next control iter: 1743039235.843179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12734, header.stamp.nsec: 00 temperature: 13.388080* salinity: 33.391655, density: 1025.000000* values[0]: 0.693109F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039235.863165 s.+=J~,>*AJ"J*J2J:JBJnJvJA@AK @AX~? A21A &"AAKlNA"AZAbAjArAzAAA1H@AErAh@AivA=A %A nA4sӿA~ͼ*A=c:?2Aͽ:A=BA=c:?JAͽRA=٘i)I9h@Y G JμJJJJF&K YV~?yn LEAF7ŧ709)BCE[[,w@["wW~?[9[[[[BZYY i) "ڼIKF?i@< 'oп))'oп@YFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039235.903165 s, next control iter: 1743039236.263180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039236.283165 s.5RDJ~,*AA(\O@AߤiPB@AX~? A4A&"AADlNA"AZAbAjArAzAAAMn@A}rAh@A~&A=AO#A=AEԿAj˼*AT:?2AKн:AV=BAT:?JAKнRAV=٘i)I9h@Y< G Jg̼JJJJF&K YV~?yy DAF77y29)B[[x@[eW~?[>[[[[BZYY i) uIW*F?i%#@Y< ο))οt@\YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039236.323165 s, next control iter: 1743039236.683176 s, wait time: 0.360011 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12735., header.stamp.nsec: 0.0 temperature: 13.388391.* salinity: 33.391651., density: 1025.000000.* values[0]: 0.691884.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039236.703165 s.ԺJJ~,-*AJ"J*J2J:J1?BJ1?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092340< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039236.703278F (some fields omitted in printout)AQ@ATx@AzX~? A*8AÖ&"AAplNA"AZAbAjArAzAAA.CS@@Ap~rAcg@AP7A=AUU"A AտAͼ*AF:?2Aҽ:A=BAF:?JAҽRA=٘i)I9cg@Y G J˼JJJJF&K YV~?yiDAF)7b7D49)BAE[[y@[TW~?[C[[[[ZZ¸BZYY i¸=) ռINF?i)@w[< Ϲ˿))Ϲ˿g!@y= SYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039236.743165 s, next control iter: 1743039237.103176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039237.123165 s.7QJ~,]G*AAG@Aխ@AGX~? A;A&P&"AA5MlNA"AZAbAjArAzAAAuF@AcyPrAf@A=ϻA=A!A`A8տAtӼ*A8:?2AJ-ӽ:A=BA8:?JAJ-ӽRA=٘i)I9f@Yi G JϼJJJJF&K YߡV~?yCAF7769)B>E[[l'{@[DW~?[H[[[[ZZBZYY i) ɼIbtF?iH/@g]< hɿ))hɿ@yYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039237.143165 s, next control iter: 1743039237.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039237.543165 s.IXJ~,b*AJ"J*J2J:J0?BJ0?nJ95vJA= ף@A:̗@ASX~? A?A&"AA8*lNA"AZAbAjArAzAAAD @Aû마rA-e@A:A=AѿA@JA ֿAr*A<:?2Aӽ:A=BA<:?JAӽRA=٘i)I9e@Y G JJJJJF&K YЈV~?yCAF77{779)B;E[[L|@[4W~?[M[[[[ZZBZYY i) нIF?i5@< #ǿ))#ǿRH@y=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039237.563165 s, next control iter: 1743039237.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12736, header.stamp.nsec: 00 temperature: 13.388682ЈV~?* salinity: 33.391636), density: 1025.000000* values[0]: 0.690649F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039237.963165 s.y^J~,}*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081854< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743039237.963298F (some fields omitted in printout)Affff&@Ahv[@AX~? ACA&"AAlNA"AZAbAjArAzAAA+rS~ @A;rAe@Aԟ<A =AluA` ZA9׿AK*AD:?2AԽ:An<BAD:?JAԽRAn YrV~?y CAjF{7j799)B[[|}@[$W~?[R[[[[ZZBZYY i) IHF?i8@7< ۽Ŀ))۽Ŀd@y=תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039238.003165 s, next control iter: 1743039238.363180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039238.383165 s.eJ~,D*AJ"J*J2J:J0?BJ0?nJ195vJA(\@A(>O@A5mX~? AGAk&"AAhkNA"AZAbAjArAzAAAw^@AWύrA/2d@A~U5<A|=A$A A@YؿAm*AH:?2AsMս:A^<BAH:?JAsMսRA^<٘i)I92d@Y G JJJJJF&K Ym\V~?y{$BAF77o;90B)B8E[[~@[W~?[@X[[[[ZZBZYY i) hIF?io<@}2< ?a¿))?a¿w@~YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039238.423165 s, next control iter: 1743039238.783177 s, wait time: 0.360012 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12737", header.stamp.nsec: 0"0 temperature: 13.389078"* salinity: 33.391617", density: 1025.000000"* values[0]: 0.689078"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039238.803165 s.yAlJ~,g*AA@Aˠ@A WX~? A LAB&"AAkNA"AZAbAjArAzAAAETiE@AǦ1rAkc@A;A$7=AAwA )ٿAּ*AJ:?2Aս:A;BAJ:?JAսRA;٘i)I9kc@Yi G JTJJJJF&K Y;FV~?y)LBAFb77:=9)B5E[[@[mW~?[][[[[ZZBZYY i) I'G?iH@@f< S))S @쀪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039238.843165 s, next control iter: 1743039239.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039239.223165 s.gsJ~,H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.081854< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743039239.223287F (some fields omitted in printout)J"J*J2J:JBJnJvJAz@A @A,AX~? AoPA&"AA7kNA"AZAbAjArAzAAAZNH2@AߒrAb@AA <AS{AۚA`ٿA߬*AG:?2A3ֽ:AǔBAG:?JA3ֽRAǔ٘i)I9b@Y G JYƼJJJJF&K Y 0V~?y\/AAF777?9)B[[@[V~?[ c[[[[ZZBZYY i) }Ie?G?iD@< ))좙@!YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039239.243165 s, next control iter: 1743039239.623176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039239.643165 s.uyJ~,**AA ףp@AYe@A+X~? ATAn&"AAAkNA"AZAbAjArAzAAA5'@A죕rABb@A Ah0<A*A@WA ڿAg*AA:?2A%]ֽ:ABAA:?JA%]ֽRA٘i)I9Bb@Y G J&JJJJ!F&K YV~?y4{AAF77{7@9)B3E[[@[V~?[h[[[[ZZBZYY i) NIjG?i I@= c))c6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039239.663165 s, next control iter: 1743039240.043176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12738, header.stamp.nsec: 00 temperature: 13.389409* salinity: 33.391613, density: 1025.000000* values[0]: 0.687697F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039240.063165 s.J~,p *AJ"J*J2J:J 0?BJ 0?nJ85vJA33333@A,&@ALX~? AYA+&"AA`kNA"AZAbAjArAzAAA1j"@AgM}rAa@AaKAգAAA`ۿA/*A6:?2A{vֽ:A4BA6:?JA{vֽRA4Y=l@yѣGbKٓH >???`@Nv 6zt?@ l D?)=l@ II٘i)I9a@Y{ G J_B=JEJJJ"F&Ky> Y}V~?y:AAFb77B9)!B0E[[?@[V~?[Ln[[[[ZZBZYY i{=) jsIG?iK@=  )) :͚@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039240.103165 s, next control iter: 1743039240.463185 s, wait time: 0.360020 s rAdjusting time to match Gazebo time: 1743039240.483165 s._J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.061500< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039240.483300F (some fields omitted in printout)A\h@A:[@AQX~? Ao^AԸ&"AA@kNA"AZAbAjArAzAAAIjK?A=) `IG?i4O@y= 紶))紶b@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039240.523165 s, next control iter: 1743039240.883177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12739, header.stamp.nsec: 00 temperature: 13.389592* salinity: 33.391590, density: 1025.000000* values[0]: 0.686935F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039240.903165 s.J "J *J 2J :J /?ȍJ~BJ/?nJe85vJ,9*AAQ@A@AW~? A^cAY&"AA!kNA"AZAbAjArAzAAA̚\a?ACG/nrAa@A AA<A|A@6ݿA!w*A":?2Aֽ:AɼBA":?JAֽRAɼ٘i)I9a@YF G Ji}JJJJ%F&K YU~?y7GAAFb7/F9/B),E[[,Ղ@[V~?[y[[[[BZYY i) MIjG?iR@E= b))b'@ .*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039240.943165 s, next control iter: 1743039241.303182 s, wait time: 0.360017 s rAdjusting time to match Gazebo time: 1743039241.323165 s.oJ~,T*AAGz@A-\o@ASW~? AohA[&"AAkNA"AZAbAjArAzAAA𧊤?AN=rAa@A`;A .AA@/AݿA';*A:?2A,׽:ABA:?JA,׽RA⼙٘i)I9a@YH G J:JJJJ&F&K YrU~?yZMAAFZ7Z7G9)"B)E[[h@[V~?[[[[[BZYY i) X:IH?iV@| = ))@yБ=i*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039241.343165 s, next control iter: 1743039241.723174 s, wait time: 0.380009 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12740&, header.stamp.nsec: 0&0 temperature: 13.389678&* salinity: 33.391582&, density: 1025.000000&* values[0]: 0.686752&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039241.743165 s.WJ~,uo*AJ"J*J2J:J/?BJ/?nJY85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.072300< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039241.743279F (some fields omitted in printout)Aףp= @A52@AVW~? AmAM&"AAvjNA"AZAbAjArAzAAAY?Ab=lrAqa@A8<ASA A`A ޿A;*A:?2AuM׽:A'BA:?JAuM׽RA'٘i)I9a@YZ G J̉;JJJJ'F&K YU~?y}SAAFŧ7b7I90B)*E[[@@[?V~?[g[[[[BZYY i) 'IMH?i3[@/J = ʯ))ʯ;@Ў*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039241.763165 s, next control iter: 1743039242.143177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039242.163165 s.w}J~,q*AA@@A<2@AW~? ArA-&"AAijNA"AZAbAjArAzAAA 2d ?A4SwrAa@Aʭ$<AZsAHA AJ߿A6!<*A:?2A5׽:AƬBA:?JA5׽RAƬY#r@qRy1s$<ٓH6*}? X?9o`? u?? ?)#r@ I٘i)I9a@Y{ G J<JJJJ)F&Ky> YU~?y;ZAARF{7Z7K9/B) B'E[[$@[×V~?[\[[[[BZYY ig=) }In}H?i]@{ = z))z@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039242.183165 s, next control iter: 1743039242.563178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039242.583165 s.樰J~,R*AJ"J*J2J:JBJnJvJA)\u@ACVh@AhW~? AbxA&"AAjNA"AZAbAjArAzAAA50"?A?XBrA3b@Apa;A&AvA+<A߿AY<*A:?2Aֽ:A BA:?JAֽRA ٘i)I93b@Y G J:<JJJJ*F&K YU~?y`ABAFb77ZM9)B$E[[P"@[V~?[Z[[[[BZYY i) =I­H?i`@= ?.))?.KD@5*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039242.603165 s, next control iter: 1743039242.983176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12741, header.stamp.nsec: 00 temperature: 13.389619* salinity: 33.391582, density: 1025.000000* values[0]: 0.687106F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039243.003165 s. J~,r4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.056620< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039243.003305F (some fields omitted in printout)AR@A-y@AzW~? A}AY&"AAjNA"AZAbAjArAzAAALȣs?A3SrAb@A/A鐽AWA@qA VA<*AP:?2Aֽ:ABAP:?JAֽRA٘i)I9b@Y G J,u<JJJJ+F&K Y{}U~?ygBAF77j7$O9)B[[@[V~?[b[[[[BZYY i) 0IH?id@= 䨿))䨿֞@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039243.023165 s, next control iter: 1743039243.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039243.423165 s.uJ~,*AJ"J*J2J:J/?BJ/?nJ85vJA{G@AB:<@AwW~? AA&"AAwnjNA"AZAbAjArAzAAA?I5?A{YrA0c@Aa4AоAv AAAΝ<*AG:?2Aֽ:ABAG:?JAֽRA٘i)I9c@Y5 G Jߓ<JJJJ-F&K YFkU~?ytnBAFZ7Z7P9.B)B!E[[:F@[tV~?[q[[[[BZYY i):=) .OлII?ig@ b= ))5h@y>h=*YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039243.443165 s, next control iter: 1743039243.823186 s, wait time: 0.380021 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12742, header.stamp.nsec: 00 temperature: 13.389475* salinity: 33.391575, density: 1025.000000* values[0]: 0.687893F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039243.843165 s.ݼJ~,*AAp= @At @AeW~? AiA|&"AARjNA"AZAbAjArAzAAA!AmrADc@A7@7AyA( Ah;AAũ<*A:?2Aֽ:A*BA:?JAֽRA*٘i)I9c@Y G JG<B=JJJJ.F&K YYU~?y3u7CAF777R9/B)B"E[[ֆ@[iV~?[[[[[BZYY i) hIik@= [))[@yLh=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039243.883165 s, next control iter: 1743039244.243177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039244.263165 s.İJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199512 time: 1743039244.263278F (some fields omitted in printout)J"J*J2J:JBJnJvJAL@A1~?@ASW~? AQA &"AAJ7jNA"AZAbAjArAzAAAҟz_<ҿA-ګQBrAi0d@A%A;AZ A߿AVA9<*AX :?2Aֽ:AM BAX :?JAֽRAM YMy@ y];ٓHp??`z_ X??B? v@?)My@ I٘i)I90d@Y G J<C=JJJJ/F&Kx> Y,IU~?yx|CA F{7{7T9) BE[[h@[R_V~?[[[[[BZYY i) 0HIiDn@~= ))@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039244.303165 s, next control iter: 1743039244.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12743., header.stamp.nsec: 0.0 temperature: 13.389254.* salinity: 33.391560., density: 1025.000000.* values[0]: 0.688967.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039244.683165 s.lʰJ~,c+*AA(\@A#J{u@ABW~? AVA&"AAjNA"AZAbAjArAzAAA n߿ArAd@A%RI;AAzz A ߿A@rA7g<*A@ :?2A5?׽:AJ BA@ :?JA5?׽RAJ ٘i)I9d@Y9 G JC<JJJJ1F&K YH9U~?yDAFOV9) B[[@["UV~?[[[[[BZYY i) sEhIip@Z7= ϟ))ϟ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039244.683165 s, next control iter: 1743039245.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039245.103165 s.ѰJ~,F*AJ"J*J2J:JBJnJvJAQ@ABF@A1W~? AvA&"AAzjNA"AZAbAjArAzAAAS*%4)AZrAPe@AG$<AOA#A?N޿A<A<*A :?2A5o׽:ABA :?JA5o׽RA٘i)I9Pe@Y G Jߪ<JJJJ2F&K Yc)U~?ymDAF77X9.B)BE[[@[WKV~?[0[[[[BZYY i) ,Iit@K.= S))S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039245.143165 s, next control iter: 1743039245.503180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039245.523165 s.װJ~,{a*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4201612 time: 1743039245.523453F (some fields omitted in printout)AHz@Aȱ @A W~? AA|&"AAiNA"AZAbAjArAzAAA&(rsAzrAe@A3@<AAA ݿAHAݨ<*A :?2Af׽:ABA :?JAf׽RA٘i)I9e@Y G JS<B=JJJJ3F&K Y}U~?yLDAF7{7Y9/B)BE[[a@[AV~?[u[[[[BZYY i) ojߺIiyw@b= M))M\<@L*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039245.543165 s, next control iter: 1743039245.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12744, header.stamp.nsec: 00 temperature: 13.389010* salinity: 33.391537, density: 1025.000000* values[0]: 0.690123F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039245.943165 s.WdްJ~,>]|*AJ"J*J2J:JBJnJvJAq= #@AEH@AW~? A A+&"AAiNA"AZAbAjArAzAAAnJA FYrAlf@A;AUA`A ܿAA/w<*A :?2A.׽:A BA :?JA.׽RA ٘i)I9lf@Y= G J<C=JJJJ5F&K Y U~?y*AAY@AL@AW~? AzA&"AAiNA"AZAbAjArAzAAA,:GAwňGrAf@AF6AA_GA NܿAAa<*Ab :?2ASֽ:A2cBAb :?JASֽRA2cYd@0FyKٓH`޿`$??0v޿`T5?@(?FPl?)d@ I٘i)I9f@Y G J <J;JJJ6F&Kx> Y)T~?yPEAFFj7Z7z]9)B[[9@[G0V~?[ ɨ[[[[BZYY i) 9IiN}@"= Gі))Gі[@*YFFF]~:Waiting for Gazebo time sync: latest Gz time: 1743039246.383165 s, next control iter: 1743039246.763176 s, wait time: 0.380011 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12745&, header.stamp.nsec: 0&0 temperature: 13.388773&* salinity: 33.391514&, density: 1025.000000&* values[0]: 0.691264&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039246.783165 s.YJ~,*AJ"J*J2J:J0?BJ0?nJ95vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200452 time: 1743039246.783327F (some fields omitted in printout)A(\@AjTQ@AV~? AA0&"AAFiNA"AZAbAjArAzAAAv_#/AouErA%g@AAuAfA`IۿAu%Ao<*A :?2Aֽ:ABA :?JAֽRA٘i)I9g@Y G J<JJJJ7F&K YT~?yFAF77E_9.B)BE[[WɊ@['V~?[Ϩ[[[[BZYY i) ":Ii@t#= #))#R@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039246.803165 s, next control iter: 1743039247.183178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039247.203165 s.J~,*AAQ@A}r@AV~? AA&"AAPiNA"AZAbAjArAzAAALyA VTQrAh@ARAA[AAЁڿALkAʧ<*A:?2Aֽ:AHBA:?JAֽRAH٘i)I9h@YB G J<JJJJ9F&K YGT~?yͰhFAF{7j7a9/B)BE[[~X@[ V~?[ը[[[[BZYY i) B4;Ii<@k%= U))Uyz@O*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039247.243165 s, next control iter: 1743039247.603179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039247.623165 s.YJ~,e*AJ"J*J2J:JA1?BJA1?nJ95vJAG@A@@A6V~? A^©A-&"AAsiNA"AZAbAjArAzAAA/.Aqo'lrAh@ABkA {AeA@ٿAA#<*A:?2Awֽ:AuBA:?JAwֽRAu٘i)I9h@Y G J<JJJJ:F&K YT~?yFAFZ7Z7b9)B[[@[V~?[hܨ[[[[BZYY i) @;Ii͂@n'= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039247.643165 s, next control iter: 1743039248.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12746 , header.stamp.nsec: 0 0 temperature: 13.388540 * salinity: 33.391495 , density: 1025.000000 * values[0]: 0.692412 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039248.043165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.066029< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039248.043291F (some fields omitted in printout)A= ף0@AEИ#@A.V~? A/ɩA&"AA`]iNA"AZAbAjArAzAAA,jAlz(rA*i@A^A!AAiؿA8Aث<*A+:?2A)(׽:A<BA+:?JA)(׽RA<٘i)I9*i@Y G J<JJJJ;F&K YgT~?yJ/GAF7777d9.B)BE[[t@[hV~?[[[[[BZYY i) /|;Ii@t)= 䍿))䍿@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039248.063165 s, next control iter: 1743039248.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039248.463165 s.SJ~J,ۤ*A"J*J2J:Jg1?BJg1?nJ:5vJAfffff@AT^Y@AV~? AЩA#&"AAlHiNA"AZAbAjArAzAAA9՗APrAHi@Af;A,AoAؿA2As<*A:?2Aa׽:AGOBA:?JAa׽RAGOY,@y+;ٓH ؿ?_j?F{ؿ@X?"?}?`j?),@ I٘i)I9i@Y6G JX<B=JZ<JJJ=F&Kx> YT~?ylȨGAFb77of9)B[[@[ V~?[d[[[[BZYY i$=) $;Iii@*= '))'%@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039248.503165 s, next control iter: 1743039248.863175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12747, header.stamp.nsec: 00 temperature: 13.388294* salinity: 33.391491, density: 1025.000000* values[0]: 0.693518F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039248.883165 s.y J~,48*AA(@A.2@A{V~? AשA&"AA+4iNA"AZAbAjArAzAAA6)<AvrA#j@A?<AA(AM<׿A`pAr<*A:?2Ao׽:AM#BA:?JAo׽RAM#򼙘٘i)I9#j@YG J<C=JJJJ>F&K YT~?yШGAF:h9/B)ޯBE[[@[&V~?[[[[[BZYY i) r;Iis@,= 'o))'o@ٸ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039248.923165 s, next control iter: 1743039249.283175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039249.303165 s.J "J *J 2J :J 1?BJ 1?nJ M:5vJ gJ~,gS*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.075999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039249.303300F (some fields omitted in printout)A@A)@AԞV~? A&ީA&"AA iNA"AZAbAjArAzAAA@`oAݎ`rAj@A #<AA{2A?eֿA Af1<*A :?2AmJ׽:AP"BA :?JAmJ׽RAP"٘i)I9j@YG J<JJJJ?F&K YݥT~?yبDHAF77j9)گBE[[@[U~?[[[[[BZYY i) ;Ii@-= 7))7A@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039249.343165 s, next control iter: 1743039249.703197 s, wait time: 0.360032 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12748., header.stamp.nsec: 0.0 temperature: 13.388088.* salinity: 33.391487., density: 1025.000000.* values[0]: 0.694513.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039249.723165 s.J~,Hn*AAz@An@AV~? ALA&"AA iNA"AZAbAjArAzAAA&TDA%rA k@A9;F;AĪABA[տAA<*A:?2A׽:ABA:?JA׽RA٘i)I9 k@YG J<JJJJAF&K YT~?yHAF{7j7k9)֯B[[W@[sU~?[[[[[BZYY i) ;Ii@ew/= #))#Rϧ@y=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039249.743165 s, next control iter: 1743039250.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039250.143165 s.W/"J~, **AJ"J*J2J:JBJnJvJA ףp=@Abod0@AV~? AA&"AAhNA"AZAbAjArAzAAA A8n&rA k@A!A}䈽A}AԿAA]<*A9?2AYֽ:AzBA9?JAYֽRAz٘i)I9k@YUG J<JJJJBF&K Y,T~?yHAF77m9)үB[[9@[/U~?[[[[[BZYY i)  elevatorAngleAction: 0.075999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199932 time: 1743039250.563308F (some fields omitted in printout)A3333s@A^(f@A{V~? AA/n&"AA+hNA"AZAbAjArAzAAA8\DA-qrABk@A7AwA7A?ӿA`NA<*A9?2Aֽ:AnBA9?JAֽRAnYto@Xuyu8ٓH (dҿ??@@zҿ v?@WK??)to@ I٘i)I9k@YG J<JĺJJJCF&KUx> Y T~?ydYIAuF)7b7eo9-B)ͯBE[[Ǐ@[>U~?[G [[[[BZYY i) AbcAAGAAҿAA<*A9?2AFֽ:A}BA9?JAFֽRA}٘i)I9l@Y4G J7<JJJJFF&K YwT~?yBJAF{7j7r9)ƯB[[@[U~?[[[[[BZYY i) +`; elevatorAngleAction: 0.075999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039251.823281F (some fields omitted in printout)J"J*J2J:JBJnJvJAGz@An@A\V~? A A#&"AA Y&bT~?y1KAiF7ŧ7Zx9)B[[@[9U~?[+[[[[BZYY i) i elevatorAngleAction: 0.075999< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743039253.083285F (some fields omitted in printout)A)\µ@A'@A{BV~? A A4&"AAhNA"AZAbAjArAzAAAVL/ A܄#sAn@A;A4Aվ޿A̿A &ZA?<*Ad9?2A7׽:AD BAd9?JA7׽RAD ٘i)I9n@YcG J<JJJJLF&K Y\T~?yk$KAF777%z9)B[[@[U~?[A2[[[[BZYY i)  x elevatorAngleAction: 0.085205< massPositionAction: 0.000000J4 buoyancyAction: 0.000500"J dt: 0.419963*J2J2 time: 1743039254.343278:JF (some fields omitted in printout)BJnJvJAp= W@Aё\I@A,V~? A38A1< &"AAnhNA"AZAbAjArAzAAAv@AfKX sAp@AqBATA{׿AyǿA@DA.q<*A9?2AT{ֽ:ẢBA9?JAT{ֽRẢ٘i)I9p@YaG J<JJJJPF&K YLT~?y[>LA EFŧ7ŧ79+B)B E[[I@[U~?[LF[[[[BZYY i) 6 YLJT~?yG+MA`ԿF77P9)B[[@@[sU~?[M[[[[BZYY i) = =gU))=gUb@yc=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039254.803165 s, next control iter: 1743039255.163175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039255.183165 s.rJ~,g*AJ"J*J2J:JBJnJvJA(\@Ad@A V~? AGA &"AA[hNA"AZAbAjArAzAAA cAF̦)sAҢq@AkAAѿA۹ÿAA$<*A9?2Aֽ:A+BA9?JAֽRA+٘i)I9q@YG J6<C=JJJJRF&K YGT~?yOMAF79)B[[d̕@[U~?[S[[[[BZYY i) S, elevatorAngleAction: 0.085205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200102 time: 1743039255.603292F (some fields omitted in printout)AQ@A4F@AoV~? AOAo &"AA\ShNA"AZAbAjArAzAAAe( JARl.sA3r@A;AuSAϿAA AR<*A9?2A=׽:ArBA9?JA=׽RArI٘i)I93r@YiG Ji<JJJJTF&K YPET~?yXNAF777儬9)BE[[W@[U~?[gZ[[[[BZYY i) F7*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039256.863292F (some fields omitted in printout)A@AXᖏ@AV~? AgA&"AA!?hNA"AZAbAjArAzAAAA^M_=sAs@Ac;AATRǿAlSA6FAp<*A9?2Aֽ:A3<BA9?JAֽRA3<Y6@Xǿy;ٓHT?8?md@&؋? v?y?@+c??)6@ I٘i)I9s@Y}G JD<C=J>JJJXF&K'x> Y@T~?yrHOAXǿF{7Z7E9)BE[[`Ŀ[U~?[kn[[[[BZYY i) ᡱJ~,z*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.085205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039258.123318F (some fields omitted in printout)AG:@A-@A!V~? AA&"AA2hNA"AZAbAjArAzAAA*ŴHALsAu@A]/A<ɱAjA`*AhA<*A9?2A_ֽ:A{BA9?JA_ֽRA{٘i)I9u@YG J<JJJJ\F&K YAT~?y`PAF79){B[[⽿[U~?[`[[[[BZYY i)  YvET~?y螩QAOF7{7;9)pB[[ِ[;U~?[[[[[BZYY i) I elevatorAngleAction: 0.085205< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199572 time: 1743039259.383287F (some fields omitted in printout)A(@A/h!@AV~? A A&"AA,hNA"AZAbAjArAzAAA^* AGh6ZsAx@AB,<AA長AtvAuA<*A9?2A&׽:ABA9?JA&׽RA٘i)I9x@YG J<JJJJ`F&K YHT~?yRAF)7ŧ79)kB[[g[U~?[0[[[[ZZZZ¸>BZYY i¸>) C YXT~?ytʩSAI F{7{709)SB[[Ǯ[U~?[Y[[[[ZZZZBZYY i) A+~<*A9?2Alֽ:A<BA9?JAlֽRA<٘i)I9}@Y G J<JJJJiF&K YjT~?yDTAF779)DB[[UM['U~?[é[[[[ZZZZBZYY i) 2,JJJlF&Kv> YyT~?yBTARFŧ7b7&9)ABE[[o[V~?[Щ[[[[ZZZZBZYY izkn) eNֽ:A+<BA9?JA>NֽRA+<٘i)I9}@YtG J6V;C=JJJJmF&K YT~?yTAF7779)@B[[9ӡ[ V~?[֩[[[[BZYY i[D) S9?2Aֽ:AH =BA>9?JAֽRAH =YX9@My =!ٓH` ?5?@s?`U'"?1` 3`D?)X9@ I٘i)I9}@YG JDJ=JJJsF&Kw> YT~?yTAMFj7Z79)HB[[Q/[`'V~?[[[[[BZYY i9g) RAFb77F92B)ZB%E[[[4IV~?[h[[[[BZYY i#v) ;Ii@*G= F))FF֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039266.963165 s, next control iter: 1743039267.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039267.363165 s.5J~,p>*AA@As`@A=^V~? A-A|%"AAhNA"AZAbAjArAzAAAE-K AfGsALmz@Ai;A =AUA`T?AAv*A9?2Aֽ:A(=BA9?JAֽRA(=Yz@IyW =;ٓH ?ǿ?`?`.B?6Y`c?`.-u? ?)z@ I٘i)I9mz@YkG JJ<JJJyF&Kw> YT~?yFERAI F779)_B[[d[uRV~?[a[[[[BZYY i) ^ف;IiԚ@.F= p))ppZԪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039267.383165 s, next control iter: 1743039267.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12766&, header.stamp.nsec: 0&0 temperature: 13.568036&* salinity: 33.375015&, density: 1025.000000&* values[0]: 0.579612&F (some fields omitted in printout)&T~?)&F rAdjusting time to match Gazebo time: 1743039267.783165 s.[;J~,*AJ"J*J2J:JBJnJvJA(\@AbMeQ@AhV~? AO5A%"AAhNA"AZAbAjArAzAAA'/?A3غsAay@A$XAy=AۥA@|9?A@A1*A9?2Aֽ:A6=BA9?JAֽRA6=٘i)I9y@YG JFJJJJ{F&K YT~?yCNQA"F۸93B)dB(E[[9;[\V~?[Q[[[[BZYY i) fG;Ii>@+nE= .͞)).͞.͞ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039267.803165 s, next control iter: 1743039268.183179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039268.203165 s.CJ~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039268.203278F (some fields omitted in printout)AQE@Ak38@AirV~? A<AX%"AAahNA"AZAbAjArAzAAAh!AW^sAIy@A$AI=AA X?A pA$:*A9?2A׽:A@=BA9?JA׽RA@=٘i)I9Iy@YG JJJJJ|F&K YU~?yUvQA#F)7)794B)jB)E[[[eV~?[7[[[[BZYY i)  ;Iiՙ@D= F&))F&F&ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039268.243165 s, next control iter: 1743039268.603177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039268.623165 s.ZIJ~,i'*AJ"J*J2J:JBJnJvJAGz@Azm@A:}V~? ADAx%"AAahNA"AZAbAjArAzAAA9A7sAKx@Ac=A`=A|A@?A>A*AY9?2Aֽ:AA<BAY9?JAֽRAA<٘i)I9x@YdG JB=JJJJ}F&K Y U~?y]QA$F7{7q9)nB[[懿[ApV~?[ [[[[BZYY i) 挝:Ii@D= {)){{yFqɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039268.663165 s, next control iter: 1743039269.023181 s, wait time: 0.360016 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12767 , header.stamp.nsec: 0 0 temperature: 13.568287 * salinity: 33.375011 , density: 1025.000000 * values[0]: 0.578927 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039269.043165 s.PJ~,B*AA= ף@AP,@AV~? AWKA9%"AAhNA"AZAbAjArAzAAAcqxABrJsAM6x@A*A=A!wA?AF A[*Ab9?2Aֽ:A:P<BAb9?JAֽRA:P<٘i)I96x@YG JC=JJJJF&K YU~?y(ePA&F)7ŧ7;95B)sB,E[[[zV~?[%[[[[BZYY i) b9Ii@D= 6ӄ))6ӄ6ӄpƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039269.063165 s, next control iter: 1743039269.443178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039269.463165 s.UWJ~,]*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199822 time: 1743039269.463279F (some fields omitted in printout)J"J*J2J:JBJnJvJAffff@AF ^@AMV~? ARA=%"AAhNA"AZAbAjArAzAAABmAsAvw@A>Ѡ:Ak=ArA_?AA6*A 9?2A6ֽ:Ap<BA 9?JA6ֽRAp Y-U~?yOlHPAr'Fj7j79)wB[[[V~?[+[[[[BZYY i) ,Ii@&WC= ,]x)),]x,]xGêYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039269.483165 s, next control iter: 1743039269.863176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12768, header.stamp.nsec: 00 temperature: 13.568503* salinity: 33.375042, density: 1025.000000* values[0]: 0.578319F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039269.883165 s.y]J~,Qx*AA(@Ad@AV~? AYA> %"AAiNA"AZAbAjArAzAAAE EA > sAW)w@Ad<A2`=AtmA~?AAu鞼*A9?2A\ֽ:A-<BA9?JA\ֽRA-<٘i)I9)w@YnG JC=JJJJF&K Y>U~?yusOA(FZ7Z797B)}B0E[[Mi[V~?[C1[[[[BZYY i) {ѺIi֗@YB=  g)) g gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039269.903165 s, next control iter: 1743039270.283185 s, wait time: 0.380020 s rAdjusting time to match Gazebo time: 1743039270.303165 s.SdJ~,jg*AJ"J*J2J:J?BJ?nJ)5vJAQ@ATD@A>V~? A`A%"AA!iNA"AZAbAjArAzAAAVAOWsAv@A?<Ah=AMJhA /[?A^A.*A9?2Ah^ֽ:Aղ<BA9?JAh^ֽRAղ<٘i)I9v@YG JJJJJF&K YNU~?yzOA*F77ì9)B[[z~[pV~?[6[[[[BZYY i) 3b&Ii>@A= `U))`U`UYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039270.343165 s, next control iter: 1743039270.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12769., header.stamp.nsec: 0.0 temperature: 13.568680.* salinity: 33.375023., density: 1025.000000.* values[0]: 0.577765.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039270.723165 s.kJ~,H*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.065655< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039270.723292F (some fields omitted in printout)Az@Aqz@AfV~? AgA %"AA'5iNA"AZAbAjArAzAAAw.wABsA]$v@A& <A=AcA.?A A\•*A9?2A֐ֽ:Ab<BA9?JA֐ֽRAb<٘i)I9$v@YG J)JJJJF&K Y_U~?y+OA+Fb77fŬ98B)B3E[[!z[KV~?[y<[[[[BZYY i) cIiՖ@YA= HD))HDHDYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039270.743165 s, next control iter: 1743039271.123176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039271.143165 s.X/rJ~,**AJ"J*J2J:J?BJ?nJ5vJA ףp@A'd@AV~? AnAr%"AAkIiNA"AZAbAjArAzAAAAsA4u@A<:AU=Aa]AD?A A{*A9?2AYֽ:A<BA9?JAYֽRA<٘i)I9u@YG JJJJJF&K YoU~?y航NA,F7770Ǭ9)B[[u[xV~?[A[[[[BZYY iY) АIi@@= 2))22cYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039271.163165 s, next control iter: 1743039271.543177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039271.563165 s.xJ~,_ *AA3333@A)@AV~? A^uA%"AA_^iNA"AZAbAjArAzAAAԼIndATssA3u@AAN=ASXA@^?AA*A 9?2A׽:A <BA 9?JA׽RA YNU~?ysNArX.FȬ9)B6E[[qq[V~?[nG[[[[BZYY i) 0Iix@&R?= P!))P!P!oYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039271.603165 s, next control iter: 1743039271.963177 s, wait time: 0.360012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12770, header.stamp.nsec: 00 temperature: 13.568872* salinity: 33.375023, density: 1025.000000* values[0]: 0.577195F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039271.983165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074390< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743039271.983307F (some fields omitted in printout)J"J*J2J:JBJnJvJA\(@A@AV~? A|A{%"AAtiNA"AZAbAjArAzAAA2A/gC sA{t@A->A+=A SA?A,YA6΁*Au9?2A ׽:AF<BAu9?JA ׽RAF<٘i)I9t@YG JĄJJJJF&K Y U~?yNA/F77ʬ9:B)B:E[[cm[V~?[L[[[[BZYY i) ϻIi@.>=  ")) " "YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039272.003165 s, next control iter: 1743039272.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039272.403165 s.&J~,*AAQ^@A+ٱQ@AV~? AA%"AAPiNA"AZAbAjArAzAAA|7A>sAFXt@ASAR=AMAe?A`A*A9?2A1ֽ:AP<BA9?JA1ֽRAP<٘i)I9Xt@YG JĀB=JJJJF&K Y˧U~?yMA0FZ7Z7̬9)B[[Sh[V~?['R[[[[BZYY i) DIi@== [))[[yIYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039272.423165 s, next control iter: 1743039272.803176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12771", header.stamp.nsec: 0"0 temperature: 13.569016"* salinity: 33.375038", density: 1025.000000"* values[0]: 0.576712"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039272.823165 s.J~,B4*AJ"J*J2J:J?BJ?nJ5vJAGz@Ao@AW~? A4Ay%"AAFiNA"AZAbAjArAzAAAv{uAe sACs@A1Ab=AlHAS)?A`A䃼*A9?2Aֽ:AJF<BA9?JAֽRAJF<٘i)I9s@YtG JҁC=JJJJF&K YU~?yFjMA2F77j7[ά9;B)B=E[[\d[%V~?[lW[[[[BZYY i) TIi&@3Z<= fڽ))fڽfڽYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039272.863165 s, next control iter: 1743039273.223177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039273.243165 s.J~,mO*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074390< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199842 time: 1743039273.243285F (some fields omitted in printout)Aףp=@A "5@AW~? AA(%"AAiNA"AZAbAjArAzAAA ,AsAzs@A=;A:=AjCAe?A຀A*A19?2Avֽ:Ag=BA19?JAvֽRAg=٘i)I9zs@Y0G JB=JJJJF&K YGU~?yީMA3F777&Ь9)B[[_[V~?[\[[[[BZYY i) LIi@;= ^))^^(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039273.263165 s, next control iter: 1743039273.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039273.663165 s.J~,qj*AJ"J*J2J:JBJnJvJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12772, header.stamp.nsec: 00 temperature: 13.569170* salinity: 33.375050, density: 1025.000000* values[0]: 0.576237F (some fields omitted in printout)A@A@A"W~? AA~%"AAiNA"AZAbAjArAzAAAXxRdA}sAs@AzC7<A*=A4>A?A4A *A9?2AYֽ:A=BA9?JAYֽRA=Y?@ g>y(=7<ٓH5?`?`T? /?k!P? ?)?@ I٘i)I9s@YG JXC=J;JJJF&Kx> YU~?yկLAg>4F{7j7Ѭ9B)BDE[[kBW[W~?[f[[[[BZYY i) 5IiL@8= )c)))c)cjYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039274.103165 s, next control iter: 1743039274.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039274.503165 s.J~,j4*AJ"J*J2J:Jt?BJt?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.074390< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039274.503308F (some fields omitted in printout)ARk@Az^@ADW~? ABA݋%"AApjNA"AZAbAjArAzAAAyݿAwXsAr@Aa;A=Ap 4AR?A`AQ *AQ9?2A|ֽ:Aq:=BAQ9?JA|ֽRAq:=٘i)I9r@YXG J JJJJF&K Y V~?y»KA7Fb7b7լ9)B[[R[ W~?[k[[[[BZYY i) CcEIiY@ }7= ))ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039274.523165 s, next control iter: 1743039274.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12773, header.stamp.nsec: 00 temperature: 13.569305* salinity: 33.375038, density: 1025.000000* values[0]: 0.575762F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039274.923165 s.6J~,*AA{G@A3<@A VW~? ABA%"AAjNA"AZAbAjArAzAAA:^ пAs tA}q@A6yA=Aү.A?A*CA*Ad9?2A׽:AӐ=BAd9?JA׽RAӐ=٘i)I9q@YG JꎼJJJJF&K Yp V~?yKA9F77Q׬9)BGE[[yN[/W~?[p[[[[BZYY i ) xTIi@K6= C))CCĪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039274.963165 s, next control iter: 1743039275.323176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039275.343165 s.W~?[u[[[[BZYY i) rdIi@5= )){ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039275.383165 s, next control iter: 1743039275.743173 s, wait time: 0.360008 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12774&, header.stamp.nsec: 0&0 temperature: 13.569440&* salinity: 33.375065&, density: 1025.000000&* values[0]: 0.575240&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039275.763165 s.7J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039275.763295F (some fields omitted in printout)A @A@AzW~? A곫A/%"AA|SjNA"AZAbAjArAzAAAor?AtAp@A9A=A!$Aܚ?A` A吼*A9?2AT׽:A=BA9?JAT׽RA=Y@V$y%=Ae:ٓH 7?S#??KѤ?/ePl=;?)@ I٘i)I9p@Y|G JJ-E<JJJF&K1x> YKV~?y̪JAV$;Fj7SI7ڬ9)B[[kE[ NW~?[Oz[[[[BZYY i) ײsIi@3= W<))W<W<ʪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039275.803165 s, next control iter: 1743039276.163177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039276.183165 s.²J~,c *AJ"J*J2J:J2?BJ2?nJX5vJA(\B@Af5@AW~? AA%"AAUojNA"AZAbAjArAzAAAT??ABH3 tA 3p@AѻAM–=AA@?A @ACؖ*A 9?2Aֽ:A =BA 9?JAֽRA =٘i)I93p@Y1G JJJJJF&K YvbV~?y:ҪJA=F77{7ܬ9AB)BOE[[CLA[]W~?[~[[[[BZYY i) zIi7@22= s<))s<s<yGϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039276.223165 s, next control iter: 1743039276.583178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039276.603165 s.64ɲJ~,&*AAQx@AFk@AW~? AAR%"AAjNA"AZAbAjArAzAAAFK?AH tAo@A/ :A0=AAB?A߿As *A9?2A~ֽ:A.=BA9?JA~ֽRA.=٘i)I9o@YG J3JJJJF&K YyV~?yתJA>F7{ެ9BB)įBRE[[G<[mW~?[[[[[BZYY i) Ii@]0= @B=))@B=@B=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039276.643165 s, next control iter: 1743039277.003178 s, wait time: 0.360013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12775 , header.stamp.nsec: 0 0 temperature: 13.569612 * salinity: 33.375084 , density: 1025.000000 * values[0]: 0.574742 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039277.023165 s.ZвJ~,{A*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039277.023287F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz@AD @A߲W~? AīA%"AAjNA"AZAbAjArAzAAAKۂg?A>9AtA(o@A<A=A'A࣒?A ߿AC*A9?2ADCֽ:A=BA9?JADCֽRA=٘i)I9(o@YG JJJJJF&K YV~?yܪIA?FSI7SI7F9)ȯB[[t8[~W~?[%[[[[BZYY i) Ii*@+/= @ڄ=))@ڄ=@ڄ=تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039277.063165 s, next control iter: 1743039277.423177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039277.443165 s.3ֲJ~,-]\*AAq= @A+4@AW~? AɫA~%"AA&jNA"AZAbAjArAzAAA*?A"?|tA֙n@A;A<A=AA?Ac޿A5*A39?2A@ֽ:A5V=BA39?JA@ֽRA5V=٘i)I9n@Y7G JHJJJJF&K YRV~?y VIAAF7779)ͯBUE[[4[W~?[[[[[BZYY i) YIij@.= ^=))^=^=ܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039277.463165 s, next control iter: 1743039277.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12776, header.stamp.nsec: 00 temperature: 13.569753* salinity: 33.375088, density: 1025.000000* values[0]: 0.574167F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039277.863165 s.+ݲJ~,>w*AJ"J*J2J:JBJnJvJA@AĐ @A}W~? AΫA%"AA%jNA"AZAbAjArAzAAAv؈ ?AVNtAtn@A@<AD=ADt A/?A`ݿA]<*A 9?2Axֽ:AU=BA 9?JAxֽRAU=٘i)I9n@YG JeB=JJJJF&K YV~?yQHABFb779CB)ӯBXE[[/[W~?[[[[[BZYY i) Iiڇ@-= `=))`=`=pYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039277.883165 s, next control iter: 1743039278.263174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039278.283165 s.4RJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199632 time: 1743039278.283270F (some fields omitted in printout)A(\O@A yPB@AW~? AԫA%"AAkNA"AZAbAjArAzAAA]Ry?A2tApm@A-wg9Ḁ=AA|?A 'ܿAU%*Ai9?2Aֽ:A.=BAi9?JAֽRA.=٘i)I9pm@YG JUC=JJJJF&K YV~?yHACF779)دB[E[[+[W~?[K[[[[BZYY i) Iiy@h-=  =)) = =YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039278.323165 s, next control iter: 1743039278.683175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12777., header.stamp.nsec: 0.0 temperature: 13.569956.* salinity: 33.375099., density: 1025.000000.* values[0]: 0.573579.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039278.703165 s.պJ~, *AJ"J*J2J:JBJnJvJAQ@Ai7x@ArX~? AثAS%"AA!kNA"AZAbAjArAzAAA'ն?AtAql@AAZ>=AeA o?A6 ܿA *A9?2As ׽:A5Q=BA9?JAs ׽RA5Q=٘i)I9l@Y&G J JJJJF&K Y.V~?y-HAEFq9EB)ޯB\E[[&[W~?[[[[[BZYY i) :IiI@F*-=  >)) > >?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039278.743165 s, next control iter: 1743039279.103175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039279.123165 s.:J~,i*AAG@Aխ@AhX~? AݫA%"AA.AkNA"AZAbAjArAzAAAW@At !tA@l@A>A<=AA?AYۿA(*A9?2A׽:AF=BA9?JA׽RAF=٘i)I9@l@YG JJJJJF&K YW~?y"GAFFŧ7b7<9)B_E[[/"[W~?[[[[[BZYY i) 4ڶIiH@.)-= p>))p>p>|YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039279.163165 s, next control iter: 1743039279.523179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039279.543165 s.IJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083519< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039279.543311F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף@AW@A-X~? AWA %"AA)akNA"AZAbAjArAzAAA[@A|Pu$tAk@AA;Ь=A~AU?A@ڿAT*A9?2Aֽ:A|=BA9?JAֽRA|=٘i)I9k@YiG JJJJJF&K YkW~?yhgGAGFZ7Z79FB)BbE[[[W~?[[[[[BZYY iv) xzIiw@We-= X->))X->X->YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039279.563165 s, next control iter: 1743039279.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12778, header.stamp.nsec: 00 temperature: 13.570146* salinity: 33.375092, density: 1025.000000* values[0]: 0.572908F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039279.963165 s.wJ~,*AAffff&@AYZ@A>CX~? AA?%"AAkNA"AZAbAjArAzAAA+ӝkf@A:5'tAk@AA<=AfAෘ?A@ٿAż*A9?2A3ֽ:A9=BA9?JA3ֽRA9=Y@f~y!=."ٓH? )??ۿ`?`]ϵa@2?)@ I٘i)I9k@YG JJo=JJJF&K> Y0W~?y#FA~IFŧ7b79)BeE[[S[eW~?[[[[[BZYY i) ?żIi@+= >>))]~>>>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039280.003165 s, next control iter: 1743039280.363179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039280.383165 s.J~,4*AJ"J*J2J:JBJnJvJA(\@A}:O@AYX~? A6A%"AAzkNA"AZAbAjArAzAAASsx@At)tAWj@Ak;A㐰=AZ־A@R?AؿA˼*AÊ9?2A$9ֽ:AW=BAÊ9?JA$9ֽRAW=٘i)I9Wj@YG J"ȼJJJJF&K YJW~?y|FAJFj7j79)B[[?[ X~?[J[[[[BZYY i) a̼Ii @)= pP>)) pP>pP>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039280.403165 s, next control iter: 1743039280.783176 s, wait time: 0.380011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12779", header.stamp.nsec: 0"0 temperature: 13.570343"* salinity: 33.375126", density: 1025.000000"* values[0]: 0.572222"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039280.803165 s.sA J~,jg3*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.092511< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039280.803280F (some fields omitted in printout)A@AH߄@A:oX~? AqAɔ%"AAkNA"AZAbAjArAzAAAv @APt,tAii@A9<A=AT̾A?A(ؿA]м*A79?2ACԽ:A =BA79?JACԽRA =٘i)I9i@Y7G JoͼJJJJF&K Y dW~?yFAKF)7b7f9GB)BhE[['u[X~?[[[[[BZYY i) BԼIi@-'= jb>))jb>jb>y7_YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039280.843165 s, next control iter: 1743039281.203176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039281.223165 s.gJ~,HN*AJ"J*J2J:JBJnJvJAz@A?Ң@AX~? AAiC%"AAkNA"AZAbAjArAzAAA(/ @A:.tAh@A)+<Ai=An¾A@V?A`[׿AӼ*Aݐ9?2A#ս:AY!=BAݐ9?JA#սRAY!=٘i)I9h@Y G JѼJJJJF&K Y}W~?yW EAMF{7{719)BkE[[ [.X~?[[[[[BZYY i) ۼIiZ@ג%= Gt>))Gt>Gt>YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039281.243165 s, next control iter: 1743039281.623178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039281.643165 s.tJ~,)i*AA ףp@Ad@AKX~? A|A%"AAlNA"AZAbAjArAzAAA_ @A8+]1tA|Hh@A9Ӊ;A=[=AA@v?AgֿANռ*A9?2Aս:A7!=BA9?JAսRA7!=٘i)I9Hh@Y_ G JԼJJJJF&K Y W~?yEANF779HB)BnE[[[AX~?[)[[[[ZZ¸BZYY i¸=) !ϼIiI@5$= x>))x>x>YFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12780, header.stamp.nsec: 00 temperature: 13.570579* salinity: 33.375134, density: 1025.000000* values[0]: 0.571489F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743039281.663165 s, next control iter: 1743039282.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039282.063165 s. J~,[ *AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200172 time: 1743039282.063301F (some fields omitted in printout)A33333@Ap4(&@A4X~? AJA%"AA**lNA"AZAbAjArAzAAA|1@A3tAŔg@An Arֹ=AeA?A2տApּ*A9?2A<ֽ:Am =BA9?JA<ֽRAm =Y=@yֹ=|ٓH S?Z/? ?? տ2?ѡ@2@aq@9?)=@ I٘i)I9g@Y G JռJ>T<JJJF&Kzu> YW~?yDAOFb779JB) BrE[[?[TX~?[[[[[ZZBZYY i) tüIi|@i!= 8>))8>8>))1>1>bYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039282.523165 s, next control iter: 1743039282.883175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12781, header.stamp.nsec: 00 temperature: 13.570805* salinity: 33.375134, density: 1025.000000* values[0]: 0.570722F (some fields omitted in printout)XW~?) rAdjusting time to match Gazebo time: 1743039282.903165 s.-J~,͹*AJ"J*J2J:JBJnJvJAQ@Ay@AX~? AwA%"AAGplNA"AZAbAjArAzAAAe11~@A 8tA}e@AC9A=AНA`.3?AwӿAJa*AӞ9?2Aoֽ:A(<BAӞ9?JAoֽRA(<٘i)I9e@Y G JJJJJF&K YW~?yCARF777\9)BuE[[:[{X~?[[[[[ZZBZYY i) >Iiu@o= >))>>yUѨ=QܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039282.923165 s, next control iter: 1743039283.303177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039283.323165 s.u4J~,!*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083254< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039283.323286F (some fields omitted in printout)AGz@Apwn@ATX~? AAt%"AAܓlNA"AZAbAjArAzAAA3@A6Y:tA#e@AӻA=AaAe?AmӿA[*A9?2A^ֽ:A|w<BA9?JA^ֽRA|w<٘i)I9e@Yl G JfJJJJF&K YX~?y*CASF{7{7&9)"BxE[[4[X~?[=[[[[ZZBZYY i) #Ii5s@= >))>>YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039283.343165 s, next control iter: 1743039283.723176 s, wait time: 0.380011 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12782*, header.stamp.nsec: 0*0 temperature: 13.571081** salinity: 33.375137*, density: 1025.000000** values[0]: 0.569808*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039283.743165 s.W;J~,*AJ"J*J2J:J?BJ?nJ5vJAףp= @A2@A%Y~? A A%"AAƷlNA"AZAbAjArAzAAA~%[@A!))Y>Y>kYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039283.763165 s, next control iter: 1743039284.143180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039284.163165 s.z}BJ~,q *AA@@AU2@A+)Y~? A AX%"AAlNA"AZAbAjArAzAAA [@@Azr=tA(c@AC<AҌ<AqA@?AZѿA{F*A9?2A^ֽ:AP&{BA9?JA^ֽRAP&{Y䀺@|qy<R<ٓH??`n\?Ϳ ?Ƭ70`e?'?)䀺@ I٘i)I9c@Y G J9μJRJJJF&Kx> Y7X~?yBA|qVFb779).B~E[[#پ[ܷX~?[/Ǫ[[[[ZZBZYY i=) 蜈Iil@j= >))Ϻ>>+YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039284.183165 s, next control iter: 1743039284.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039284.583165 s.HJ~,S%*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.249736> elevatorAngleAction: 0.070670< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743039284.583322F (some fields omitted in printout)A)\u@A5h@AeAY~? AA%"AAmNA"AZAbAjArAzAAA=@A ?tAc@AG*<AnF<A(\A9?AwпA *Ah9?2ARjֽ:ABAh9?JARjֽRA٘i)I9c@Y3 G JjJJJJF&K  9Y/SX~? 9y!\BAWF779)3BE[[о[UX~?[ɪ[[[[ZZBZYY i) tc|Iih@=  >))  > >YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039284.603165 s, next control iter: 1743039284.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12783, header.stamp.nsec: 00 temperature: 13.571328* salinity: 33.375164, density: 1025.000000* values[0]: 0.568971F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039285.003165 s.v PJ~,D4@*AAR@AM~@AYY~? AA%"AAn%mNA"AZAbAjArAzAAAHHOe@AнiAtA-b@Azs;A*A7cHA ?A`E ϿAܔC*A9?2AMս:AiBA9?JAMսRAi٘i)I9b@Y G J{B=JJJJF&K YnX~?y#3BAYF{7j7Q9)6B[[uƾ[X~?[̪[[[[ZZBZYY i;=) gIiKe@= A,>))A,>A,>y s=6(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039285.023165 s, next control iter: 1743039285.403177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039285.423165 s.uVJ~,[*AJ"J*J2J:JBJnJvJA{G@A,G@@AkrY~? AcA%"AAJmNA"AZAbAjArAzAAAᔒ;@AhCtAfgb@A;_Ai헼A4A +H?A3aͿAvһ*AI9?2AKս:ABAI9?JAKսRA٘i)I9gb@Y G JC=JJJJF&K Y;X~?y% BAZFb779)8BE[[Ƚ[ X~?[UϪ[[[[ZZBZYY i) RIi6b@= W>))W>W>y +=)YMYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039285.443165 s, next control iter: 1743039285.823175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12784, header.stamp.nsec: 00 temperature: 13.571434* salinity: 33.375168, density: 1025.000000* values[0]: 0.568514F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039285.843165 s.\J~,u*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.080506< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039285.843291F (some fields omitted in printout)Ap= @Af @A0Y~? AA%"AAomNA"AZAbAjArAzAAA@AxDtAIb@AAL?AAl?A ˿A5Һ*Ah9?2A%Fս:AKμBAh9?JA%FսRAKμ٘i)I9Ib@Y G J6JJJJF&K YX~?y'AA[F7{79)9BE[[[e Y~?[Ѫ[[[[BZYY i) =Ii_@ = >))>>yR=r**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039285.863165 s, next control iter: 1743039286.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039286.263165 s.dJ~,ؐ*AJ"J*J2J:J?BJ?nJ5vJAL@Ab?@AY~? A$AQ%"AAmNA"AZAbAjArAzAAAtC/@AwEtALb@A#<Al.A9 AC?A`tɿA;c9;*Aħ9?2Aaս:ABAħ9?JAaսRAY@z yz.O<ٓH?7Y?EϤ`Eݳ?@?>Υ? X?)@ I٘i)I9Lb@Y G Jm9B=J/JJJF&Kt> YX~?y$)BA ]Fj7j79LB)E[[]t[ Y~?[4Ԫ[[[[BZYY ink=) ,Ii[@4 = Y>))d{Y>Y>!j*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039286.283165 s, next control iter: 1743039286.663178 s, wait time: 0.380013 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 127852, header.stamp.nsec: 020 temperature: 13.5713872* salinity: 33.3751912, density: 1025.0000002* values[0]: 0.5685762F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039286.683165 s.ljJ~,c*AA(\@ApYu@A.Y~? AIAW&%"AAmNA"AZAbAjArAzAAAhV@AA7GtA\kb@AAVAiA i?AǿA;*A9?2A ս:ACBA9?JA սRAC٘i)I9kb@Y G J[;C=JJJJF&K YX~?yU*WBA^F)7ŧ7| 9)8BE[[G[ 6Y~?[w֪[[[[BZYY id=) 2 IiW@ = >)) >>*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039286.683165 s, next control iter: 1743039287.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743039287.103165 s."qJ~,ݚ*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039287.103310F (some fields omitted in printout)AQ@A&E@AdY~? AEA%"AAmNA"AZAbAjArAzAAA[dL@A!lHtAb@AI A= ->))->->¦*YFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039287.123165 s, next control iter: 1743039287.503184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039287.523165 s.wJ~,{*AAHz@A9 @AY~? AA%"AAnNA"AZAbAjArAzAAARm@APItAb@A~,;Ae~AnqAW?A?ĿA|FY<*A79?2Aս:A BA79?JAսRA I٘i)I9b@Y" G JB<JJJJF&K YY~?y,BAaFb77 9)4BE[[[aY~?[ڪ[[[[BZYY i) IiP@0!= /?))/?/?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039287.543165 s, next control iter: 1743039287.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12786, header.stamp.nsec: 00 temperature: 13.571169* salinity: 33.375217, density: 1025.000000* values[0]: 0.568746F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039287.943165 s.[d~J~,O]*AJ"J*J2J:JBJnJvJAq= #@A`@A/ Z~? A A[%"AA_.nNA"AZAbAjArAzAAAE@ANdJtA@A6/<AGAIP_AO?Ah¿AQ<*A9?2Ayս:AQ BA9?JAyսRAQ ٘i)I9[c@Y_ G Jk<JJJJF&K Y1Y~?y-CAbF{7j79)1BE[[mh[wY~?[ܪ[[[[BZYY i) ӻIiM@QC= ?))??y_=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039287.983165 s, next control iter: 1743039288.343178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039288.363165 s.J~,>*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039288.363309F (some fields omitted in printout)AY@A͎L@A"Z~? AE"A2%"AAUnNA"AZAbAjArAzAAAGCu @AzNyKtAc@Aּ<AA A?AA<*A19?2A͡ս:ABA19?JA͡սRAYT@y+<ٓHe?ޘ?@顿?|$?@?@ ?)T@ I٘i)I9c@Y G J<J^JJJF&Kt> YNY~?y7.mCAcF7779)-B[[`z[Y~?[`ު[[[[BZYY i) ĴIisH@I= w ?))Nww ?w ?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039288.383165 s, next control iter: 1743039288.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12787&, header.stamp.nsec: 0&0 temperature: 13.570868&* salinity: 33.375210&, density: 1025.000000&* values[0]: 0.569296&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039288.783165 s.WJ~,2*AJ"J*J2J:J?BJ?nJ5vJA(\@AP@Ac elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200202 time: 1743039289.623318F (some fields omitted in printout)AG@A@AoZ~? A%A{L%"AAnNA"AZAbAjArAzAAA ]I"@AK aMtAse@A?&A;A4<AR?A_A÷<*A9?2Aӽ:AmBA9?JAӽRAm٘i)I9se@Y G Jҳ<JJJJF&K Y¢Y~?y$/DAgF9)'BE[[BB[Y~?[[[[[BZYY i)  3Ii<@< ?))??S*YiYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039289.663165 s, next control iter: 1743039290.023179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12788 , header.stamp.nsec: 0 0 temperature: 13.570515 * salinity: 33.375229 , density: 1025.000000 * values[0]: 0.569988 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039290.043165 s.J~,Â*AA= ף0@A#@AЉZ~? A&A9%"AAnNA"AZAbAjArAzAAAC"@AaW.NtAf@A:{*AA3=A_?A LA<*A9?2A^Խ:ArBA9?JA^ԽRAr٘i)I9f@Y G J<JJJJF&K YY~?ys/EAiF{7{79)"BE[[3S/[Y~?[U[[[[BZYY i) Ii9@< ;?));?;?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039290.063165 s, next control iter: 1743039290.443180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039290.463165 s.WJ~,줝*AJ"J*J2J:JBJnJvJAfffff@A]Y@AZ~? Ai'A#*%"AA9oNA"AZAbAjArAzAAAIl{#@A \NtA f@A?ALA>.=A`j?A|A<*A9?2A ս:A BA9?JA սRA Y @=y^LٓH?ɂﳿY??H!?@h?/u ?) @ I٘i)I9f@Yd G J<B=Jg JJJF&Ks> Y)Y~?y.qEA=jFZ79RB)BE[[˚[pY~?[[[[[BZYY i) nIi4@< (!?))s(!?(!?**YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039290.483165 s, next control iter: 1743039290.863180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12789, header.stamp.nsec: 00 temperature: 13.570093* salinity: 33.375248, density: 1025.000000* values[0]: 0.570802F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039290.883165 s.yJ~,4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.238205> elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200522 time: 1743039290.883325F (some fields omitted in printout)A(@A~@AZ~? A'A%"AA?oNA"AZAbAjArAzAAA#л $@A2)DNtAGg@A8m6;A!MA=Aas?A`~A\<*A 9?2Aս:ABA 9?JAսRA٘i)I9Gg@Y G J+<C=JJJJF&K YQY~?yO.EAkF{7g9)BE[[ [yZ~?[[[[[BZYY i) PQIim0@< ܟ&?))Ճܟ&?ܟ&?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039290.903165 s, next control iter: 1743039291.283177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039291.303165 s.WJ~,{g*AJ"J*J2J:J;?BJ;?nJV5vJA@Aq!@AZ~? AW(A%"AAfoNA"AZAbAjArAzAAA Ī$@A)N.OtAg@A<AA=A v|?A A[<*A:?2A Խ:ABA:?JA ԽRA٘i)I9g@Y G J<JJJJF&K Y|Z~?y-FFAmFZ7Z719)BE[[~[-Z~?[s[[[[BZYY i) n:Ii_,@< `+?)) `+?`+?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039291.323165 s, next control iter: 1743039291.703177 s, wait time: 0.380012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12790*, header.stamp.nsec: 0*0 temperature: 13.569664** salinity: 33.375252*, density: 1025.000000** values[0]: 0.571630*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039291.723165 s.J~,H*AAz@Az]@AZ~? A(A%"AAcoNA"AZAbAjArAzAAA-v\%@A@OOtAqh@A4<AhAif>A@?A,Ac<*A:?2AԽ:ABA:?JAԽRA٘i)I9qh@Yx G JO<JJJJF&K Y/Z~?y*-FAnF7779)B[[6:ǽ[;EZ~?[<[[[[BZYY i) :Ii(@B< (0?))(0?(0?&*YӃYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039291.763165 s, next control iter: 1743039292.123176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039292.143165 s.^/³J~,(* *AJ"J*J2J:Jq?BJq?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199912 time: 1743039292.143270F (some fields omitted in printout)A ףp=@A,f0@A [~? A(A %"AAܵoNA"AZAbAjArAzAAA0%@A=XOtAi@AY_;A\A g>A?Aطb?A<*A:?2AUԽ:AcBA:?JAUԽRAc٘i)I9i@Y G J|<JJJJF&K YKZ~?y,GAoFb77 9) BE[[[\Z~?[[[[[BZYY i) \23;Iis%@< 4?))4?4?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039292.163165 s, next control iter: 1743039292.543182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039292.563165 s.ȳJ~,F $*AA3333s@A]lZ)f@A%[~? A(A %"AAWoNA"AZAbAjArAzAAAE v&@A#A`?A 4?Aq<*A:?2AԽ:A(BA:?JAԽRA(YP@e(>yZٓH A|? Ŀ D?l?E{? CK?)P@ I٘i)I9i@Y(G JN<JIW<JJJF&Kr> YgZ~?y'+GA(>qF77j7"9QB)BE[[,Uu[VtZ~?[d[[[[BZYY i) ]%p;Ii{ @j< 9?)) Qq9?9?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039292.583165 s, next control iter: 1743039292.963177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12791, header.stamp.nsec: 00 temperature: 13.569264* salinity: 33.375271, density: 1025.000000* values[0]: 0.572410F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039292.983165 s.ϳJ~,>*AJ"J*J2J:J?BJ?nJ5vJA\@Arn@A?[~? AA(A<%"AApNA"AZAbAjArAzAAAmh[6'@A/ OtA!j@AAA_<>A|?A` ?A<*A:?2A4Խ:AQ_BA:?JA4ԽRAQ_٘i)I9!j@YG Jp<JJJJF&K YZ~?y)GArF77\$9)BE[[L([Z~?[[[[[BZYY i) ;Ii@f< >?))䓂>?>?w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039293.023165 s, next control iter: 1743039293.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039293.403165 s.&ֳJ~,Y*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.255035> elevatorAngleAction: 0.067087< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039293.403283F (some fields omitted in printout)AQ@ALl>@AY[~? A'A%"AAF,pNA"AZAbAjArAzAAA )'@ANtATj@Aw5AAaP>Ay?A ?A<*A8:?2Aҽ:ABA8:?JAҽRA٘i)I9j@YG J<JJJJF&K YfZ~?yE(FHAsF7'&9PB)BE[[Wq[ڣZ~?[[[[[BZYY i) Q;Ii@<4< P\C?)) P\C?P\C?*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039293.423165 s, next control iter: 1743039293.803174 s, wait time: 0.380009 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12792", header.stamp.nsec: 0"0 temperature: 13.568850"* salinity: 33.375301", density: 1025.000000"* values[0]: 0.573184"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039293.823165 s.ܳJ~,%t*AJ"J*J2J:JBJnJvJAGz@AY5s@As[~? A='A%"AASpNA"AZAbAjArAzAAA=vq(@A:NtAC9k@A3AƌA\d>A@8r?A32?A/<*AeA:?2A"ӽ:AgBAeA:?JA"ӽRAg٘i)I99k@Y)G J*<JJJJF&K YDZ~?y&HAuF7777'9)BE[[T[Z~?[[[[[BZYY i) 2;Ii@5\< R;H?))R;H?R;H?ؿ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039293.843165 s, next control iter: 1743039294.223174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039294.243165 s.J~,*AAףp=J@A$P2=@A[~? A~&AY,%"AA{pNA"AZAbAjArAzAAAC)@AB NtAνk@A|AøAy>Ag?A 8A?A=ə<*A@:?2Aӽ:ABA@:?JAӽRA٘i)I9k@YzG J֝<JJJJF&K YZ~?yb% IAvFb77)9OB)BE[[i9<[Z~?[ [[[[BZYY i؜=) ;Ii@* < !M?))!M?!M?*Y) YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039294.263165 s, next control iter: 1743039294.643178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039294.663165 s.J~,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: 0.076585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200002 time: 1743039294.663287F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12793, header.stamp.nsec: 00 temperature: 13.568473* salinity: 33.375298, density: 1025.000000* values[0]: 0.573922F (some fields omitted in printout)A@AcԵr@A̧[~? A%AA<%"AAipNA"AZAbAjArAzAAAb6}c)@AƓhMtAgA`Z?A@3?A@ <*AK?:?2ArԽ:A7kBAK?:?JArԽRA7kY%7=>y +(;ٓH`?ηп@1 0?`?@yZ ?{? v?)%7= I٘i)I9O<JJJF&K r> YdZ~?y#iIA>xF{7j7+9)BE[[ԝ=[Z~?[[[[[BZYY i) ȄAaJ?A@?Am<*A8:?2Ay\ս:AnBA8:?JAy\սRAn٘i)I9l@YG J<JJJJF&K Y [~?y IAyF777R-9)B[[\=[[~?[[[[[BZYY i) @ A`9?Aຩ?Ay<*A/X:?2A4ӽ:A$BA/X:?JA4ӽRA$٘i)I9*m@YXG Ja<JJJJF&K Y([~?y~!JAzFZ7Z7/9NB)BùE[[zЕ=[a[~?[ [[[[BZYY i) ' elevatorAngleAction: 0.076585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039295.923308F (some fields omitted in printout)A{G!@AO?@A [~? A!A%"AAqNA"AZAbAjArAzAAAR2H+@A]*@KtA̟m@Af?;AA>A&?A@?A#<*A^:?2Aҽ:A&BA^:?JAҽRA&٘i)I9m@YG J <JJJJF&K Y7D[~?y2}JA|Fŧ7b709)BƹE[[څ=[4[~?[i[[[[BZYY i) :7qNA"AZAbAjArAzAAA$i,@AZUu}NJtAon@AyrAvAW4>A?A ?A"c<*A9c:?2Awҽ:AIBA9c:?JAwҽRAI٘i)I9n@YG J<JJJJF&K Y{_[~?yJA}F777729MB)ܯBɹE[[*|=[WM[~?[[[[[BZYY i) FA b?A@t?Ab<*A\:?2Aӽ:ABA\:?JAӽRAYH>م>y򃎽w+ٓH?3ֿΗ?`?`n@̱? a?)H> I٘i)I9n@Y4G J)<JͻJJJF&K.p> Yy[~?y9KA>~F7|49)دB̹E[[{>[e[~?[[[[[BZYY i) bV?F2< ήj?))nήj?ήj?*Y YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039296.783165 s, next control iter: 1743039297.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039297.183165 s.J~,kK*AJ"J*J2J:JW?BJW?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.233244> elevatorAngleAction: 0.076585< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743039297.183324F (some fields omitted in printout)A(\@A@AA\~? AAm%"AA qNA"AZAbAjArAzAAA,QQ-@AP#HtA^o@A)AA z>A?A>x?A<*A@U:?2Aӽ:AK} BA@U:?JAӽRAK} ٘i)I9o@YG JǗ<JJJJF&K YM[~?yKAFb77G69LB)ӯBϹE[[Eg>[}[~?[[[[[BZYY i) heA 1?A.g?A<*AXt:?2AHҽ:Ax BAXt:?JAHҽRAx ٘i)I9o@YG J<JJJJF&K Y[~?yKAF77{789)ϯB[[.>[\[~?[c[[[[BZYY i) 0tʔA>Ap?A-?A5a<*Az:?2AŁҽ:A7` BAz:?JAŁҽRA7` ٘i)I9p@YG JB<JJJJF&K Y [~?yi XLAFb7799IB)ȯBѹE[[5B>[[~?[[[[[BZYY i=) . elevatorAngleAction: 0.085750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200342 time: 1743039298.443330F (some fields omitted in printout)Aq= c@A V@A\~? AMAqW%"AAqNA"AZAbAjArAzAAAH/@A*DtA p@A<A2A_>A?A?A,Λ<*A:?2A3ҽ:AG BA:?JA3ҽRAG ٘i)I9p@YoG Jݚ<B=JJJJF&K Y[~?yJ LAF77{7;9HB)ïBԹE[[M!W>[[~?[n[[[[BZYY i) ɉ*AJ"J*J2J:JBJnJvJA@A&@A\~? AA%"AA$rNA"AZAbAjArAzAAAtۈ/@A+BtA+q@A7N1<AAC>A[?A s?A9<*Afu:?2Axӽ:A[ BAfu:?JAxӽRA[ Y^Ow>>yEf1<ٓHx?~ܿ7쯿 ^??Z @2?`)?@s?)^Ow> I٘i)I9q@YG J<C=JUJJJF&Ko> Y[~?y`MA>F77r=9GB)B׹E[[Ck>[[~?[ߪ[[[[BZYY i) SA4?A 4j?AL<*Ai:?2A-Խ:ABAi:?JA-ԽRA٘i)I9q@YG J<JJJJF&K Y\~?ywMAF{7{7[7[~?[ݪ[[[[BZYY i) ݘ elevatorAngleAction: 0.085750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039299.703269F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ@A?@A0\~? AlAF%"AAjorNA"AZAbAjArAzAAAan0@A[?tAU.r@AvƺA;àA ?A% ?A4?Aj<*Aރ:?2A'ѽ:A!BAރ:?JA'ѽRA!٘i)I9.r@YeG J<JJJJF&K Yj/\~?yMAF77j7A9)B[[s >[\~?[۪[[[[BZYY i) h[,)\~?[٪[[[[BZYY i) D[A\~?[Mת[[[[BZYY i) J~ elevatorAngleAction: 0.085750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200022 time: 1743039300.963289F (some fields omitted in printout)Affff@A[[@A]~? A4Ao%"AArNA"AZAbAjArAzAAAYzI1@AX9tAvs@AKA>jAN?A`ڇ?A )$?A<*A{:?2Aҽ:A& BA{:?JAҽRA& Y >?yhGٓH? ?#?``F?@~:`f?) > I٘i)I9s@Y~G J<JמJJJF&Ko> Yy\~?y.OA?F77gF9DB)BE[[/ >[Y\~?[Ԫ[[[[BZYY i) ϶[q\~?[&Ҫ[[[[BZYY i) 4![\~?[OϪ[[[[BZYY i) r elevatorAngleAction: 0.085750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039302.223275F (some fields omitted in printout)J"J*J2J:JBJnJvJAzG@A:@AEf]~? AAjd%"AANIsNA"AZAbAjArAzAAA;2@A8ɡL3tAu@A3<A@A:?Ax?A {?A<*A:?2Aҽ:ABA:?JAҽRA٘i)I9u@YG J<C=JJJJF&K Y\~?yPAFb77K9?B)BE[[/g>[7\~?[K̪[[[[BZYY i) <AcA #?Ab?A@!?A<*A":?2A)|ӽ:AsBA":?JA)|ӽRAs٘i)I9v@YG Jr<JJJJF&K Y\~?yeߪPAF7777M9:B)BE[[3>[T\~?[ɪ[[[[BZYY i) T}(?y^Z.;ٓH)7? ~?O? Ӭö?@ݫc?@?)v> I٘i)I9Dw@Y~G J<B=JfcJJJF&Kq> Y\~?yڪrQA}(?F]O9)B[[>[\~?[Ū[[[[BZYY i) > elevatorAngleAction: 0.085750< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199682 time: 1743039303.483291F (some fields omitted in printout)A\@A"@A]~? AAbF%"AAsNA"AZAbAjArAzAAAcf2@A0d,tAw@AAݷA-?A@>?AG?AXt<*AXn:?2AnԽ:AκBAXn:?JAnԽRAκ٘i)I9w@YG J<C=JJJJF&K Y8]~?yԪQAFb7b7'Q99B)yBE[[#>[\~?[Lª[[[[ZZZZ¸>BZYY i¸>) 2[$]~?[[[[[ZZZZBZYY i) "[]~?[º[[[[ZZZZBZYY i)  Y]]~?ysSAA?F{7{7RX93B)YBE[[ ?[F]~?[[[[[ZZZZBZYY i) ; ?)) ??w*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039305.603165 s, next control iter: 1743039305.983177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12804, header.stamp.nsec: 00 temperature: 13.564024* salinity: 33.375484, density: 1025.000000* values[0]: 0.582797F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039306.003165 s. J~,z4*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.257912@ elevatorAngleAction: -0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039306.003290F (some fields omitted in printout)AR+@Az@AA,^~? AӫAR%"AApwtNA"AZAbAjArAzAAAr x4@AU7otA|@A}lA<An׼A_L?A`~?A?Aݪ<*Aܷ:?2Aӽ:Ak>;BAܷ:?JAӽRAk>;٘i)I9|@YG J<B=JJJJF&K Y]~?yUUTAFZ7Z7[93B)MB[[q?[t]~?[[[[[ZZZZBZYY i) 4; ?)) ??#*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039306.043165 s, next control iter: 1743039306.403187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743039306.423165 s.J "J *J 2J :J S?BJ S?nJ 5vJ %uJ~,*AA{Ga@AtBT@A@^~? AΫA%"AAіtNA"AZAbAjArAzAAA瑭@I4@A_tA0}@Af;APcA]XQ?A_?A?AL<*AO:?2ABӽ:A#<BAO:?JABӽRA#<٘i)I90}@YG JY<C=JJJJF&K YH]~?yGTAF77]9.B)EBE[[?[*]~?[[[[[ZZZZBZYY i) {*]; /?))/?/?_)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039306.443165 s, next control iter: 1743039306.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12805, header.stamp.nsec: 00 temperature: 13.563579* salinity: 33.375484, density: 1025.000000* values[0]: 0.583682F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039306.843165 s.ݬJ~,*AAp= @AF%u@AT^~? AmɫA%"AAtNA"AZAbAjArAzAAA4@A2i=tAے}@AxAb;AyrV?A ?A =; $H?))$H?$H?YYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039306.883165 s, next control iter: 1743039307.243176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039307.263165 s.J~, *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084234< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743039307.263272F (some fields omitted in printout)J"J*J2J:JBJnJvJA@A3¿@Ah^~? A+īAH{%"AA!tNA"AZAbAjArAzAAA3;/5@A3tA>}@A A۬<Aͨ[?A@?A?AE@;*A:?2A>6ս:AB<BA:?JA>6սRABJJJF&K3t> YQ]~?yTA[?Fb7Ha9-B)?BE[[s$?[q]~?[ [[[[ZZZZBZYY i-Es) HS ; ?))%v??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039307.303165 s, next control iter: 1743039307.663175 s, wait time: 0.360010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12806., header.stamp.nsec: 0.0 temperature: 13.563304.* salinity: 33.375488., density: 1025.000000.* values[0]: 0.584210.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039307.683165 s.lJ~,x*AA(\@A @Ah|^~? AɾA %"AAtNA"AZAbAjArAzAAAPd: k5@AM.稾tAP}@AU3A! =AV`?Au?A ?A;*A:?2Aս:A̶<BA:?JAսRA̶<٘i)I9}@YG J@;JJJJF&K Y]~?yߘTAFc9,B): ͹?))Q͹?͹??YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039307.683165 s, next control iter: 1743039308.083175 s, wait time: 0.400010 s rAdjusting time to match Gazebo time: 1743039308.103165 s. J~,Ԛ*AJ"J*J2J:JBJnJvJAQ8@AfF+@A^~? AHADM%"AAauNA"AZAbAjArAzAAA05@AMpKb tA}@AAb;=Ae?A"?AQ1?AqX*A:?2Aw%Խ:A<BA:?JAw%ԽRA<٘i)I9}@YG JJJJJF&K YY]~?y2TAF7777d9)[[$0?[]~?[o[[[[BZYY i) ,/?))b>?b>?kYCYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039308.963165 s, next control iter: 1743039309.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039309.363165 s.մJ~,>W*AA@A(@A^~? AA%"AA=duNA"AZAbAjArAzAAA-!M6@AftA5}@A=<As=Au?A&?A`)?Aq*Aw:?2AOս:An=BAw:?JAOսRAn=Y)=?]Bu?y=e=<ٓH\?x) ͨ?3?`Ul??9Z@ע??))=? I٘i)I95}@YG JVJ=JJJF&K;t> Y^~?y} TABu?Fj7Z7=j9&B)=BE[[A?[q!^~?[<[[[[BZYY iLj) ;+;II?i 4Z 2?))Xy2?2?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039309.383165 s, next control iter: 1743039309.763177 s, wait time: 0.380012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12808&, header.stamp.nsec: 0&0 temperature: 13.563184&* salinity: 33.375523&, density: 1025.000000&* values[0]: 0.584165&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039309.783165 s.[۴J~,r*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.243783@ elevatorAngleAction: -0.057201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200212 time: 1743039309.783288F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\@A80Q@A^~? AA %"AAiuNA"AZAbAjArAzAAAaт6@A+{}>sAS|@A<Aԓ=AQz?A?A{?A*Ap:?2A2ս:Aa=BAp:?JA2սRAa=٘i)I9|@YG J<JJJJF&K Y,^~?ynvSAF77l9)@B[[sF?[5^~?[3y[[[[BZYY i) 1;I I?iQg ?)) ??˪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039309.803165 s, next control iter: 1743039310.183180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039310.203165 s.J~,*AAQE@A!8@A^~? A A%"AAuNA"AZAbAjArAzAAAVQ6@AsAK|@AG;A=A~?A` ?A,?A*A=:?2AԽ:Am=BA=:?JAԽRAm=٘i)I9K|@YG JJJJJF&K Y=^~?y:oRSAFb7b7m9"B) E[[mL?[xI^~?[r[[[[BZYY i) >;I I?iQ$ x?))x?x?ӪYFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039310.223165 s, next control iter: 1743039310.603178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039310.623165 s.aJ~,*AJ"J*J2J:Jm?BJm?nJ5vJAGz@A m@A^~? AޕA%"AAuNA"AZAbAjArAzAAA$6@A\=YsA{@A8ûA3=Aj?A'?A`?A˥*A:?2Acս:A=BA:?JAcսRA=٘i)I9{@Y;G JJJJJF&K Y\M^~?yhRAF77o9)DB[[,R?[ ]^~?[l[[[[BZYY i) BG;I1I?i(d& 1F?))1F?1F?yj_תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039310.643165 s, next control iter: 1743039311.023189 s, wait time: 0.380024 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12809, header.stamp.nsec: 00 temperature: 13.563310* salinity: 33.375526, density: 1025.000000* values[0]: 0.583705F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039311.043165 s.J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.057201< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039311.043298F (some fields omitted in printout)A= ף@A ᘣ@Aq _~? AAs%"AARuNA"AZAbAjArAzAAA 7@A>sA5{@AA4A2=AJ ?A l?Aj?A񜫼*A:?2Aս:A =BA:?JAսRA =٘i)I95{@YG J)JJJJF&K Y]^~?y`RAFb7b7hq9!B)GB E[['W?[Bp^~?[e[[[[BZYY iH) v;II?i)B ?))??TتYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039311.063165 s, next control iter: 1743039311.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039311.463165 s.UJ~,*AJ"J*J2J:JZ?BJZ?nJ5vJAffff@Ang_@A_~? A3A%"AAuNA"AZAbAjArAzAAAyA=M7@Ayf sAz@A'A =A?A ?Ay?Ay*AƋ:?2ABֽ:Ag=BAƋ:?JABֽRAg=YV?[?y=z(ٓH A? ?^?7M? F? "| ?)V? I٘i)I9z@YG JޭB=Jآ<JJJF&Ku> Yqk^~?y$Y/RA?F7j73s9)LB[[:]?[҂^~?[W_[[[[BZYY i) :;IH?i{+n ?))|??֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039311.503165 s, next control iter: 1743039311.863178 s, wait time: 0.360013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12810, header.stamp.nsec: 00 temperature: 13.563499* salinity: 33.375519, density: 1025.000000* values[0]: 0.583095F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039311.883165 s.yJ~,+*AA(@AWC@A=+_~? AA9l%"AA4uNA"AZAbAjArAzAAA,}7@AfRsAz@A0A=A,3?A?A?A㯼*AW:?2A\ֽ:A=BAW:?JA\ֽRA=٘i)I9z@Y2G JﯼC=JJJJF&K YDy^~?yxQQAFb77t9B)OBE[[uc?[ ^~?[X[[[[BZYY i) :IAH?iyپG/ ;?)) ;?;?ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039311.923165 s, next control iter: 1743039312.283177 s, wait time: 0.360012 s Dy^~?) xQ rAdjusting time to match Gazebo time: 1743039312.303165 s.QJ~,bg*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799J@ elevatorAngleAction: -0.066545"J< massPositionAction: 0.000000*J2J4 buoyancyAction: 0.000500:J dt: 0.419954BJnJ2 time: 1743039312.303265vJF (some fields omitted in printout)AQ@A>D@A:_~? A#|A%"AAvNA"AZAbAjArAzAAAq+]7@ABxsA{y@A$;A&=AU?A-"?AG?A*AǙ:?2A ս:A}=BAǙ:?JA սRA}=٘i)I9{y@YG J[JJJJ F&K Y^~?yI]QAFj7j7v9B)PBE[[Gi?[^~?[|Q[[[[BZYY i) :IH?i ?))??ЪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039312.323165 s, next control iter: 1743039312.703174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12811., header.stamp.nsec: 0.0 temperature: 13.563653.* salinity: 33.375530., density: 1025.000000.* values[0]: 0.582491.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039312.723165 s. J~,H.*AAz@AD/z@AVI_~? AvuAm%"AA,vNA"AZAbAjArAzAAAqX7@AyJPsAx@A'&<AWĔ=A2?AW_?Au?A*A:?2AYKս:A=BA:?JAYKսRA=٘i)I9x@Y}G JJJJJ F&K Y^~?yBPAF77x9B)TBE[[#o?[b^~?[KJ[[[[BZYY i) v8IzH?iP| :[?)):[?:[?y2=̪YYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039312.743165 s, next control iter: 1743039313.123177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039313.143165 s.U/J~,*I*AJ"J*J2J:JBJnJvJA ףp@A?d@AW_~? AnA0%"AABvNA"AZAbAjArAzAAA_8@A,sAVx@A2<Aۑ=Aɑ?AQ?A`?A*A:?2Agս:A =BA:?JAgսRA =٘i)I9Vx@Y%G JdJJJJ F&K Y^~?yr:PAF77]z9)XB[[u?[i^~?[B[[[[BZYY i) PWIH?i巻 J=?))J=?J=?ȪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039313.183165 s, next control iter: 1743039313.543174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743039313.563165 s.J~,_ d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039313.563294F (some fields omitted in printout)A3333@ANw(@Ae_~? AgAu%"AADXvNA"AZAbAjArAzAAA^.8@A)BsA%w@Aƾ;A=Adp?A`?A ?A˪*A:?2AMAֽ:Ar:=BA:?JAMAֽRAr:=Yp?}?y==;ٓH}?FU=?oD? z?@K?`(ܱw??)p? I٘i)I9w@YG JJ Y^~?y_2,PA}?Fj7Z7(|9)]B[[z?[^~?[;[[[[BZYY i) TI'H?i ̻ ?))i??ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039313.583165 s, next control iter: 1743039313.963180 s, wait time: 0.380015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12812, header.stamp.nsec: 00 temperature: 13.563879* salinity: 33.375549, density: 1025.000000* values[0]: 0.581826F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039313.983165 s.J~,~*AJ"J*J2J:J?BJ?nJ.5vJA\(@A @A;s_~? A`A%"AAmvNA"AZAbAjArAzAAAV3RXW8@AcRosABw@AAp=At ?A?A@ M?A'*AӋ:?2A(ֽ:A<BAӋ:?JA(ֽRA<٘i)I9Bw@Y}G JJJJJF&K YN^~?yL*OAF{7j7}9B)\BE[[c?[^~?[3[[[[BZYY i) 0IH?if. <߻ Z?)) Z?Z?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039314.003165 s, next control iter: 1743039314.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039314.403165 s.'&J~,Ι*AAQ^@A qQ@AH_~? AYA%"AAGvNA"AZAbAjArAzAAA~8@A%sAv@AДAPZ=AOę?AG?A`ی?AՔ*A :?2A,ֽ:A<BA :?JA,ֽRA<٘i)I9v@Y/G JJJJJF&K Y^~?y:"lOAF9)`B[[[?[/^~?[),[[[[BZYY i) HnIH?i:% \?))\?\?YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039314.443165 s, next control iter: 1743039314.803188 s, wait time: 0.360023 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12813, header.stamp.nsec: 00 temperature: 13.564061* salinity: 33.375561, density: 1025.000000* values[0]: 0.581257F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039314.823165 s.,J~,>*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199752 time: 1743039314.823286F (some fields omitted in printout)AGz@Aq@Aތ_~? ARA %"AAvNA"AZAbAjArAzAAA8@AdsA[Gv@A:AĈ=AZ?AVG?A?AΆ*A:?2Aglֽ:A<BA:?JAglֽRA<٘i)I9Gv@YG JB=JJJJF&K Y^~?y& OAF77{79)dB[[X?[._~?[;$[[[[BZYY i) d啻IH?iKE ?))??fY'%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039314.863165 s, next control iter: 1743039315.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039315.243165 s.3J~,X*AAףp=@A72@A_~? AKAZ%"AAvNA"AZAbAjArAzAAA9$8@A lsAu@A}IAN=A?Ap?AO?A?*A4:?2A[ֽ:A<BA4:?JA[ֽRA<٘i)I9u@YG JC=JJJJF&K Y"^~?yNAF77S9B)fBE[[Y?[_~?[)[[[[BZYY i&C)  Y^~?y QNAu?Fb779B)gBE[[7U?[g$_~?[ [[[[BZYY i) ӻI0H?i\DW ?))??{YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039315.683165 s, next control iter: 1743039316.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039316.083165 s.DAJ~,R*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039316.083279F (some fields omitted in printout)A)\5@A^(@A֯_~? A=A%"AAvNA"AZAbAjArAzAAA9@AtꅿsA+t@A)&<An4=A?A?A f?Aj*Al:?2A}ֽ:A<BAl:?JA}ֽRA<٘i)I9t@YG JJJJJF&K YV^~?yLMAF{7j7膭9)kB[[V?[1_~?[ [[[[BZYY i) KIH?ii v?))v?v?˸YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039316.123165 s, next control iter: 1743039316.483177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039316.503165 s.GJ~,H4 *AJ"J*J2J:JBJnJvJARk@Aog_y^@A_~? A5AAD%"AAvNA"AZAbAjArAzAAAbC/9@AoU1gsAft@A:<Aܖ=Aǘ?A?A@?AӍ*Aw:?2Aֽ:A.=BAw:?JAֽRA.=٘i)I9ft@YG J JJJJF&K Y^~?yMAF77{79B)mBE[[3]?[Z>_~?[T[[[[BZYY i)  IoH?iu h?))h?h?y+JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039316.543165 s, next control iter: 1743039316.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12815, header.stamp.nsec: 00 temperature: 13.564375* salinity: 33.375568, density: 1025.000000* values[0]: 0.580205F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039316.923165 s.:NJ~,;*AA{G@A;@A_~? A&.A9%"AAjvNA"AZAbAjArAzAAAOpN9@AtsAus@A <Aↇ=A? 7D?lQ?yZiz?)쀒? I٘i)I9s@YG JB=J;JJJF&KCy> Y _~?yߩLA?F{7j79)uB[[ ?[`_~?[V[[[[BZYY i) a7I_H?iw]/ P?))P?P?)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039317.803165 s, next control iter: 1743039318.163183 s, wait time: 0.360018 s rAdjusting time to match Gazebo time: 1743039318.183165 s.bJ~,R*AJ"J*J2J:JBJnJvJA(\B@AL5@Ao_~? AhAh%"AAwNA"AZAbAjArAzAAAnI g9@A+sAr@A4AIJ=AC?AƁ?ANH?AJ‰*AV:?2A׽:A1=BAV:?JA׽RA1=٘i)I9r@YG JΈC=JJJJF&K Y_~?y֩-LAFZ7SI7ޏ9 B)wBE[[?[j_~?[y[[[[BZYY i) "EGIPH?iR t7 @))@@[ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039318.203165 s, next control iter: 1743039318.583174 s, wait time: 0.380009 s rAdjusting time to match Gazebo time: 1743039318.603165 s.84iJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.075323< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199892 time: 1743039318.603278F (some fields omitted in printout)AQx@A/Ik@A_~? AA%%"AAn#wNA"AZAbAjArAzAAA˞nK9@A~qsA r@A!A}ُ=A޳?A8?A@n?A\*AmO:?2A7׽:A8=BAmO:?JA7׽RA8=٘i)I9 r@Y]G JbJJJJF&K Y_~?yDΩKAF77j79 B)xBE[[ ?[t_~?[|ש[[[[BZYY i) DVI@H?i(Ĥ= #@))#@#@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039318.623165 s, next control iter: 1743039319.003179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12817 , header.stamp.nsec: 0 0 temperature: 13.564732 * salinity: 33.375595 , density: 1025.000000 * values[0]: 0.579175 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039319.023165 s.J "J *J ZpJ~2J:JD?,|*ABJD?nJx5vJAHz@AXo @AY_~? AA%"AA/wNA"AZAbAjArAzAAAw9@Ai1p (sAq@A|eA^=Al?A?AA?A8ݔ*A^H:?2AV׽:A= =BA^H:?JAV׽RA= =٘i)I9q@YG J琼JJJJF&K Yb_~?yũrKAF)7b7s9)|B[[P?[l}_~?[bΩ[[[[BZYY iĬ)  9)B[[ӧ?[_~?[.ũ[[[[BZYY i) duIH?i-F +@))+@+@l̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039319.483165 s, next control iter: 1743039319.843174 s, wait time: 0.360009 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12818, header.stamp.nsec: 00 temperature: 13.564899* salinity: 33.375580, density: 1025.000000* values[0]: 0.578638F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039319.863165 s.+}J~,>*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039319.863288F (some fields omitted in printout)A @As` @A<_~? A]A%"AAhEwNA"AZAbAjArAzAAAct(q9@A/asAp@AN ,<A=AQ?A`+?A ?A䟼*A7:?2Aֽ:AhY=BA7:?JAֽRAhY=Yl??yu=2,<ٓHº?1?`??`v?ٲo?`O?)l? I٘i)I9p@YuG JJd<JJJ!F&Kx> Y&&_~?yFJA?Fj7SI79)B[[?[_~?[[[[[BZYY i) =oIYH?iՠ M /@))/@/@ϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039319.903165 s, next control iter: 1743039320.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039320.283165 s.8RJ~,*AA(\O @A`YiRB @Ai`~? AA%"AA1OwNA"AZAbAjArAzAAA&vw:@A &ӐsA"p@At0<A=A!?A}N?A`?A:*AW-:?2Adֽ:Aܯ=BAW-:?JAdֽRAܯ=٘i)I9p@Y"G J]JJJJ#F&K Y)_~?yJJAFŧ7b7Ә9B)BE[[?[_~?[[[[[BZYY i)  IG?i祿ZT ,@)),@,@y6ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039320.303165 s, next control iter: 1743039320.683179 s, wait time: 0.380014 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12819., header.stamp.nsec: 0.0 temperature: 13.565120.* salinity: 33.375595., density: 1025.000000.* values[0]: 0.578034.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039320.703165 s.ֺJ~,-*AJ"J*J2J:JBJnJvJAQ @Ax @A `~? AA%"AA0XwNA"AZAbAjArAzAAA羜 :@A EsAIo@A!;A=An?A Pk?A ?A*A#:?2A9׽:Af=BA#:?JA9׽RAf=٘i)I9o@YG JJJJJ$F&K Y,_~?y¢IAFb7~79)B[[Q"?[_~?[>[[[[BZYY i) I;G?i奔Y 3 @))3 @3 @%תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039320.723165 s, next control iter: 1743039321.103176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039321.123165 s.;ᑵJ~,mG*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200352 time: 1743039321.123303F (some fields omitted in printout)AG @AQMI֭ @A2`~? AAB%"AAd`wNA"AZAbAjArAzAAAq^u)0:@Al8(sAo@AV5AB=AG~?A ?A?Aꩦ*A:?2A׽:Az=BA:?JA׽RAz=٘i)I9o@YyG JѥJJJJ%F&K Y/_~?yIAF77h9)B[[C?[__~?[[[[[BZYY i) b,IG?i묿V] : @)): @: @T۪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039321.143165 s, next control iter: 1743039321.523181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039321.543165 s.IJ~,b*AJ"J*J2J:J?BJ?nJ5vJA= ף @Axܙ @A`~? AتA|T%"AAgwNA"AZAbAjArAzAAAǁ>:@A*KsA yn@A'AϢ=AX,?A4?A1?A*A :?2Ad׽:A=BA :?JAd׽RA=٘i)I9yn@Y#G JҧJJJJ'F&K Y1_~?y@IAF739B)BE[[ h?[_~?[/[[[[BZYY i) IG?iۮp_ t @))t @t @ߪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039321.563165 s, next control iter: 1743039321.943192 s, wait time: 0.380027 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12820, header.stamp.nsec: 00 temperature: 13.565334* salinity: 33.375610, density: 1025.000000* values[0]: 0.577426F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039321.963165 s.J~,<}*AAffff& @A"k^ @A`~? AЪAB%"AAenwNA"AZAbAjArAzAAAXVtJ:@A$j}sAm@AGg6A=A?A`bd?A`D?A\*A :?2Av׽:A/W=BA :?JAv׽RA/W=Y*?v?yl=<7ٓHh?yc` ?Y`?g?̆?)*? I٘i)I9m@YG JJ)<JJJ(F&Kx> Y2_~?ysHA?Fj7j79B)BE[[c?[_~?[[[[[BZYY i) !IyG?iKf J@))J@J@4YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039322.003165 s, next control iter: 1743039322.363187 s, wait time: 0.360022 s rAdjusting time to match Gazebo time: 1743039322.383165 s.إJ~,+*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199352 time: 1743039322.383279F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\ @A(O @Aj`~? AȪA&"AA3twNA"AZAbAjArAzAAA 3U:@AS`RxsASm@ALHA66=A]?A`י?AS?A̶*A-:?2A T׽:Aؾ=BA-:?JA T׽RAؾ=٘i)I9Sm@YpG JXJJJJ)F&K Y(2_~?y Jp:@AdsAj@Alj <AM2=Aأ?Aՠ?A~y?A(ϼ*A,9?2Aֽ:AQ=BA,9?JAֽRAQ=Y??y0= <ٓH85@0e? c:?`+Q??)? I٘i)I9j@YG JμC=JS<JJJ/F&Kx> Y/_~?y\vFA?F779B)BE[[:S?[_~?[\[[[[BZYY i) q̼IKG?i¿ىy @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039324.103165 s, next control iter: 1743039324.463179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039324.483165 s._ǵJ~,*AA\h @A2[ @AD%`~? AdA&"AANwNA"AZAbAjArAzAAA s:@AB_sA j@A:A)=ANU?A 4?A}?Aaϼ*A9?2Ar#׽:Al=BA9?JAr#׽RAl=٘i)I9 j@YqG J4мJJJJ0F&K Y,_~?ySEAFZ7Z79)B[[|?[B_~?[XR[[[[BZYY i) GԼIY6G?i<ƿ>} @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039324.523165 s, next control iter: 1743039324.883180 s, wait time: 0.360015 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12823, header.stamp.nsec: 00 temperature: 13.566186* salinity: 33.375584, density: 1025.000000* values[0]: 0.575198F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039324.903165 s.͵J~,9*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084359< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039324.903315F (some fields omitted in printout)J"J*J2J:JBJnJvJAQ @AZ$ @A%`~? AOAu<&"AAOwNA"AZAbAjArAzAAA)0t:@A˛ZsA\i@A޻A =A8?Ae?A@/~?AWϼ*A9?2Ac׽:A1=BA9?JAc׽RA1=٘i)I9\i@YG JϼJJJAFJ1F&K Y *_~?yKEAFb779B)BE[[?[ǭ_~?[H[[[[BZYY i) \QۼI G?iuȿmK @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039324.943165 s, next control iter: 1743039325.303178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039325.323165 s.vԵJ~,%T*AAGz @A8Gn @A{%`~? A:AE&"AAwNA"AZAbAjArAzAAA6ds:@AtVsAxh@Ah6A=A}?A}A |?Apм*Ae9?2Arp׽:Aw=BAe9?JArp׽RAw=٘i)I9h@Y G JϼJJJJ3F&K YA'_~?y@BEAF77S9)B[[?[_~?[>[[[[BZYY i-) WI G?iɿ @))@@AYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039325.363165 s, next control iter: 1743039325.723177 s, wait time: 0.360012 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12824*, header.stamp.nsec: 0*0 temperature: 13.566513** salinity: 33.375591*, density: 1025.000000** values[0]: 0.574396*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039325.743165 s. W۵J~,o*AJ"J*J2J:JBJnJvJAףp= @Aiq0 @A$`~? A&A x&"AAwNA"AZAbAjArAzAAAھQq:@A@t!QsANg@AhAI=AG?AAx?AӼ*A9?2A,A׽:A`=BA9?JA,A׽RA`=٘i)I9g@Y1 G JѼJJJJ4F&K Yw$_~?y9DAF{7j79)B[[?[w_~?[4[[[[ZZ¸BZYY i¸ua=) ּIpF?iɿ C@))C@C@eYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743039325.763165 s, next control iter: 1743039326.143175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039326.163165 s.x}J~,q*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082705< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199992 time: 1743039326.163287F (some fields omitted in printout)A@ @A/2 @A#`~? AA&"AAywNA"AZAbAjArAzAAAJm:@AJ4LsAJg@AyFAܵ=A?AA`q?AUּ*A9?2A`ֽ:A0=BA9?JA`ֽRA0=Y??yܵ=BGٓHqɿZ,;?fɿE?򳶿/h@?)? I٘i)I9Jg@Y G JqԼB=J;JJJ5F&K]x> Y_~?y0 DA?F7777鱭9)ǯB[[6??[_~?[?+[[[[ZZBZYY i) ʼIbF?iͿZB @))@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039326.183165 s, next control iter: 1743039326.563179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039326.583165 s.J~,R*AJ"J*J2J:JBJnJvJA)\u @AV}h @A!`~? AxA0&"AACwNA"AZAbAjArAzAAAnmh:@ADIGsAbf@AN;AR=AS?A`7"A`e?A *A9?2Aֽ:A3c<BA9?JAֽRA3c<٘i)I9f@YJ G JC=JJJJ7F&K Y6_~?yD(CAFb779B)̯BE[[q?[_~?[![[[[ZZBZYY i) NrIF?iiϿH Ma@))Ma@Ma@yƜ=YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039326.623165 s, next control iter: 1743039326.983177 s, wait time: 0.360012 s6_~?)D(tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12825, header.stamp.nsec: 00 temperature: 13.566826* salinity: 33.375584, density: 1025.000000* values[0]: 0.573556F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039327.003165 s.w J~,H4*AAR @A{ @A`~? AoA`P&"AACwNA"AZAbAjArAzAAAa:@AX`BsAe@A;+<A=A?AXA QZ?A1R*A9?2APֽ:A<BA9?JAPֽRA<٘i)I9e@Y G JJJJJ8F&K Y_~?y,CAF7{7~9)ӯB[[?[_~?[[[[[ZZBZYY i) dIF?iп  @)) @ @yj̧=(ԪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039327.023165 s, next control iter: 1743039327.403178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039327.423165 s.uJ~J"J*J2J:J?BJ?nJ5vJ,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.082705< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4202272 time: 1743039327.423506F (some fields omitted in printout)A{G @A!= @A`~? AgAF&"AAx{wNA"AZAbAjArAzAAAT-zBY:@A:z=sA^d@AC$<Au=Aa~?A@"A,M?A*A9?2Aֽ:A]s<BA9?JAֽRA]s<٘i)I9d@Y> G J]JJJJ9F&K Y _~?yBAFŧ7b7I9B)ۯBE[["?[q_~?[ [[[[ZZBZYY i) ,WI1F?iп$ M"@))M"@M"@JYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039327.443165 s, next control iter: 1743039327.823177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12826, header.stamp.nsec: 00 temperature: 13.567232* salinity: 33.375591, density: 1025.000000* values[0]: 0.572538F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039327.843165 s.J~,*AAp=  @A&5 @As`~? A_A؉&"AAvwNA"AZAbAjArAzAAA/V4O:@A28sAd@AdN;AID1=A"?A\Ar>?AJѼ*A69?2Aֽ:AEs;BA69?JAֽRAEs;٘i)I9d@Y G JJJJJ;F&K YS_~?yj8BAF77{79B)BE[[ ?[|_~?[[[[[ZZBZYY i) 7IIԅF?iϿ $@))$@$@xYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039327.883165 s, next control iter: 1743039328.243178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039328.263165 s.J~,*AJ"J*J2J:JBJnJvJAL @Ab? @A`~? AWA & &"AA|qwNA"AZAbAjArAzAAABC:@Aݍl3sAdc@A@:AH<A:?A鴽Av-?A*Ad9?2AȬֽ:ABAd9?JAȬֽRAY ?k?yAH<FٓH@ ӿA2?`ӿw?BDGr`$?) ? I٘i)I9dc@Ye G JJ JJJ<F&K,w> Y^~?yBA?F77޺9)B[[8C?[_~?[[[[[ZZBZYY i=) I8oF?iSҿě 2%@))2%@2%@TYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039328.283165 s, next control iter: 1743039328.663175 s, wait time: 0.380010 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 128272, header.stamp.nsec: 020 temperature: 13.5675832* salinity: 33.3755872, density: 1025.0000002* values[0]: 0.5716372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039328.683165 s.l J~,k+*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.068729< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200072 time: 1743039328.683285F (some fields omitted in printout)A(\ @Au @A?`~? AOA &"AANkwNA"AZAbAjArAzAAA:aCT6:@A“|.sAxb@A2AR<A^?A[A?AAz*A<9?2Ajֽ:A#<BA<9?JAjֽRA#<٘i)I9b@Y G J?JJJJ=F&K Yz^~?yAAF779)B[[{?[3}_~?[`[[[[ZZBZYY i]=) IwXF?iӿ?q D'@))D'@D'@iYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039328.683165 s, next control iter: 1743039329.083178 s, wait time: 0.400013 s rAdjusting time to match Gazebo time: 1743039329.103165 s.J~,F*AJ"J*J2J:J@?BJ@?nJ[5vJAQ @AF @A] `~? AHA ] &"AAUdwNA"AZAbAjArAzAAA쑿':@A,5*sA6b@ACAUƻA?A`'¿A&?A[v"*AV9?2Aֽ:A~BAV9?JAֽRA~٘i)I9b@Y G JTJJJJ?F&K Y ^~?y%AAFb77s9B)B E[[ѳ?[s_~?[[[[[ZZBZYY i) vIAF?iӿ *(@))*(@*(@(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039329.143165 s, next control iter: 1743039329.503175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039329.523165 s.J~,{a*AAHz @Aρ @A`~? A)@A &"AA\wNA"AZAbAjArAzAAA&3!:@A:8P0%sAUb@AA桼A?A`~ĿA?A궻*A9?2Aֽ:AEBA9?JAֽRAE٘i)I9Ub@Y G JJJJJ@F&K Y^~?yAAF77{7>9)B E[[7?[i_~?[|ި[[[[ZZBZYY i) jaI+F?iҿ r*@))r*@r*@y=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039329.563165 s, next control iter: 1743039329.923176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12828, header.stamp.nsec: 00 temperature: 13.567840* salinity: 33.375587, density: 1025.000000* values[0]: 0.571092F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039329.943165 s.ZdJ~,J]|*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.077462< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200142 time: 1743039329.943309F (some fields omitted in printout)Aq= #@A@A`~? AK8A &"AATwNA"AZAbAjArAzAAA-):@AKdb sA;b@A[:AA2?A^ƿA ?A ĺ*Ao9?2A\ֽ:AvQʼBAo9?JA\ֽRAvQʼ٘i)I9;b@Y G JgyJJJJAF&K Y3^~?yKAAFb777 ­9)B[[N#?[__~?[.ը[[[[BZYY i) RMIF?i ѿʅ 2 ,@))2 ,@2 ,@A/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039329.983165 s, next control iter: 1743039330.343179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039330.363165 s.%J~,>*AAY@AL@A_~? Aw0A* &"AAJwNA"AZAbAjArAzAAAB9@ACHǛsA=b@A<A0A?At<ȿA@z?Aʴ;*AM9?2A׽:ABAM9?JA׽RAYʾ??y0}<ٓH$ٿj?e?O0ٿ1@y? ?@ ?)ʾ? I٘i)I9=b@Y G J[9J(JJJCF&K\x> Y^~?y/ܨAA?F77í9)[[RZ?[sS_~?[˨[[[[BZYY i[h=) { elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199792 time: 1743039331.203277F (some fields omitted in printout)AQ@AA@A*_~? A A[ &"AA5wNA"AZAbAjArAzAAA8H9@Aɨ!sAb@A elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199702 time: 1743039332.463281F (some fields omitted in printout)Afffff@A\Y@A_~? A A4&"AAhwNA"AZAbAjArAzAAAtzx9@A[rp%sAYc@Ai?AuA@A@пA:?A<*A9?2Ak@ֽ:AWBA9?JAk@ֽRAWYC?F@yrd@ٓH`޿^`!??޿O`? ?)C? I٘i)I9c@Y G J<JJJJJF&Kw> Y^~?y CA@F7̭9)B[[d3@[_~?[s[[[[BZYY i) ӻI/E?icͿs  5@)) 5@ 5@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039332.483165 s, next control iter: 1743039332.863177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12831, header.stamp.nsec: 00 temperature: 13.388144* salinity: 33.391666, density: 1025.000000* values[0]: 0.689487F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039332.883165 s.yMJ~,/8*AA(@Ak@AQ_~? AA̯&"AA}wNA"AZAbAjArAzAAAO S#:\9@AWHarAVd@A}\AiXA(@A:ѿA?AvM<*AC9?2Aqֽ:ABAC9?JAqֽRA٘i)I9Vd@Y G JU<JJJJKF&K Y9^~?yYyCAF77έ9B)BE[[@[^~?[ꖨ[[[[BZYY i) I/xE?i̿" %7@))%7@%7@b*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039332.903165 s, next control iter: 1743039333.283178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039333.303165 s.bTJ~,gS*AJ"J*J2J:J0?BJ0?nJ395vJA@AC@A__~? A A8B&"AAvNA"AZAbAjArAzAAAPfN>9@AtrAd@A A)jA@A`5kҿA ?A~<*A9?2Aֽ:A7WBA9?JAֽRA7W٘i)I9d@YO G Jb<JJJJLF&K Y}^~?yCA EFŧ7b7^Э9)B[[@f@[^~?[[[[[BZYY i) eI^bE?iʿс 48@))48@48@V*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039333.323165 s, next control iter: 1743039333.703179 s, wait time: 0.380014 s*tReceived state from Gazebo (printed only once in a while):*2 header.stamp.sec: 12832*, header.stamp.nsec: 0*0 temperature: 13.387963** salinity: 33.391666*, density: 1025.000000** values[0]: 0.690394*F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039333.723165 s.[J~,Hn*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199922 time: 1743039333.723286F (some fields omitted in printout)Az@Aei@A_~? AAi&"AAfvNA"AZAbAjArAzAAAݫ3Gj9@AtzrAwe@AW;A(A@AMӿAh?AFg<*A9?2A׽:A BA9?JA׽RA ٘i)I9we@Y G Jڭ<B=JJJJNF&K Yo^~?yEDAFb7ŧ7)ҭ9 B)ݯBE[[A @[^~?[C[[[[BZYY i) 4rILE?iǿ Q:@))Q:@Q:@o*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039333.743165 s, next control iter: 1743039334.123178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039334.143165 s.X/bJ~,**AJ"J*J2J:J0?BJ0?nJv95vJA ףp=@A/d0@A_~? ANAMc&"AA\<*A9?2A,׽:AjBA9?JA,׽RAj٘i)I9 f@Y G J4<C=JJJJOF&K Y.b^~?y>DAF77{7ӭ9)دB[[t @[^~?[0~[[[[BZYY i) 5I7E?iĿz ~;@))~;@~;@/*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039334.163165 s, next control iter: 1743039334.543179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039334.563165 s.hJ~,F *AA3333s@A+)f@A_~? A A&"AAVvNA"AZAbAjArAzAAAdYnO8@A6XrAf@AS*<AAx @Ar տA?Aϰ<*A9?2AD׽:A#BA9?JAD׽RA#Y?kk @y򜽙0+<ٓH@O7@A7Ū?1?@)J@E `k?U??)? I٘i)I9f@Y\ G J<JlѻJJJPF&KQx> YR^~?yEAk @F77խ9)ԯBE[[+ @[^~?[9v[[[[BZYY i) GI"E?ibÿ}z z=@))z=@z=@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039334.603165 s, next control iter: 1743039334.963176 s, wait time: 0.360011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12833, header.stamp.nsec: 00 temperature: 13.387756* salinity: 33.391689, density: 1025.000000* values[0]: 0.691389F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039334.983165 s.oJ~,*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200192 time: 1743039334.983315F (some fields omitted in printout)A\@A=@A_~? AݩA~&"AAvNA"AZAbAjArAzAAAY 8@AcQ3/rAU4g@A:;A(WA @AտA?AIJ<*A&9?2Aֽ:ASBA&9?JAֽRASI٘i)I94g@Y G Jѱ<JJJJRF&K YA^~?yʆ}EAF77j7׭9 B)ѯBE[[@[^~?[kn[[[[BZYY i) pvI E?iw ^?@))^?@^?@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039335.023165 s, next control iter: 1743039335.383179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039335.403165 s.&vJ~,*AAQ@AF'K@A]_~? A֩A &"AAdvNA"AZAbAjArAzAAAq88@AjirA g@A9؎A (AN@AֿA`?A| <*A+9?2Aهֽ:AcBA+9?JAهֽRAc٘i)I9g@Y G J<JJJJSF&K Y1^~?yEAF{7T٭9)ͯB[[X@[1^~?[f[[[[BZYY i)  ׷IpD?i龿]t @@))@@@@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039335.423165 s, next control iter: 1743039335.803175 s, wait time: 0.380010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12834, header.stamp.nsec: 00 temperature: 13.387543* salinity: 33.391685, density: 1025.000000* values[0]: 0.692405F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039335.823165 s.|J~,2*AJ"J*J2J:JA1?BJA1?nJ95vJAGz@Aq@Ay_~? AϩAߔ&"AA\vNA"AZAbAjArAzAAAQJcj8@A4?ߌrA8bh@An,AjAG@A׿A@R?A<*A9?2Agֽ:ABA9?JAgֽRA٘i)I9bh@Yn G Jڳ<JJJJTF&K Y!^~?yVxPFAF{7ۭ9 B)ʯBE[[@[+^~?[S_[[[[BZYY i) Ei:IRD?iwo 6B@))6B@6B@1*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039335.843165 s, next control iter: 1743039336.223178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039336.243165 s.J~,d*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039336.243296F (some fields omitted in printout)Aףp=J@ACr2=@AKl_~? AȩA&"AAxvNA"AZAbAjArAzAAA]㱾+B8@AZʔNrAJh@Aɻ5A~A@A`i^ؿA!?AȮ<*A9?2AH~ֽ:AiBA9?JAH~ֽRAi٘i)I9h@Y G Jx<JJJJVF&K Y^~?yqFAFj7ܭ9)ůB[[@[j^~?[X[[[[BZYY i) :ID?i5:i QC@))QC@QC@'*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039336.263165 s, next control iter: 1743039336.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039336.663165 s.J~,q**AJ"J*J2J:J1?BJ1?nJ$:5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12835, header.stamp.nsec: 00 temperature: 13.387296* salinity: 33.391689, density: 1025.000000* values[0]: 0.693433F (some fields omitted in printout)A@A*Qr@A^_~? AA&"AA8dvNA"AZAbAjArAzAAA8@AlhrAi@AݾAA2@A/ٿA?A<*A.9?2Aֽ:ABA.9?JAֽRAY@@yVٓHEgI }??7? V ? w y?)@ I٘i)I9i@Y!G J۫<Jl<JJJWF&KAx> Y0]~?ymjGA@F)7)7ޭ9B)ïBE[[4@[U^~?[P[[[[BZYY i) 13;IND?i6g [E@))[E@[E@ *YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039336.683165 s, next control iter: 1743039337.063183 s, wait time: 0.380018 s rAdjusting time to match Gazebo time: 1743039337.083165 s.DJ~,SE*AA)\µ@Al@@AhP_~? AA)&"AAOvNA"AZAbAjArAzAAAVnd7@AŒUrA{j@A%;A2A@@A`KٿA?AH`<*A09?2A׽:AIiBA09?JA׽RAIi٘i)I9j@YuG J<JJJJXF&K Y]~?yc{GAF77{7~9B)BE[[8@[?^~?[I[[[[BZYY i) 5p;I+D?ic *F@))*F@*F@;*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039337.103165 s, next control iter: 1743039337.483179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039337.503165 s.J~,L4`*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.065994< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199942 time: 1743039337.503307F (some fields omitted in printout)J"J*J2J:JBJnJvJAR@AJ{@AA_~? AmA^&"AAS9vNA"AZAbAjArAzAAALL7@Aa0gkrAj@A<AgA4@A ڿATK?A9<*A9?2A3׽:ABA9?JA3׽RA٘i)I9j@YG J<JJJJZF&K Yd]~?y]GAF{7I9)B[[7@[)^~?[5C[[[[BZYY i) &;IkD?iS"_ ~H@))~H@~H@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039337.543165 s, next control iter: 1743039337.903179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12836, header.stamp.nsec: 00 temperature: 13.387107* salinity: 33.391705, density: 1025.000000* values[0]: 0.694372F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039337.923165 s.;J~,{*AA{G!@A1>@A2_~? AխA/&"AA"vNA"AZAbAjArAzAAA'7@A=rAFk@Ab><AA@A ۿA<?Ai<*A9?2A[.׽:AUBA9?JA[.׽RAU򼙘٘i)I9k@YG J<JJJJ[F&K Y]~?ybV>HAFŧ779B)BE[[@[/^~?[<[[[[BZYY iy=) )ϵ;I/D?iY H))HJ@g*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039337.943165 s, next control iter: 1743039338.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039338.343165 s. elevatorAngleAction: 0.075173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200182 time: 1743039338.763324F (some fields omitted in printout)Ǎ@A@AW_~? AA,&"AAuNA"AZAbAjArAzAAA~w47@A BrAl@AANBAs@AZݿAq?A!Џ<*A9?2Aַֽ:ABA9?JAַֽRAYn @3t@yMBUٓH@'bV?@a?4 q@$?>#?)n @ I٘i)I9l@YG Jg<J[0<JJJ^F&K6x> Y]~?yIHAt@F9B)BE[[7@[]~?[0[[[[BZYY i) ;I6cD?idN ED))EDp.M@=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039338.783165 s, next control iter: 1743039339.163179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039339.183165 s.˲J~,g*AJ"J*J2J:JBJnJvJA(\@AZ@A_~? AA&"AAuNA"AZAbAjArAzAAAZ7@Ax(rA1l@AA~cA@AݿA$?A4<*A9?2Aֽ:A*BA9?JAֽRA*٘i)I9l@YG J<JJJJ_F&K Y]~?yCTIAF77t9B)BE[[9r@[]~?[*[[[[BZYY i) e ~arA.l@A-?AA@A޿Aq?A,<*A39?2Azֽ:ABA39?JAzֽRA٘i)I9l@Y9G J<JJJJ`F&K Y"x]~?y=IAFŧ7b7?9)B[[@[]~?[J$[[[[BZYY i)  elevatorAngleAction: 0.075173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039340.023288F (some fields omitted in printout)J"J*J2J:JBJnJvJAHz.@A\W!@A,^~? A]A&"AAuNA"AZAbAjArAzAAA[6@An##rApm@A A*AS@AUH߿A`?A<*A9?2Aֽ:ABA9?JAֽRA٘i)I9pm@YG J<JJJJbF&K Yc]~?yq7 JAF77 9B)BE[[!@[]~?[[[[[BZYY i) (]*AAq= c@Ag,V@A^~? AcA&"AAuNA"AZAbAjArAzAAAA;g6@A=mrAm@AIκAA@Ak߿Aj2?AD<*A9?2Aֽ:AIBA9?JAֽRAI٘i)I9m@YG J<B=JJJJcF&K Y'O]~?y`1eJA F77779B)B߹E[[#@[,]~?[Y[[[[BZYY i) #8))ͻ>cS@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039340.463165 s, next control iter: 1743039340.843179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12839, header.stamp.nsec: 00 temperature: 13.386590* salinity: 33.391708, density: 1025.000000* values[0]: 0.696857F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039340.863165 s.+ͶJ~,>7*AJ"J*J2J:Je2?BJe2?nJ;5vJA@AS@A^~? AA&"AAsuNA"AZAbAjArAzAAA*i06@AOjprA]n@AkD;A#A@AXA?AlNj<*A9?2A1)׽:A BA9?JA1)׽RA Y?@b@yX;ٓH`FD .`߭?@t?UŢ"?@({??)?@ I٘i)I9]n@YG J@<C=JʻJJJdF&K\x> Y8]~?y+JA@ Fŧ7b79B)B޹E[[ə$@[i]~?[%[[[[BZYY i) UG elevatorAngleAction: 0.075173< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200252 time: 1743039341.283329F (some fields omitted in printout)A(\@AߤiP@Aq^~? A|A&"AA~XuNA"AZAbAjArAzAAAS(s5@A8dsrAn@AՎ9<AՎAS @A5A?Af<*A9?2AY:׽:ABA9?JAY:׽RA٘i)I9n@Y[G J<JJJJfF&K Yr"]~?y&!KA F777i9B)B۹E[[!&@[#P]~?[([[[[BZYY i) @WAß!@A>A -?AB<*A9?2AI׽:A* BA9?JAI׽RA* ٘i)I9Ko@YG J<JJJJgF&K Y ]~?y:!KAF49B)BعE[['@[<6]~?[a [[[[BZYY ia=) zsf elevatorAngleAction: 0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200082 time: 1743039342.543286F (some fields omitted in printout)A= ףp@Aac@AZr^~? AAlA}<&"AAuNA"AZAbAjArAzAAA[L5@AأrAHp@AU¢AjA($@AA!?AӜ<*A9?2APֽ:A BA9?JAPֽRA ٘i)I9Hp@Y>G J͙<JJJJjF&K Y`\~?yv=LAF779 B)BչE[[*@[]~?[[[[[BZYY i) PrAp@A0AYA#o%@A Aj;?Aƅ<*AϽ9?2A[Xֽ:A'}BAϽ9?JA[XֽRA'}Y>v@a|%@y혽3z1ٓH50C??* ݨ?V?)>v@ I٘i)I9p@YG J:<JkJJJkF&Kx> Yc\~?yLA|%@F7779%B)ҹE[[.,@[4\~?[X[[[[BZYY i) 87 elevatorAngleAction: 0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200152 time: 1743039343.803297F (some fields omitted in printout)A@A:z@A(6^~? A\Am&"AA}tNA"AZAbAjArAzAAAIkە4@AnrAq@A:ϱA֞Ak(@A`A@׼?Am<*A9?2Afֽ:A}BA9?JAfֽRA}٘i)I9q@Y9G JƧ<JJJJnF&K Ym\~?yqMAF77{7)9)B[[./@[K\~?[[[[[BZYY i) QNAF77779*B)BȹE[[R$2@[{\~?[[[[[BZYY i) )m elevatorAngleAction: 0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039345.063290F (some fields omitted in printout)A3333@A&'@A ]~? ANAԇ&"AAItNA"AZAbAjArAzAAA~]3@A|rAs@AD:<AA#,@A`gAc?A.<*AK9?2A&׽:ABAK9?JA&׽RAY@,@yl%;<ٓH ;ܿ"? ?J?gP??)@ I٘i)I9s@YBG J<JŏJJJrF&KAx> YN\~?y`NA,@Fŧ7b79,B)BŹE[[a3@[|_\~?[[[[[BZYY i) Ư elevatorAngleAction: 0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199652 time: 1743039346.323265F (some fields omitted in printout)AGzT@AoG@AF]~? AAAN&"AAsNA"AZAbAjArAzAAA{I3@Aژ̉rAxu@A` AaAN/@A`9)A?A<*A9?2A8ֽ:A BA9?JA8ֽRA ٘i)I9xu@YfG J<JJJJvF&K Y\~?yPAF7{790B)BE[[S8@[ \~?[[[[[BZYY i) AlͰA%1@A@eA^*?A&&<*A9?2A/ֽ:ABA9?JA/ֽRA٘i)I9%v@YG J<JJJJwF&K Y[~?yrPAFb77 91B)BE[[w9@[[~?[[[[[BZYY i) , Y.[~?yPA2@F777 92B)|BE[[e:@[[~?[zߧ[[[[BZYY i) d elevatorAngleAction: 0.084171< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200032 time: 1743039347.583300F (some fields omitted in printout)J"J*J2J:JBJnJvJA)\@ACV@Aq]~? A5ABt&"AAsNA"AZAbAjArAzAAAkAd@2@A꾮CrAԅw@ADdA{A(3@A FA`y?Av<*Al9?2AWֽ:AĹBAl9?JAWֽRAĹ٘i)I9w@YG J<JJJJzF&K Y[~?yaQA FJ 9)vB[[^<@[[~?[ݧ[[[[BZYY i) zBZYY i¸>B) ¿@A]~? A=(A &"AArNA"AZAbAjArAzAAA38A?"1@ArTzrA~z@A(*P;A0A 9@A0A?A<*Aq9?2Aֽ:A)}BAq9?JAֽRA)}Y+@9@y0ǹP;ٓH:Ͽ _?`٢?4ގ`? Bj??)+@ I٘i)I9~z@YuG JZ=JF=JJJF&KQx> YH[~?yڧ+SA9@&F{7j7t97B)cBE[[B@[I[~?[?ا[[[[ZZZZBZYY i) *AɼA<@A(A`?A7(<*A9?2A~}ֽ:A:BA9?JA~}ֽRA:٘i)I9|@YG J)<JJJJF&K YZ~?y ԧZTA*F7799B)SBE[[LF@[Z~?[D֧[[[[ZZZZBZYY i) 5vJAq= ף@A˖@Al\~? AAd!&"AA^rNA"AZAbAjArAzAAA}/@AmsrA2}@AJuA~A7>@AOA?A{<*A9?2A&pֽ:A<BA9?JA&pֽRA<٘i)I92}@YG J<JJJJF&K YZ~?yѧTA+F9:B)PBE[[G@[7Z~?[է[[[[ZZZZBZYY i) z;: y))yx@7)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039350.963165 s, next control iter: 1743039351.343181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039351.363165 s.uJ~,l>*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.083623< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199812 time: 1743039351.363262F (some fields omitted in printout)A@A\>@A\~? AA|!&"AAb9rNA"AZAbAjArAzAAA< 8`/@AMd rrA }@ASB;A7<A?@AtA@6?A#<*A9?2AyKֽ:A<BA9?JAyKֽRAJJJF&Kv> Y}Z~?yЧTA?@,Fb7j9;B)OBE[[[I@[Z~?[է[[[[ZZZZBZYY iD{) 2hI;  )) z@*/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039351.383165 s, next control iter: 1743039351.763175 s, wait time: 0.380010 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12850&, header.stamp.nsec: 0&0 temperature: 13.384155&* salinity: 33.391693&, density: 1025.000000&* values[0]: 0.708774&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039351.783165 s.^{J~,*AJ"J*J2J:Jr5?BJr5?nJB>5vJA(\@A.R@A\~? AgA&!&"AArNA"AZAbAjArAzAAA?kؿ.@AdprAZ}@A!f,<A9<Ar@@A *A@(; )){@%YFFF]Waiting for Gazebo time sync: latest Gz time: 1743039351.823165 s, next control iter: 1743039352.183180 s, wait time: 0.360015 s rAdjusting time to match Gazebo time: 1743039352.203165 s.J~, *AAQE@A8@Af\~? AOA!&"AAqNA"AZAbAjArAzAAA*t0.@AcborA}@A':<A=AB@A@bAf?Aw *AΞ9?2A&ֽ:Ar<BAΞ9?JA&ֽRAr<٘i)I9}@Y|G J;JJJJF&K YZ~?yͧTA/F77 9>B)E[["K@[Z~?[G֧[[[[BZYY i) @BP; ~.))~.7|@CYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039352.243165 s, next control iter: 1743039352.603176 s, wait time: 0.360011 s rAdjusting time to match Gazebo time: 1743039352.623165 s.WJ~,]'*AJ"J*J2J:J5?BJ5?nJV>5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.072191< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199952 time: 1743039352.623282F (some fields omitted in printout)AGz@A[z4m@ARM\~? A_AC"&"AAqNA"AZAbAjArAzAAAڢ‗-@A2T4nrA}@A;A`g9=AWgC@A`AG?A䎻*A!9?2A8Tֽ:Ac<BA!9?JA8TֽRAc<٘i)I9}@YsG JJJJJF&K YkZ~?y̧TA1Fj7Z7"9?B)PBE[[D,}; ))\~@y\}YFFF]u:Waiting for Gazebo time sync: latest Gz time: 1743039352.643165 s, next control iter: 1743039353.023178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12851, header.stamp.nsec: 00 temperature: 13.384132* salinity: 33.391708, density: 1025.000000* values[0]: 0.709060F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039353.043165 s.J~,B*AA= ף@AP,@A3\~? AA9"&"AAHqNA"AZAbAjArAzAAA!,@A5mrAf}@Ab"ܺA-]=A#D@A,Aҩ?A.)*Ae9?2ATֽ:A<BAe9?JATֽRA<٘i)I9}@YZG JJJJJF&K YOZ~?yL˧TA2F77{7$9)RBE[[6N@[RZ~?[_ק[[[[BZYY i) H%(; Y))Y@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039353.083165 s, next control iter: 1743039353.443178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039353.463165 s.[J~,]*AJ"J*J2J:JBJnJvJAffff@A{ܷZ@A|\~? AAZ"&"AAzqNA"AZAbAjArAzAAAJJJF&Kx> YG3Z~?yʧ2TAF@3F777_&9)TB[[YO@[7Z~?[1ا[[[[BZYY iG`i) N 5vJAQ@A8D@A@[~? A=Aړ"&"AAF-qNA"AZAbAjArAzAAAKs,+@A;*vjrA|@AJAav=AH@A1A`]?A*A 9?2Aֽ:Am =BA 9?JAֽRAm =٘i)I9|@YG JxJJJJF&K YY~?y ʧSA6Fb7ŧ7)9AB)\BE[[JR@[Z~?[Xڧ[[[[BZYY i) B;IɢC?i ?; !))!@ʪYFFF]}:Waiting for Gazebo time sync: latest Gz time: 1743039354.323165 s, next control iter: 1743039354.703180 s, wait time: 0.380015 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12853., header.stamp.nsec: 0.0 temperature: 13.384386.* salinity: 33.391693., density: 1025.000000.* values[0]: 0.708168.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039354.723165 s.J~,H*AAz@AD/z@A[~? A A"&"AATqNA"AZAbAjArAzAAAn)\*@AnirAM#|@A29A=A@3HA&CA@J?A*A9?2AgXֽ:Av=BA9?JAgXֽRAv=٘i)I9#|@YuG J#JJJJF&K YY~?yɧ5SA7Fb7+9)`BE[[T@[Y~?[ۧ[[[[BZYY iޖ) Z;IbC?i_2?Q;  )) i@yiҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039354.763165 s, next control iter: 1743039355.123177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039355.143165 s.^/J~,(**AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199672 time: 1743039355.143294F (some fields omitted in printout)J"J*J2J:JBJnJvJA ףp@AMd@A[~? A$ AB"&"AADpNA"AZAbAjArAzAAA)@AL.irA{@A|9;ALț=AlFARA?AK*A9?2A%"ֽ:A=BA9?JA%"ֽRA=٘i)I9{@Y G J)JJJJF&K Y]Y~?y5ɧRA9Fj7j7-9BB)eBE[[YU@[Y~?[$ݧ[[[[BZYY i) ;IC?iE?8E; Y ))Y c@y/if֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039355.163165 s, next control iter: 1743039355.543180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039355.563165 s.J~,[ *AA3333@ANw(@Aә[~? AU A"&"AApNA"AZAbAjArAzAAAW)@AhrAc{@Af8<AI\=AaEAX^A@ð?Am*Aզ9?2Aֽ:AP=BAզ9?JAֽRAP=YG>@MEyY= 8<ٓH@( H?@H`*}?`\??)G>@ I٘i)I9{@YG JJ8=JJJF&Kw> Y,Y~?yɧwRAE:F)7ŧ7U/9)jBE[[JV@[ҴY~?[ާ[[[[BZYY i) {;IUC?iR?w<  )) O@y舽5תYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039355.603165 s, next control iter: 1743039355.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12854, header.stamp.nsec: 00 temperature: 13.384616* salinity: 33.391697, density: 1025.000000* values[0]: 0.707176F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039355.983165 s.J~,*AJ"J*J2J:JBJnJvJA\(@A%@A[~? A A "&"AAܐpNA"AZAbAjArAzAAAf:(@A8JLhrAlz@AdE<AΛ=AUDAkhAW?As$*A89?2AmQֽ:A =BA89?JAmQֽRA =٘i)I9lz@YjG ,Y~?)ɧJ!JJJJF&K YY~?y)ʧRA;F77719CB)oBE[[X@[#Y~?[[[[[BZYY i) Y?;ImC?i`?F< s))s!ń@֪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039356.003165 s, next control iter: 1743039356.383182 s, wait time: 0.380017 s rAdjusting time to match Gazebo time: 1743039356.403165 s.&ƷJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199782 time: 1743039356.403274F (some fields omitted in printout)AQ^@AkծQ@Ae[~? A6 A""&"AAipNA"AZAbAjArAzAAA(@AgOEhrAcy@A:Ai=ANBApA4*AJ"J*J2J:JBJnJvJAGz@A r@AK[~? A A"&"AA0BpNA"AZAbAjArAzAAARI~'@AHQgrAAy@AzʻA|=AAA@GuA` ?AԬ*Ax9?2AFֽ:Amv=BAx9?JAFֽRAmv=٘i)I9Ay@YG JJJJJF&K YQY~?y˧=QA>F49)yB[[Z@[hY~?[[[[[BZYY i) x:IWC?i?%%< ))$@*ҪYFFF] : Waiting for Gazebo time sync: latest Gz time: 1743039356.863165 s, next control iter: 1743039357.223178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039357.243165 s.ӷJ~,`O*AAףp=@A1@A1[~? A A"&"AApNA"AZAbAjArAzAAAFJ&@AEEgrA+x@A)3A7=AT@AwA`v?AҨ*A;9?2Aֽ:Aɇ=BA;9?JAֽRAɇ=٘i)I9x@Y]G J&JJJJF&K Yi5Y~?y˧PA?F769)~BzE[[K[@[PY~?[[[[[BZYY i) \89IOC?i_?.f2< x))xbӆ@pϪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039357.283165 s, next control iter: 1743039357.643175 s, wait time: 0.360010 s rAdjusting time to match Gazebo time: 1743039357.663165 s.ڷJ~,qj*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200162 time: 1743039357.663299F (some fields omitted in printout)tReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12856, header.stamp.nsec: 00 temperature: 13.385186* salinity: 33.391697, density: 1025.000000* values[0]: 0.704942F (some fields omitted in printout)A@AW<@A[~? A A"&"AA`oNA"AZAbAjArAzAAAW4C&@AױgrAG%x@A #A=A?AwA LAv*A9?2Aֽ:AW=BA9?JAֽRAW=YE@?y=#$ٓH`I`:?@ÿ@<!i`v ?)E@ I٘i)I9%x@YG JJJJJF&K"x> YY~?y̧pPA?AF77{7J89DB)BwE[[JG]@[S7Y~?[f[[[[BZYY i) EID?iő?!:< ))@̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039357.683165 s, next control iter: 1743039358.063178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039358.083165 s.DJ~,S*AA)\5@A(@AZ~? A A;"&"AAoNA"AZAbAjArAzAAA!%@AE lgrAw@AxAv=A=AQuA ؘA*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9w@YG J<JJJJF&K YX~?ySΧ PABF{7:9)BtE[[^@[Y~?[[[[[BZYY i) ܺIoD?i?yC< Ϳ))Ϳ/@ɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039358.103165 s, next control iter: 1743039358.483177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039358.503165 s.J~,L4*AJ"J*J2J:JBJnJvJARk@A2z^@AZ~? AK A?"&"AAoNA"AZAbAjArAzAAA5ӌP%@A#RIhrAaw@A%v;AF=A~<A`_pAAN*A9?2Ajֽ:A"=BA9?JAjֽRA"=٘i)I9w@Y]G JɥJJJJF&K YX~?yϧOACF77;9)BqE[[8_@[Y~?[[[[[BZYY i) f++I)D?i'?YGN< d))dx݈@ƪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039358.523165 s, next control iter: 1743039358.903179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12857, header.stamp.nsec: 00 temperature: 13.385459* salinity: 33.391682, density: 1025.000000* values[0]: 0.703901F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039358.923165 s.9J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.066206< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199802 time: 1743039358.923294F (some fields omitted in printout)A{G@A˂?@AZ~? A A"&"AA0}oNA"AZAbAjArAzAAApj$@A Ő]hrAȃv@A'<A=A7;A iAA꣼*A9?2ANֽ:A{=BA9?JANֽRA{=٘i)I9v@Y G JJJJJF&K YX~?yѧEOAEFŧ7b7=9)BoE[[+a@[X~?[[[[[BZYY i) hI*AK9?2Adֽ:A <BAK9?JAdֽRA <٘i)I9u@YG JCJJJJF&K YX~?ynҧNAFF77u?9)BlE[[Srb@[X~?[[[[[BZYY i) xIhOD?i?KQf< of))of?6@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039359.383165 s, next control iter: 1743039359.743177 s, wait time: 0.360012 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12858&, header.stamp.nsec: 0&0 temperature: 13.385710&* salinity: 33.391678&, density: 1025.000000&* values[0]: 0.702884&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039359.763165 s.9J~,'*AA @A`"@A1Z~? AN A2"&"AA.oNA"AZAbAjArAzAAA/W}0#@A>âHirAwu@A;A%|=A8ARAeAXP*A9?2Aֽ:A]<BA9?JAֽRA] YX~?yԧNA8GF7b7@A9)BiE[[c@[BX~?[[[[[BZYY ibÜ) KIrcD?iN?yn< ö))ö*@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039359.803165 s, next control iter: 1743039360.163178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039360.183165 s.J~,R *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199492 time: 1743039360.183257F (some fields omitted in printout)J"J*J2J:JBJnJvJA(\B@A5@A`|Z~? AM Ao"&"AAmoNA"AZAbAjArAzAAA k9"@AsF0irA~t@Aי*A=A@7A CAJ9A+*A9?2Aֽ:Aי<BA9?JAֽRAי<٘i)I9t@YG J0JJJJF&K YKsX~?y֧(NAIF7777 C9)B[[Te@[3X~?[[[[[BZYY i) qлI>xD?i?w< 7 ))7 @YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039360.203165 s, next control iter: 1743039360.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039360.603165 s.94 J~,&*AAQx@A^EFk@AbZ~? AwAv"&"AAYnNA"AZAbAjArAzAAAu,!@A`jrA2t@AAņ=A5A 2A Ag؉*A9?2A@׽:A<BA9?JA@׽RA<٘i)I9t@YG JJJJJF&K YWX~?y*٧MAJFD9)BfE[[nKf@[X~?[M[[[[BZYY i) ԕID?i?< ]))]y8@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039360.623165 s, next control iter: 1743039361.003178 s, wait time: 0.380013 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12859 , header.stamp.nsec: 0 0 temperature: 13.385955 * salinity: 33.391682 , density: 1025.000000 * values[0]: 0.701896 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039361.023165 s.ZJ~,|A*AJ"J*J2J:J3?BJ3?nJi<5vJAHz@A E @AHZ~? AAI"&"AAbnNA"AZAbAjArAzAAAy\!@AvikrA t@A6AO=Aq4A`A|iA.߆*A9?2A ׽:A/<BA9?JA ׽RA/<٘i)I9t@YG J܇JJJJF&K Yw*AJ"J*J2J:Jy3?BJy3?nJ0<5vJA@A͎ @AZ~? AAvW"&"AAknNA"AZAbAjArAzAAAWJ& @ASmrA*s@A99:ANJ=A2AA8#ĿAϾ*AJ9?2Aֽ:A'v=BAJ9?JAֽRA'v=Y^ R@72yNJ=::ٓH @߂?4J bvֿﵗzU4G?2?)^ R@ I٘i)I9*s@YG JJH:JJJF&Kx> YX~?yLA2NFŧ7b75J9)B]E[[)j@[sPX~?[1 [[[[BZYY i) bR&ID?iz?b< +))+뿩,@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039361.903165 s, next control iter: 1743039362.263177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039362.283165 s.3R$J~,*AA(\O@APB@AY~? AA5"&"AAYEnNA"AZAbAjArAzAAA䎨}@AbTnnrAr@A<AV=A0A GA`ſA*AM9?2AqYֽ:AA=BAM9?JAqYֽRAA=٘i)I9r@YG JꎼJJJJF&K YtW~?yYLAOF{7{7L9)BZE[[Vk@[:X~?[ [[[[BZYY i) O5ID?i?}< G ))G 鿩I͎@ªYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039362.303165 s, next control iter: 1743039362.683174 s, wait time: 0.380009 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12861., header.stamp.nsec: 0.0 temperature: 13.386385.* salinity: 33.391678., density: 1025.000000.* values[0]: 0.700195.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039362.703165 s.Ӻ*J~,*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039362.703284F (some fields omitted in printout)AQ@A$ x@AVY~? AA."&"AAnNA"AZAbAjArAzAAA'@A~9orA6r@A9<A'2=A$/AiAZǿAB*A9?2AQֽ:A =BA9?JAQֽRA =٘i)I96r@YkG JB=JJJJF&K YW~?yKAQF7777M9)B[[l@[%X~?[[[[[BZYY i) MEIE?i?< [))[濩m@ŪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039362.743165 s, next control iter: 1743039363.103174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743039363.123165 s.81J~,a*AAG@Aխ@A=Y~? AAc!&"AAmNA"AZAbAjArAzAAA~U'@A o|prAq@A <AP=AK/.AA@ɿAoۗ*A9?2A~ֽ:A5 =BA9?JA~ֽRA5 =٘i)I9q@YG JC=JJJJF&K YW~?y KARFb77O9)BWE[[m@[X~?[+[[[[BZYY i) aTI"E?iB?*< 3))3俩N @ǪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039363.143165 s, next control iter: 1743039363.523177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039363.543165 s.I8J~,*AJ"J*J2J:J#3?BJ#3?nJ;5vJA= ף@AöE@AIY~? AA}!&"AAmNA"AZAbAjArAzAAAGԑ@A3?RrrA*8q@A:ALh=A,A`pA`.˿AB*A޳9?2Aֽ:Ay =BA޳9?JAֽRAy =٘i)I98q@YG J$JJJJF&K YW~?y&AKASF77`Q9CB)BTE/_Uninitialize.[^NCompleted profile_station:CircleWrapperq/^jAggregate::uninitialize profile_station:CircleWrapper/^ Running loop #80q/P^fAggregate::initialize profile_station:CircleWrapper//_6Initialize CircleComponent.[[[BZYY i) Cd)ʪYFFF]Waiting for Gazebo time sync: latest Gz time: 1743039363.563165 s, next control iter: 1743039363.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12862, header.stamp.nsec: 00 temperature: 13.386631* salinity: 33.391666, density: 1025.000000* values[0]: 0.699306F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039363.963165 s.w>J~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812: rudderAngleAction: 0.000000@ elevatorAngleAction: -0.076545< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199972 time: 1743039363.963288F (some fields omitted in printout)Affff&@Aa_@A~Y~? AAz!&"AA9mNA"AZAbAjArAzAAA폳\@AsrAp@AػA=A +AXKA`YͿA*Aα9?2A ׽:At =BAα9?JA ׽RAt =YX@+y/=HٻٓH`1 ?Oﯿ`=iܿ Х\% {?)X@ I٘i)I9p@YG JkB=JM<JJJF&K.x> YԃW~?yJA+UF7777*S9)BRE[[Np@[W~?[[[[[BZYY i) vsI+?E?i@ -< g߿)) g߿AI@ͪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039363.983165 s, next control iter: 1743039364.363178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039364.383165 s.EJ~,8*AJ"J*J2J:JBJnJvJA(\@Av3O@AY~? A1 A~^!&"AAʇmNA"AZAbAjArAzAAADt2@A{~1 murA#6p@A;A줗=A1*A@AпA{*A3:?2A:A5 =BA3:?JARA5 =٘i)I96p@Y2G JC=JJJJF&K YjW~?yyJAVF7T9)BOE[[Nq@[W~?[%"[[[[BZYY i) [TI\E?if@p< {ݿ))ܿ@wҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039364.403165 s, next control iter: 1743039364.783179 s, wait time: 0.380014 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12863", header.stamp.nsec: 0"0 temperature: 13.386861"* salinity: 33.391663", density: 1025.000000"* values[0]: 0.698373"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039364.803165 s.vALJ~,wg3*AA@AG@AggY~? A"A)!&"AAbmNA"AZAbAjArAzAAAx @A:4 wrA o@A)AW=A{)A AпA]*Aj:?2Aý:A =BAj:?JAýRA =٘i)I9o@YG J\JJJJF&K YCQW~?yJAWF7{7V9)ƯB[[r@[HW~?[&[[[[BZYY i]) 툼IzE?iA @f< +ڿ))+ڿ@;ӪY/YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039364.843165 s, next control iter: 1743039365.203178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039365.223165 s.gSJ~,HN*AJ"J*J2J:JBJnJvJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039365.223304F (some fields omitted in printout)Az@A2@AOY~? A%A &"AAs=mNA"AZAbAjArAzAAA\@A< SxrA'o@ASlA=A(A A"ѿAC*A:?2AyŽ:AH=BA:?JAyŽRAH=٘i)I9'o@YG JFB=JJJJF&K Y7W~?yIAYF7777X9)ʯBLE[[s@[@W~?[L+[[[[BZYY i) IE?i@2< k׿))k׿@!@֪Y]YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039365.263165 s, next control iter: 1743039365.623178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039365.643165 s.yYJ~,*i*AA ףp@AHjd@A6Y~? A(A &"AAmNA"AZAbAjArAzAAAk,"@AaXzrAn@A ;A=AW'AVAѿA*AM:?2A6Ƚ:Ar=BAM:?JA6ȽRAr=٘i)I9n@Y8G J娼C=JJJJF&K YW~?yKIAZF{7{7UZ9BB)ίBIE[[=4u@[W~?[/[[[[BZYY i) IйE?i-@< Oտ))Oտ@تYFFFtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12864, header.stamp.nsec: 00 temperature: 13.387094* salinity: 33.391636, density: 1025.000000* values[0]: 0.697416F (some fields omitted in printout)]:Waiting for Gazebo time sync: latest Gz time: 1743039365.663165 s, next control iter: 1743039366.043178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039366.063165 s.`J~,R *AJ"J*J2J:JBJnJvJA33333 @ANw(& @AY~? A,Af~ &"AAlNA"AZAbAjArAzAAA >@A7B|rAn@A8;<Al=Aw&A`*A 7ҿA*Ax:?2Aʽ:A =BAx:?JAʽRA =Y5]@`h&yj=;<ٓH Vw? 2qwo>@b?X?)5]@ I٘i)I9n@YG JJ O<JJJF&KtC> YW~?yGHAh&[Fj7 \9)үBFE[[lv@[=W~?[4[[[[BZYY i) FIE?i@A< kҿ))kҿ@X@y zaܪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039366.083165 s, next control iter: 1743039366.463177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039366.483165 s._gJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039366.483297F (some fields omitted in printout)A\h @AYNB[ @AY~? AD/AM@ &"AAlNA"AZAbAjArAzAAAl=v@AGD~rAqm@Ağ?<A=A,%AouA_cӿA崼*Au:?2Asͽ:A =BAu:?JAsͽRA =٘i)I9qm@YG J貼JJJJF&K YPV~?y tHA]F7777]9)֯BCE[[âw@[7wW~?[9[[[[BZYY i) I8E?iP@/< qп))qп]@ߪYFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039366.503165 s, next control iter: 1743039366.883178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12865, header.stamp.nsec: 00 temperature: 13.387357* salinity: 33.391644, density: 1025.000000* values[0]: 0.696379F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039366.903165 s.mJ~,͹*AJ"J*J2J:JE2?BJE2?nJ:5vJAQ @A?W @A)X~? A2Az&"AA{lNA"AZAbAjArAzAAA|[[[[BZYY i)  {IF?i{ @k<  ο)) οl@tYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039366.923165 s, next control iter: 1743039367.303179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039367.323165 s.vtJ~,%*AAGz @ABs @AX~? A66Aۻ&"AAlNA"AZAbAjArAzAAA/N:@A6f݂rA>l@A80CA;=At"AA տAK*A\:?2ANҽ:Aa=BA\:?JANҽRAa=I٘i)I9>l@YG JkB=JJJJF&K YV~?yGA_F77a9)BAE[[z@[sTW~?[C[[[[BZYY i) IE[[7{@[CW~?[H[[[[BZYY i)  bIfF?i)@D< ;Hɿ));Hɿ̽@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039367.763165 s, next control iter: 1743039368.143179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039368.163165 s.z}J~,q *AA@!@A臭2!@A|X~? A=A ,&"AALAlNA"AZAbAjArAzAAAƖ5@A8]trA.k@A FAѭ=AlAArֿAL&*AD:?2AԽ:ARw=BAD:?JAԽRARw=YPId@EyGέ=FٓH}'@?( `,?)PId@ I٘i)I9k@Y G JIJ<JJJF&K%{> Y/V~?yFAbFZ7SI7e9)B;E[[j|@[!3W~?[N[[[[BZYY i) VļIF?i*-@< sƿ))sƿ>W@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039368.183165 s, next control iter: 1743039368.563180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039368.583165 s.戸J~,R%*AJ"J*J2J:J1?BJ1?nJ|:5vJA)\u!@AF жh!@AÒX~? AAA&"AAlNA"AZAbAjArAzAAA5ک @A/rAbj@AAlx=AUrAaA !׿AwƼ*A9:?2A<>ս:A=BA9:?JA<>սRA=٘i)I9bj@YG JM¼JJJJF&K YxV~?y!HFAcF77{7f9)B[[v}@["W~?[nS[[[[BZYY i) ˼IF?i0@6< Ŀ))Ŀ@gYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039368.603165 s, next control iter: 1743039368.983179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12867, header.stamp.nsec: 00 temperature: 13.387917* salinity: 33.391636, density: 1025.000000* values[0]: 0.694160F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039369.003165 s.} J~,a4@*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.085726< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200462 time: 1743039369.003334F (some fields omitted in printout)AR!@A/|!@AM|X~? AEA<&"AAckNA"AZAbAjArAzAAAۭ @A]drAi@ABx:A"Ʋ=A+AU#AVؿAϼ*A/:?2A}ս:A6=BA/:?JA}սRA6=٘i)I9i@Y?G J2ʼB=JJJJF&K YbV~?yF'EAeF)7ŧ7h9@B)B8E[[~@[)W~?[X[[[[BZYY i) ,4ӼIF?i4@0H< k"¿))k"¿@@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039369.043165 s, next control iter: 1743039369.403181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039369.423165 s.uJ~,[*AJ"J*J2J:JBJnJvJA{G!@Aۋh;!@AfX~? AJA?&"AAkNA"AZAbAjArAzAAAŒIJ@AfBrA7i@Ap<Ay=AAA#ٿAּ*A&:?2Aս:Ah=BA&:?JAսRAh=٘i)I9i@Y G JҼC=JJJJF&K YKV~?y,^EAfF77uj9?B)B5E[[9@[W~?[=^[[[[BZYY i) xڼIG?i9@o<  ɿ)) ɿ@YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039369.443165 s, next control iter: 1743039369.823176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12868, header.stamp.nsec: 00 temperature: 13.388221* salinity: 33.391609, density: 1025.000000* values[0]: 0.692950F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039369.843165 s.ݜJ~,u*AAp= "@Ao! "@A6PX~? AuNAy&"AAkNA"AZAbAjArAzAAA`g@AB rAPh@A~I<A(ܵ=AAA _ٿAۼ*AP:?2Aս:A^0 =BAP:?JAսRA^0 =٘i)I9Ph@Yd G J0ټJJJJF&K Y4V~?y1DAgF777@l91B)B6E[[Ԑ@[V~?[c[[[[ZZ¸BZYY i¸=) ІμIx)G?i=@< /t))/tϲ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039369.863165 s, next control iter: 1743039370.243176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039370.263165 s.!J~,Iؐ*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: 0.083272< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200402 time: 1743039370.263335F (some fields omitted in printout)AL"@Aެ?"@A:X~? ARA&"AAkNA"AZAbAjArAzAAA*v@AJ2>nrAkg@AN<A==ACA`ZAڿAq"ݼ*A:?2Aniֽ:AB=BA:?JAniֽRAB=YYj@<6yD=}<ٓH`,_@ü?`Sǫ`{@鍫@ζɂ?`?)Yj@ I٘i)I9g@Y G JܼJM)<JJJF&Ko{> YL V~?y7oDA6iF7 n90B)B3E[['@[.V~?[Vi[[[[ZZBZYY i) s¼IRG?i@@< '))'I@ YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039370.303165 s, next control iter: 1743039370.663187 s, wait time: 0.360022 s2tReceived state from Gazebo (printed only once in a while):22 header.stamp.sec: 128692, header.stamp.nsec: 020 temperature: 13.3885322* salinity: 33.3916052, density: 1025.0000002* values[0]: 0.6916392F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039370.683165 s.lJ~,*AL V~?)7A(\"@A\ u"@AN%X~? AWA;&"AAwkNA"AZAbAjArAzAAAhp@Aԑ3rFrAf@A:A=AAsA~ۿA7x*A:?2Aֽ:AԆ<BA:?JAֽRAԆ<٘i)I9f@Yw G JJJJJF&K Y V~?y=CAjFZ7Z7o9)B0E[[@[V~?[o[[[[ZZBZYY i)  fI}G?iD@u< ))ߚ@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039370.683165 s, next control iter: 1743039371.083176 s, wait time: 0.400011 s rAdjusting time to match Gazebo time: 1743039371.103165 s.J~,*AJ"J*J2J:JBJnJvJAQ"@AByG"@AUX~? Ap\A&"AAWkNA"AZAbAjArAzAAAE y]$?AG(]3rAe@A,AϘ=AAEA@YDܿAA*A&:?2AP4׽:A<BA&:?JAP4׽RA<٘i)I9e@Y G JvJJJJF&K YU~?yCzCAkF77q9)B[[6S@[V~?[t[[[[ZZBZYY i) UIG?iG@< j))j1u@y=ӪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039371.143165 s, next control iter: 1743039371.503179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039371.523165 s.J~,{*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.083272< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199412 time: 1743039371.523271F (some fields omitted in printout)AHz"@A7N "@AW~? A\aA&"AA7kNA"AZAbAjArAzAAA+:?AJ;4rAe@AXNAҾu=A::AzA dݿA:*A+:?2AzB׽:A\<BA+:?JAzB׽RA\<٘i)I9e@Yp G JTJJJJF&K YBU~?yIBAmFb77ks9/B)B,E[[u@[rV~?[}z[[[[ZZBZYY i) DIG?iK@u= ))p @%YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039371.543165 s, next control iter: 1743039371.923177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12870, header.stamp.nsec: 00 temperature: 13.388893* salinity: 33.391590, density: 1025.000000* values[0]: 0.690124F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039371.943165 s.[dJ~,O]*AJ"J*J2J:JBJnJvJAq= ##@AF#@A[W~? AjfA&"AAkNA"AZAbAjArAzAAAՑW`?A`EJrAU^d@A9A"2=AAP.A`ݿAFͼ*A,:?2AL/׽:AW;BA,:?JAL/׽RAW;٘i)I9^d@Y G JoJJJJF&K YU~?yOBAnF{7j75u9) B)E[[z@[cV~?[H[[[[ZZBZYY i) 4IH?iPP@VR= ͱ))ͱ@zYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039371.963165 s, next control iter: 1743039372.343179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039372.363165 s.ŸJ~,>*AAY#@A#.L#@A^W~? AkAں&"AAZjNA"AZAbAjArAzAAA$Z)?ALtrAc@Ad(AX<A0AA[޿A>*A*:?2Ah"׽:AX BA*:?JAh"׽RAX Yzsq@y͢<d5ٓHo* ?e錿q `V%r ?)zsq@ I٘i)I9c@Y G JyJJJJF&K z> YU~?y^V`BApF{7w90B)B*E[[@[{V~?[<[[[[ZZBZYY ip=) 7߇I.H?iS@ = w))w1@YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039372.403165 s, next control iter: 1743039372.763183 s, wait time: 0.360018 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12871&, header.stamp.nsec: 0&0 temperature: 13.389230&* salinity: 33.391594&, density: 1025.000000&* values[0]: 0.688764&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039372.783165 s.V˸J~,2*AJ"J*J2J:JR0?BJR0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.069819< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039372.783276F (some fields omitted in printout)A(\#@A}.P#@AW~? ApA~T&"AALjNA"AZAbAjArAzAAA`6E?A}rA9c@AIx;A<AZXAFA`?߿A*A":?2AA+׽:A"BA":?JAA+׽RA"٘i)I99c@YJ G JJJJJF&K Y;U~?y\9׽:AmBA:?JA>9׽RAm٘i)I9b@Y G JiB=JJJJF&K YU~?ycBArFb77z9)B[[q8@[V~?[C[[[[ZZBZYY i) cfIH?iY@@ = ժ))ժlZ@F(YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039373.223165 s, next control iter: 1743039373.603180 s, wait time: 0.380015 s rAdjusting time to match Gazebo time: 1743039373.623165 s.YٸJ~,eg*AJ"J*J2J:JBJnJvJAG#@A{j#@AW~? A{Av&"AAǡjNA"AZAbAjArAzAAAxt(@?A1grAіb@A03<AڤA?A ATAkջ*A:?2A.׽:A⣼BA:?JA.׽RA⣼٘i)I9b@Y G JpC=JJJJF&K YU~?yBjAAtF{7j7`|9)B$E[[E˅@[>~V~?[Q[[[[ZZBZYY i) QIxH?io]@ = k))k@@yQ=)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039373.663165 s, next control iter: 1743039374.023179 s, wait time: 0.380014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12872 , header.stamp.nsec: 0 0 temperature: 13.389439 * salinity: 33.391598 , density: 1025.000000 * values[0]: 0.687901 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039374.043165 s.J~,Â*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078553< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039374.043289F (some fields omitted in printout)A= ף0$@As#$@AW~? AA&"AAVjNA"AZAbAjArAzAAAqn?A_xްrAxb@Aت;AvA!p A{A ǫAYʺ*A! :?2Aֽ:Ay̼BA! :?JAֽRAy̼٘i)I9xb@Y G JϏJJJJF&K Y3pU~?ypAAuF777+~90B)B%E[[%]@[sV~?[f[[[[BZYY i) =IH?ia@m= B))B @3*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039374.063165 s, next control iter: 1743039374.443179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039374.463165 s.WJ~,줝*AJ"J*J2J:JBJnJvJAfffff$@A[Y$@AtW~? A]A&"AAuijNA"AZAbAjArAzAAAy0a?AzBlgrA||b@A)gAe-5A( A^<A@KAU;*A9?2ARֽ:ATBA9?JARֽRAT9٘i)I9|b@Y G JN:JJJJF&K Y]U~?ywAAvF9/B)B"E[[@[5hV~?[[[[[BZYY i) b(II?iFf@%`= ))@Ms*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039374.483165 s, next control iter: 1743039374.863179 s, wait time: 0.380014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12873, header.stamp.nsec: 00 temperature: 13.389538* salinity: 33.391567, density: 1025.000000* values[0]: 0.687649F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039374.883165 s.yJ~,D*AA($@Am$@AbW~? ADA1&"AA&NjNA"AZAbAjArAzAAAmG2nAjrA`b@A-A\A A߿A RAo<;*A9?2Aֽ:ABA9?JAֽRA٘i)I9b@Y G J;JJJJF&K YJU~?y'~AAxFj7Z79)BE[[}@[]V~?[[[[[BZYY i) Ii?k@?= ))@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039374.903165 s, next control iter: 1743039375.283181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039375.303165 s.VJ~,wg*AJ"J*J2J:J0?BJ0?nJ85vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.078553< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039375.303271F (some fields omitted in printout)A$@A{Nz$@AQW~? AGAм&"AAl3jNA"AZAbAjArAzAAA&ZԿAj*rA_b@A4IA}Aa A@Y߿A A8<*A9?2A/ֽ:AZBA9?JA/ֽRAZ٘i)I9b@Y G Je<JJJJF&K Y,8U~?yȄaAAyFZ7SI79)B[[ @[SV~?[[[[[BZYY i) Iip@= ))-@ʫ*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039375.323165 s, next control iter: 1743039375.703175 s, wait time: 0.380010 s.tReceived state from Gazebo (printed only once in a while):.2 header.stamp.sec: 12874., header.stamp.nsec: 0.0 temperature: 13.389470.* salinity: 33.391541., density: 1025.000000.* values[0]: 0.687972.F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039375.723165 s.J~,H*AAz%@Ag'$@A}@W~? AfAtF&"AALjNA"AZAbAjArAzAAAT{AfirA7c@ANAGACAU޿AAKh<*A9?2Aֽ:ABA9?JAֽRA٘i)I97c@YI G JuO<JJJJF&K Y%U~?yj=AAzF7{7V9.B)BE[[@[`JV~?[Ѷ[[[[BZYY i!=) ۼԻIiIv@~= +S))+S@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039375.743165 s, next control iter: 1743039376.123175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039376.143165 s.T/J~,) *AJ"J*J2J:JBJnJvJA ףp=%@ArMd0%@A/W~? AA&"AAiNA"AZAbAjArAzAAAAR%6rAc@Ai:AܗAA3ݿA;BAiɇ<*A9?2Ar׽:A*rBA9?JAr׽RA*r٘i)I9c@Y G Jm{<JJJJF&K YU~?y AA|Fb77 9/B)BE[[$@[JAV~?[鼨[[[[BZYY i) fIiV|@~!= [$))[$F@.*YFFF]{:Waiting for Gazebo time sync: latest Gz time: 1743039376.163165 s, next control iter: 1743039376.543178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039376.563165 s.J~, $*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.087385< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200132 time: 1743039376.563294F (some fields omitted in printout)A3333s%@AW'g(f%@AW~? AAwS&"AAiNA"AZAbAjArAzAAAZAwrAd@An<AjAAܿA`HA6M<*A9?2AS׽:AZBA9?JAS׽RAZYz~@yib<ٓH߿?@?@k߿ ?'? ???)z~@ I٘i)I9d@Y G J}<B=JGJJJF&K> YU~?yAA}F{7{7눮9)BE[[ٴ@[E8V~?[?è[[[[BZYY iѸO=) VIiu~@"= 䘿))䘿֢@Y*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039376.603165 s, next control iter: 1743039376.963179 s, wait time: 0.360014 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12875, header.stamp.nsec: 00 temperature: 13.389325* salinity: 33.391506, density: 1025.000000* values[0]: 0.688742F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039376.983165 s.J~,>*AJ"J*J2J:JBJnJvJA\%@A%@AW~? AbA&"AAiNA"AZAbAjArAzAAAOqAerAd@AE<A<詽ACAA` ܿAA<*A9?2AW׽:A6BA9?JAW׽RA6٘i)I9d@Y# G Jw<C=JJJJF&K YT~?yYAA~F779) B[[OD@[/V~?[ɨ[[[[BZYY iY`=) _Iiz@s$= C))CJf@yS=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039377.003165 s, next control iter: 1743039377.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039377.403165 s.&J~,Y*AAQ%@AN%@AW~? A격AX&"AAiNA"AZAbAjArAzAAAc elevatorAngleAction: 0.064149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200222 time: 1743039377.823300F (some fields omitted in printout)AGz&@Ap&@AV~? AA,&"AA!iNA"AZAbAjArAzAAA7 >,A rAe@A:AаAkA~ڿAdAR`<*A9?2Aֽ:A-SBA9?JAֽRA-S٘i)I9e@Y G JR<JJJJF&K YT~?yBAF7{7K9/B)BE[[Ja@[V~?[]֨[[[[BZYY i) }}ѺIi@Y\(= W2))W2E@y}=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039377.843165 s, next control iter: 1743039378.223175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039378.243165 s.#J~,`*AAףp=J&@A=`2=&@A3V~? A@AV&"AAՉiNA"AZAbAjArAzAAAM~AG!;!rAf@A&A AsA[ٿAۧA<*A9?2ABuֽ:ANBA9?JABuֽRAN٘i)I9f@YO G J~<JJJJF&K YT~?yL6CAF{79.B)BE[[@["V~?[ܨ[[[[BZYY i) 5IiU@*= ))@ys=*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039378.263165 s, next control iter: 1743039378.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039378.663165 s.*J~,q*AJ"J*J2J:J0?BJ0?nJ95vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12877, header.stamp.nsec: 00 temperature: 13.388823* salinity: 33.391514, density: 1025.000000* values[0]: 0.691131F (some fields omitted in printout)A&@Amr&@A)V~? AǩA&"AA1tiNA"AZAbAjArAzAAA<9vAfLHrA>g@AoBAoAWAؿA A^<*A9?2Adֽ:ABA9?JAdֽRAY.@u6ylCٓHɹٿC?`9?,$ٿΓ?@?@(_`?).@ I٘i)I9>g@Y G J<JdJJJF&K#x> YT~?yXCA6Fj7Z79)B[[}@[V~?[<[[[[BZYY i) O9Ii<@+= Í))Í@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039378.683165 s, next control iter: 1743039379.063177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039379.083165 s.D1J~,"S*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.064149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200232 time: 1743039379.083329F (some fields omitted in printout)A)\µ&@AbԵ&@AV~? AͩAsL&"AA:_iNA"AZAbAjArAzAAAq &Avs}rAg@AL%AcA9A@YؿA )A <*A_9?2Aiֽ:ABA_9?JAiֽRA٘i)I9g@Y+ G J<JJJJF&K YLT~?yeȨDAFb7b79)B[[ @[= V~?[[[[[BZYY i) m:IiS@j7-= ))-@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039379.123165 s, next control iter: 1743039379.483179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039379.503165 s.J "J *J 7J~2J:J1?,P4*ABJ1?nJ95vJAR&@A||&@ApV~? AԩA&"AAJiNA"AZAbAjArAzAAA f.@A% rArh@ABAAAC׿A~hA` <*A9?2A)ֽ:AL BA9?JA)ֽRAL ٘i)I9h@Y G J <B=JJJJF&K YT~?yqШDAF777v9/B)BE[[@[V~?[?[[[[BZYY i) k;Ii@.= U))U@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039379.523165 s, next control iter: 1743039379.903177 s, wait time: 0.380012 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12878, header.stamp.nsec: 00 temperature: 13.388526* salinity: 33.391483, density: 1025.000000* values[0]: 0.692560F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039379.923165 s.7>J~,*AA{G!'@A K<'@AĭV~? A۩A<&"AA^7iNA"AZAbAjArAzAAA1MA=\rA*Mi@A(;AAdTAkֿA 2A<*Aq9?2AK0׽:AkBAq9?JAK0׽RAk٘i)I9Mi@Y G J<C=JJJJF&K YT~?y~بEAFŧ7{7@9)B[[q%@[U~?[[[[[BZYY i) e;;Ii @0= !))!lG@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039379.943165 s, next control iter: 1743039380.323176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039380.343165 s. elevatorAngleAction: 0.064149< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743039380.343294F (some fields omitted in printout)J"J*J2J:JBJnJvJAp= W'@AuI'@AV~? A A}&"AA~$iNA"AZAbAjArAzAAA2-A$jrA\i@A1=<A9AAտA{A*f<*Ay9?2AN׽:A8BAy9?JAN׽RA8٘i)I9i@Y_G J<JJJJF&K Y'T~?y|EAFb77 9)B[[@[IU~?[F[[[[BZYY i) lu;Ii@p2= ))񄿩ӧ@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039380.383165 s, next control iter: 1743039380.743180 s, wait time: 0.360015 s&tReceived state from Gazebo (printed only once in a while):&2 header.stamp.sec: 12879&, header.stamp.nsec: 0&0 temperature: 13.388239&* salinity: 33.391468&, density: 1025.000000&* values[0]: 0.693911&F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039380.763165 s.8KJ~,#0*AǍ'@Al$ '@AוV~? AXA\%&"AAUiNA"AZAbAjArAzAAAdxrA=j@A8<AAZAԿA A$<*A9?2A4׽:A{~BA9?JA4׽RA{~Y@u+y79<ٓHӿ r?@3?4\ ӿl???`~?)@ I٘i)I9j@YG J<J`<JJJF&Kpx> YsT~?yEA+F֚9.B)گBE[[>@[U~?[[[[[BZYY i-=) I;Iim@ۿ3= ))`@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039380.783165 s, next control iter: 1743039381.163177 s, wait time: 0.380012 s rAdjusting time to match Gazebo time: 1743039381.183165 s.RJ~,ZK*AJ"J*J2J:J1?BJ1?nJp:5vJA(\'@AD'@AV~? AAŗ&"AAiNA"AZAbAjArAzAAAtǏZZA}ErAk@A;AKAЃA@ӿA@KA9C<*A9?2Aֽ:AZxBA9?JAֽRAZx٘i)I9k@YG JƯ<JJJJF&K YT~?yJFFAF{7{790B)ׯBE[[ˏ@[U~?[y [[[[BZYY i) ;IiY@4= ))@*YFFF]|:Waiting for Gazebo time sync: latest Gz time: 1743039381.203165 s, next control iter: 1743039381.583176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039381.603165 s.<4YJ~,Úf*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799> elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200122 time: 1743039381.603301F (some fields omitted in printout)AQ'@ABF'@AV~? AA&"AA*hNA"AZAbAjArAzAAA_A.QrAk@AqA}AAҿA ~A<*A.9?2Aֽ:ABA.9?JAֽRA٘i)I9k@YmG J<JJJJF&K Y zT~?yFAF77k9)ӯB[[cX@[U~?[[[[[BZYY i)  ;Iit@W6= |))|^z@N*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039381.643165 s, next control iter: 1743039382.003179 s, wait time: 0.360014 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12880 , header.stamp.nsec: 0 0 temperature: 13.387982 * salinity: 33.391472 , density: 1025.000000 * values[0]: 0.695158 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039382.023165 s.Z`J~,{*AJ"J*J2J:JBJnJvJAHz.(@At !(@AuV~? AjAx&"AA*hNA"AZAbAjArAzAAAbxYA'KrA2l@Am,ARA&pAWҿA`A<*A9?2Aֽ:A|BA9?JAֽRA|٘i)I92l@YG J<JJJJF&K YVqT~?y GAF{7{769)ίB[[W@[pU~?[[[[[BZYY i) ha;Ii@ 7= ELx))ELxR@y\y=B*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039382.043165 s, next control iter: 1743039382.423176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039382.443165 s.BfJ~,l]*AAq= c(@A9V(@AkV~? AA&"AAhNA"AZAbAjArAzAAApXGAsAsl@A)AAYAA<ѿAA`<*Ay9?2Aֽ:AE^BAy9?JAֽRAE^٘i)I9l@YG J<B=JJJJF&K YhT~?yk tGAF7779/B)ɯBE[[o@[U~?[K[[[[BZYY i) R` *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: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200242 time: 1743039382.863324F (some fields omitted in printout)A(@A9(@AebV~? AtA3T&"AA_hNA"AZAbAjArAzAAAd:6A) A_4kysA;m@AVAtA/AZVпA`vA<*A-9?2Aֽ:AGYBA-9?JAֽRAGYY@V y;ٓH?ʿH?l?>7ʿ拰?rM?*|?)@ I٘i)I9;m@YbG Jޚ<J[<JJJF&Kax> YbT~?yGA F{7{7ˣ91B)ǯBE[[@[>U~?[$[[[[BZYY i) T elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200012 time: 1743039384.123263F (some fields omitted in printout)AG:)@Al-)@AzIV~? An&A; &"AA^hNA"AZAbAjArAzAAAc| A(sAªn@AեE<AAh2ܿA .˿A|AE<*A9?2AH׽:AۼBA9?JAH׽RAۼ٘i)I9n@YBG J<JJJJF&K YPT~?y,HAF{7+9)B[[Ҟ@[3U~?[8[[[[BZYY i) WG= mxb))mxb@*YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039384.163165 s, next control iter: 1743039384.523177 s, wait time: 0.360012 s rAdjusting time to match Gazebo time: 1743039384.543165 s.IJ~,"*AJ"J*J2J:JBJnJvJA= ףp)@Ad[c)@A/BV~? A0.A; &"AAhNA"AZAbAjArAzAAA:Kq6 AS/<sAg$o@A; <A鏏AٿA YɿAAO<*AY9?2A׽:ASBAY9?JA׽RAS٘i)I9$o@YG JƐ<B=JJJJF&K YJT~?yz5EIAFb7b79+B)B E[[)@[CU~?[?[[[[BZYY i) V YGT~?y:>IA׿F{7j79)B[[޴@[U~?[GF[[[[BZYY i) $f elevatorAngleAction: 0.074982< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039385.383286F (some fields omitted in printout)A()@Ay)@A!5V~? A=A &"AAF{hNA"AZAbAjArAzAAAkv s AUZ#sAS%p@APAAԿA!ſA`~A2<*Au9?2AX~ֽ:A BAu9?JAX~ֽRA ٘i)I9%p@Y(G J<JJJJF&K YDT~?yF JAFŧ7b79)B[[@@[uU~?[L[[[[BZYY iL=) qu$(sAp@AEAAhѿA ÿAAbţ<*A9?2Amֽ:An BA9?JAmֽRAn ٘i)I9p@Y{G J<JJJJF&K YAT~?yOkJAFV9)B[[ʕ@[U~?[S[[[[BZYY i) f_T~?y|XJAFb77!9)BE[[YU@[U~?[LZ[[[[BZYY i)  elevatorAngleAction: 0.084469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200092 time: 1743039386.643280F (some fields omitted in printout)A ףp}*@A fp*@Af%V~? AUA. &"AA'bhNA"AZAbAjArAzAAAFBALj:F2sAҾq@A]$A:@A̿A A"A8<*A9?2Aֽ:ABA9?JAֽRA٘i)I9q@Y"G J~<JJJJF&K Y;T~?y=a.KAF77볮9)B[[ȿ[U~?[`[[[[BZYY i)  YR;T~?y jKA ʿF7{79)B[[ƿ[7U~?[g[[[[BZYY i) F. elevatorAngleAction: 0.084469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200042 time: 1743039387.903286F (some fields omitted in printout)AQ+@Ax}+@AfV~? AmA+&"AA0PhNA"AZAbAjArAzAAA kLAlk@sA\s@A 11<AsAXĿA󦴿A`TAME<*A9?2AJ׽:ABA9?JAJ׽RA٘i)I9\s@YG J<JJJJF&K Y:T~?y{iLAF77K9)B[[D¿[U~?[t[[[[BZYY i) 2 elevatorAngleAction: 0.084469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199982 time: 1743039389.163297F (some fields omitted in printout)A+@A^+@A!V~? AAT&"AAbEhNA"AZAbAjArAzAAA%IAsҦOsA,u@A1A;*A&AAoA/f<*AN9?2A;ֽ:ABAN9?JA;ֽRAYʒ@y't2ٓH`??Kh? Wɷ?@ب?w~?@=: ?)ʒ@ I٘i)I9,u@Y8G J,<JJJJF&Kw> Y=T~?yMAF77{79)BE[[λ[U~?[[[[[BZYY i) x,@AV~? A֕A&"AA'BhNA"AZAbAjArAzAAAۜ\A#[YsAv@AлApЯA㷿A@{AvAA<*A)9?2A]ֽ:AsBA)9?JA]ֽRAs٘i)I9v@YG J<JJJJF&K YcBT~?yNAFj7Z7A®9)wB[[[U~?[啩[[[[BZYY i)  elevatorAngleAction: 0.084469< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199692 time: 1743039390.423271F (some fields omitted in printout)A{Ga,@Aٗl Y+MT~?yOAF77Ǯ9)gB[[[$U~?[x[[[[ZZZZ¸>BZYY i¸>) J]<*AJ"J*J2J:JF?BJF?nJz5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.084307< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039392.943297F (some fields omitted in printout)Aq= ף-@A9͖-@AV~? A(ΪA &"AA/PhNA"AZAbAjArAzAAA`AJ{sA{@A"=AqASA@?A;A<*A9?2AiTֽ:A7lBA9?JAiTֽRA7l٘i)I9{@Y/G J_=JJJJ F&K YcT~?y*QAF77{7ή9)OB[[9y[U~?[Aé[[[[ZZZZBZYY i) W*AA-@A}-@A!V~? A#֪A1&"AA^UhNA"AZAbAjArAzAAA\MAÊsAnq|@A A,AA?A*Az<*A9?2Ahֽ:AĻBA9?JAhֽRAĻYK@y}, ٓH ع?k?p`C??@?Ɛ m?)K@ I٘i)I9q|@YG J<J=JJJ F&K:w> YgkT~?yRAFj7j7Ю9)IB[[R[?U~?[ɩ[[[[ZZZZBZYY i) w̔)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039394.223165 s, next control iter: 1743039394.603179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039394.623165 s.[)J~,m*AJ"J*J2J:JBJnJvJAGz.@AJwm.@A/V~? AAz_%"AAihNA"AZAbAjArAzAAAF^ AFsA}@AM<Aن;A>A@?A`A<*Av9?2A>ֽ:A<BAv9?JA>ֽRA<٘i)I9}@YG JL<JJJJF&K YBT~?yRAFZ7Z7ծ9)?B[[=ݟ[V~?[ܩ[[[[ZZZZBZYY i,) VhU))>U>UyYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039394.643165 s, next control iter: 1743039395.023177 s, wait time: 0.380012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12893 , header.stamp.nsec: 0 0 temperature: 13.567564 * salinity: 33.375015 , density: 1025.000000 * values[0]: 0.580947 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039395.043165 s.0J~,*AA= ף.@AX.@A5V~? AAm%"AAqhNA"AZAbAjArAzAAA#*h AHsAn~@A_3<A<AA??AA滞;*A59?2AIֽ:Ap<BA59?JAIֽRAp<٘i)I9~@YG J;JJJJF&K YT~?yURAFŧ7b7׮9)=B[[[V~?[[[[[ZZZZBZYY i) hsSJJJF&Kw> YT~?yvRAFZ7SI7ٮ90B)>BE[[[V~?['[[[[BZYY i*wn)  B Y T~?y>QAF77792B)JB%E[[ː['HV~?[[[[[BZYY in) Z;Iih@|I= ))NɪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039397.603165 s, next control iter: 1743039397.963175 s, wait time: 0.360010 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12896, header.stamp.nsec: 00 temperature: 13.567495* salinity: 33.375015, density: 1025.000000* values[0]: 0.580970F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039397.983165 s._J~,~*AJ"J*J2J:J?BJ?nJ5vJvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200062 time: 1743039397.983313F (some fields omitted in printout)A\(0@Ae,0@AQlV~? A+A%"AAhNA"AZAbAjArAzAAAw7A0ssA|@A,<A<=AɂAH?A +A*A9?2A ֽ:A=BA9?JA ֽRA=٘i)I9|@YG J⓼JJJJF&K YT~?yoFRQAFb77L9)NB[[㤎[ZQV~?[ [[[[BZYY i) ϻ;Iiٜ@!H= s))ssҪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039398.003165 s, next control iter: 1743039398.383178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039398.403165 s.&fJ~,͙*AAQ^0@AQ0@A vV~? A3A%"AAhNA"AZAbAjArAzAAA*IA$/sA|@ACD<Av=A냿A)?A A*A9?2Aֽ:A=BA9?JAֽRA=٘i)I9|@YeG JB=JJJJF&K Y$T~?y*NPAFb79)RB[[}[ZV~?[[[[[BZYY i) =;Iiw@%GH= ԟ))ԟԟ)تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039398.443165 s, next control iter: 1743039398.803176 s, wait time: 0.360011 s"tReceived state from Gazebo (printed only once in a while):"2 header.stamp.sec: 12897", header.stamp.nsec: 0"0 temperature: 13.567686"* salinity: 33.375008", density: 1025.000000"* values[0]: 0.580462"F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039398.823165 s.lJ~J"J*J,)*A2J:J?BJ?nJ5vJAGz0@A/o0@AlV~? A:Av%"AAhNA"AZAbAjArAzAAA0PAg]sAGt{@AM;A&/=ARDA@ ?AerAl*A9?2Afֽ:A=BA9?JAfֽRA=٘i)I9t{@Y G JC=JJJJF&K YT~?yUPAF77{794B)XB)E[[-U[dV~?[[[[[BZYY i) g};IiD@bH= 4))44yXn٪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039398.863165 s, next control iter: 1743039399.223174 s, wait time: 0.360009 s rAdjusting time to match Gazebo time: 1743039399.243165 s.sJ~,\*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.058132< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199962 time: 1743039399.243285F (some fields omitted in printout)Aףp=0@A`60@A4V~? AAAJ%"AAhNA"AZAbAjArAzAAAS?JA]i|sAlz@A(AE=A&}A ?A?AD*AX9?2Aֽ:A =BAX9?JAֽRA =٘i)I9z@YG JB=JJJJF&K Y=U~?y]*PAF7779)]B[[,[nV~?[U[[[[BZYY i) hF@;Ii?@G= ))تYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039399.263165 s, next control iter: 1743039399.643175 s, wait time: 0.380010 s rAdjusting time to match Gazebo time: 1743039399.663165 s.zJ~,q*AJ"J*J2J:Jm?BJm?nJ5vJtReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12898, header.stamp.nsec: 00 temperature: 13.567915* salinity: 33.375015, density: 1025.000000* values[0]: 0.579793F (some fields omitted in printout)A1@AU0@AzV~? A'IArc%"AA]iNA"AZAbAjArAzAAAŚ79ATsAjEz@AAz=A$wA?A AԱ*A9?2Aֽ:A'=BA9?JAֽRA'=Y @4wy=/MٓH?~[?ة?K$?3Z 3?) @ II٘i)I9Ez@YRG JϳC=J!<JJJ!F&KJx> Y9U~?ydOAwFZ7Z7w95B)cB,E[[U[hyV~?[%[[[[BZYY i) f;IiQ@)F= ))ժYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039399.683165 s, next control iter: 1743039400.063179 s, wait time: 0.380014 s>9U~?)>d rAdjusting time to match Gazebo time: 1743039400.083165 s.DJ~,S*AA)\51@A#(1@A:V~? A[PA%"AAiNA"AZAbAjArAzAAA0ANZsAy@A6IA0Η=ArA?AA_®*A9?2Ax׽:A%<BA9?JAx׽RA%<٘i)I9y@YG JǰJJJJ"F&K Y7'U~?ylZOAF77j7A9)gB[[iރ[6V~?[*[[[[BZYY i) V͏:Ii@WE= ܳz))ܳzܳz3ѪYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039400.103165 s, next control iter: 1743039400.483184 s, wait time: 0.380019 s rAdjusting time to match Gazebo time: 1743039400.503165 s.J~,L4 *AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.067250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4200302 time: 1743039400.503322F (some fields omitted in printout)J"J*J2J:JBJnJvJARk1@A{^1@AsV~? A|WAI%"AA#iNA"AZAbAjArAzAAA>bmAaHsAy@ARA=A*`mA@@?AAnD*A9?2Aֽ:A <BA9?JAֽRA <٘i)I9y@YG JíJJJJ#F&K Y67U~?y`sNAF77 97B)nB0E[[=[XV~?[|0[[[[BZYY i) :9Ii@E= |ji))|ji|ji ̪YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039400.523165 s, next control iter: 1743039400.903178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12899, header.stamp.nsec: 00 temperature: 13.568137* salinity: 33.375023, density: 1025.000000* values[0]: 0.579133F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039400.923165 s.:J~,;*AA{G1@AV91@A#V~? A^Ap%"AA6iNA"AZAbAjArAzAAAJ%A"sAx@AZA9=APhAwT?A _Azا*Aq9?2A+ֽ:Aj<BAq9?JA+ֽRAj<٘i)I9x@YHG J;JJJJ%F&K Y2GU~?yzNAF9)rB[[[̚V~?[6[[[[BZYY i) 7AIi@5D= X))XXƪYFFF]z:Waiting for Gazebo time sync: latest Gz time: 1743039400.943165 s, next control iter: 1743039401.323179 s, wait time: 0.380014 s rAdjusting time to match Gazebo time: 1743039401.343165 s. Y|iU~?yMA]F7l9)|B[[wpv[V~?[*A[[[[BZYY i) *IiH@B= p5))p5p59YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039401.783165 s, next control iter: 1743039402.163176 s, wait time: 0.380011 s rAdjusting time to match Gazebo time: 1743039402.183165 s.ˢJ~,s*AJ"J*J2J:JBJnJvJA(\B2@AXQ52@AV~? A2sAS)%"AArsiNA"AZAbAjArAzAAA&A/Y6sAv@A%<Ai=A"XA ?AA7**A 9?2AÁֽ:A<BA 9?JAÁֽRA<٘i)I9v@YPG JC=JJJJ)F&K Y{U~?yOiMAF{7j779)B6E[[kr[V~?[F[[[[BZYY i) ^hIiX@\A= @2$))@2$@2$YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039402.203165 s, next control iter: 1743039402.583181 s, wait time: 0.380016 s rAdjusting time to match Gazebo time: 1743039402.603165 s.84J~,*AAQx2@AgIk2@AgV~? AyAR%"AA iNA"AZAbAjArAzAAAAX$ҶsAdzv@AǠ8;AW=AxSAi?AX]A[0*A@9?2Aֽ:A<BA@9?JAֽRA<٘i)I9zv@YG JB=JJJJ*F&K Y U~?y MAF7799B)B7E[[m[V~?[K[[[[BZYY i) gIi@@= 0))00ҷYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039402.643165 s, next control iter: 1743039403.003177 s, wait time: 0.360012 s tReceived state from Gazebo (printed only once in a while): 2 header.stamp.sec: 12901 , header.stamp.nsec: 0 0 temperature: 13.568540 * salinity: 33.375038 , density: 1025.000000 * values[0]: 0.577926 F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039403.023165 s.ZJ~,{*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: -0.067250< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199662 time: 1743039403.023279F (some fields omitted in printout)AHz2@AR* 2@ATW~? AA#%"AAMiNA"AZAbAjArAzAAA}Ь2A5sA[v@A»A=A)NA`[?AAs*A9?2A\ ׽:A%k<BA9?JA\ ׽RA%k<٘i)I9v@YG JC=JJJJ+F&K YVU~?yLAF7ŧ79:B)B:E[[ji[V~?[QQ[[[[BZYY i) zjIi@@= Pl))PlPlӵYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039403.063165 s, next control iter: 1743039403.423179 s, wait time: 0.360014 s rAdjusting time to match Gazebo time: 1743039403.443165 s.5öJ~,5]*AAq= 2@Av|2@AW~? A A%"AA;iNA"AZAbAjArAzAAANM[IAǻsȂu@A=A'=AHAU"?AA*A9?2A&׽:AR<BA9?JA&׽RAR<٘i)I9u@YvG J+JJJJ-F&K YU~?ytSLAF7779;B)B=E[[?e[V~?[V[[[[BZYY i!Q) nѻIi@?=  ߽)) ߽ ߽YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039403.463165 s, next control iter: 1743039403.843176 s, wait time: 0.380011 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12902, header.stamp.nsec: 00 temperature: 13.568733* salinity: 33.375038, density: 1025.000000* values[0]: 0.577390F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039403.863165 s.+J~,>*AJ"J*J2J:J?BJ?nJ5vJA3@Aٕ 3@A| W~? AwAL$%"AAiNA"AZAbAjArAzAAAAfDsA)#u@APT6A=AyCAG?A@mAN*A9?2AK ׽:A"<BA9?JAK ׽RA" YU~?yKACF77j7b9)B[[s`[V~?[[[[[[BZYY i) IiT@M== L))LLlYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039403.883165 s, next control iter: 1743039404.263178 s, wait time: 0.380013 s rAdjusting time to match Gazebo time: 1743039404.283165 s.8RĺJ~,*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199902 time: 1743039404.283277F (some fields omitted in printout)A(\O3@A}.PB3@A0W~? AɓAʧ%"AAiNA"AZAbAjArAzAAAwCrAsAt@A,A=Aƍ>AA?A@T7A*A9?2A*ֽ:AZ<BA9?JA*ֽRAZ<٘i)I9t@YG J|JJJJ/F&K YbU~?yKAF77,9B)BDE[[OS[W~?[j[[[[BZYY i) 'Ii@D:= @)))@)@)YFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039405.163165 s, next control iter: 1743039405.523178 s, wait time: 0.360013 s rAdjusting time to match Gazebo time: 1743039405.543165 s.IغJ~,b*AvPublished command to Gazebo (printed only once in a while):( dropWeightState: 18 propOmegaAction: 25.132812< rudderAngleAction: -0.261799@ elevatorAngleAction: -0.076815< massPositionAction: 0.0000004 buoyancyAction: 0.000500 dt: 0.4199852 time: 1743039405.543277F (some fields omitted in printout)J"J*J2J:JBJnJvJA= ף3@Ay3@AcW~? AAc>%"AAb2jNA"AZAbAjArAzAAA5ӸA^ psA`s@AbB<A=AI3/A?A`bHA*A@9?2Ahֽ:A*=BA@9?JAhֽRA*=٘i)I9`s@Y G JJJJJ3F&K YV~?yJAF77{79)BGE[[=O[,W~?[o[[[[BZYY i) h27Ii@79= ż))żżHYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039405.563165 s, next control iter: 1743039405.943178 s, wait time: 0.380013 stReceived state from Gazebo (printed only once in a while):2 header.stamp.sec: 12904, header.stamp.nsec: 00 temperature: 13.568977* salinity: 33.375072, density: 1025.000000* values[0]: 0.576465F (some fields omitted in printout) rAdjusting time to match Gazebo time: 1743039405.963165 s.޺J~, }*AAffff&4@AwF[4@AuW~? AA#%"AAMjNA"AZAbAjArAzAAAC!?ALtAr@AX;A=Ay)A=?A'A9*A9?2Aֽ:A-=BA9?JAֽRA-=YӬ@))y"=;ٓHt(?-? m? 5?C&}{??)Ӭ@ I٘i)I9r@YG JJ-<JJJ5F&K;x> Y.V~?yaǪ=JA)F{7W9)B[[sJ[;W~?[t[[[[BZYY i) ҦFIiz@G7= L))L黩LYFFF]:Waiting for Gazebo time sync: latest Gz time: 1743039406.003165 s, next control iter: 1743039406.363181 s, wait time: 0.360016 s rAdjusting time to match Gazebo time: 1743039406.383165 s.J~,b*AJ"J*J2J:JBJnJvJA(\4@A! O4@AW~? AʱAX%"AAEhjNA"AZAbAjArAzAAA(C?A]RtAztr@AOA=AI$A@ ?AA1*A9?2Aֽ:A.=